Pose adjustment method and device of following pipe drilling machine and storage medium

Abstract

This invention discloses a method, equipment, and storage medium for adjusting the posture of a casing drilling rig. By real-time acquisition of the current posture parameters and theoretical control parameters of the posture measurement points, the current posture error is accurately calculated. Simultaneously, the changes in error and theoretical control parameters between the previous and current acquisition times are captured. A multinomial interpolation algorithm is then used to construct a multi-parameter correlation function, which accurately predicts the error change trend at the next acquisition time. Based on this prediction, a comprehensive error is obtained, and compensation control parameters are determined, enabling early prediction and proactive compensation of posture deviations. This invention can quickly respond to minute posture changes caused by factors such as uneven formations and metallic obstacles, promptly adjusting the target component's movement through compensation control parameters to prevent deviation expansion. This effectively avoids serious accidents such as stuck drill and borehole collapse caused by accumulated errors, improving rescue safety.

Description

Technical Field

[0001] This invention belongs to the field of mechanical control technology and relates to the posture adjustment method, equipment and storage medium of casing drilling rig. Background Technology

[0002] In emergency operations such as mine rescue and tunnel construction, large-diameter casing drilling rigs are key equipment for building lifelines, and the accuracy of their drilling trajectory directly affects rescue efficiency and safety. When drilling in complex strata such as collapsed areas and fractured rock layers, casing drilling rigs are prone to changes in position due to factors such as uneven strata and metallic obstacles, causing the borehole to deviate from the preset path. Especially during long-distance drilling, the accumulation of errors can lead to serious accidents such as stuck drill bits and borehole wall collapse, resulting in low rescue safety. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a method, device and storage medium for adjusting the position of a casing drilling rig, and to solve the technical problem of how to automatically adjust the position of the casing drilling rig to improve the safety of rescue operations.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] The method for adjusting the position and posture of a casing drilling rig includes the following steps: Step S10: At the preset acquisition time, acquire the current pose parameters and current theoretical control parameters of the preset pose measurement points on the target component of the casing drilling rig, and determine the current pose error based on the difference between the current pose parameters and the current theoretical control parameters. Step S20: Read the stored previous acquisition time's previous pose error, determine the error change between the previous acquisition time's previous pose error and the current pose error, and determine the theoretical control parameter change between the theoretical control parameters of each pose measurement point at the previous acquisition time and the current theoretical control parameters. Step S30: Using a polynomial interpolation algorithm, determine the functional relationship between the error change and the corresponding previous pose error, current pose error, and theoretical control parameter change. Step S40: Based on the functional relationship and the theoretical control parameters at the next acquisition time, determine the change in prediction error at the next acquisition time, and use the sum of the change in prediction error and the current pose error as the comprehensive error. Step S50: Determine the compensation control parameters corresponding to the next acquisition time based on the comprehensive error; Step S60: Based on the compensation control parameters, a control command is sent to the target component to adjust the position and posture of the casing drilling rig.

[0006] The present invention also includes the following technical features: Specifically, step S50 includes: The compensation matrix is ​​determined based on the mapping relationship between the control parameters and the pose change, and the compensation matrix is ​​used to represent the change in pose caused by the change in control parameters of a preset unit. The compensation matrix and the comprehensive error are used as input parameters of the preset compensation equation. The solution of the compensation equation is obtained to obtain the compensation control parameters.

[0007] Specifically, the target component includes an offset cylinder, the cylinder end of which is fixed to the head of the heel sleeve via a hinge point, the piston rod end of which is connected to the tail of an adjustable guide head via another hinge point, the adjustable guide head being connected to the head of the heel sleeve via a hinge shaft, and the adjustable guide head being able to swing up and down via the hinge shaft.

[0008] Specifically, when the target component is the offset cylinder, the pose measurement point is set inside the auger drill rod and at the connection between the piston rod and the cylinder barrel of the offset cylinder; When the preset acquisition time is reached, the current pose parameters of the pose measurement point on the bias cylinder are obtained, including the current first tilt angle acquired by the gyroscope sensor inside the spiral drill rod, and the current displacement of the piston rod acquired by the sensor at the connection between the piston rod and the cylinder. When the preset acquisition time is reached, the current theoretical control parameters of the pose measurement point on the bias cylinder are obtained, including the extension amount and extension speed of the bias cylinder.

[0009] Specifically, the compensation control parameters include the compensation extension amount and compensation extension speed of the bias cylinder; The step of issuing control commands to the target component based on the compensation control parameters to adjust the position and orientation of the casing drilling rig includes: Based on the compensation extension amount and compensation extension speed of the bias cylinder, the piston rod of the bias cylinder is controlled to extend, thereby pushing the adjustable guide head to rotate around the hinge axis to form a guide angle, and adjusting the inclination angle of the auger drill rod; wherein, the greater the extension amount of the bias cylinder, the greater the guide angle, and the greater the inclination angle of the auger drill rod.

[0010] Specifically, the target component also includes the hydraulic outriggers of the casing drilling rig, which are driven by electro-hydraulic controlled support cylinders; the cylinder end of the support cylinder is connected to the drilling rig chassis via a hinged base or is fixedly installed on the drilling rig chassis, and the piston rod end of the support cylinder is in contact with the ground via a support foot plate.

[0011] Specifically, when the target component is a hydraulic outrigger, the position measurement point is set in the body of the casing drilling rig and in the hydraulic circuit of the hydraulic outrigger; When the preset acquisition time is reached, the current pose parameters of the pose measurement point on the hydraulic outrigger are obtained, including the current second tilt angle acquired by the sensor at the preset measurement point on the machine body and the current pressure of the pressure sensor in the hydraulic circuit of each hydraulic outrigger. When the preset acquisition time is reached, the current theoretical control parameters of the pose measurement point on the hydraulic outrigger obtained include the extension amount and extension speed of the support cylinder.

[0012] Specifically, the compensation control parameters include the compensation extension amount and compensation extension speed of the support cylinder; The step of issuing control commands to the target component based on the compensation control parameters to adjust the position and orientation of the casing drilling rig includes: Based on the compensation extension amount and compensation extension speed of the support cylinder, the electro-hydraulic proportional valve or servo valve of the hydraulic outrigger is controlled to drive hydraulic oil into or out of the support cylinder, so as to extend and retract the piston rod of the support cylinder to adjust the position of the casing drilling rig.

[0013] A position adjustment device for a casing drilling rig, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the position adjustment method for the casing drilling rig.

[0014] A storage medium is a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the orientation adjustment method for the casing drilling rig.

[0015] Compared with the prior art, the present invention has the following technical effects: The present invention discloses a method for adjusting the posture of a casing drilling rig. Upon reaching a preset acquisition time, the method acquires the current posture parameters and current theoretical control parameters of preset posture measurement points on the target component of the casing drilling rig, and determines the current posture error based on the difference between the current posture parameters and the current theoretical posture parameters. It also determines the error change between the previous posture error and the current posture error, and the theoretical control parameter change between the theoretical control parameters of each posture measurement point at the previous acquisition time and the current theoretical control parameters. Using a polynomial interpolation algorithm, it determines the functional relationship between the error change and the corresponding previous posture error, current posture error, and theoretical control parameter change. Based on the functional relationship and the theoretical control parameters at the next acquisition time, it determines the predicted error change corresponding to the next acquisition time, and uses the sum of the predicted error change and the current posture error as the comprehensive error. Based on the comprehensive error, it determines the compensation control parameters corresponding to the next acquisition time. Finally, based on the compensation control parameters, it issues control commands to the target component to adjust the posture of the casing drilling rig.

[0016] This invention accurately calculates the current pose error by real-time acquisition of the current pose parameters and theoretical control parameters of the pose measurement point. Simultaneously, it captures the error changes and theoretical control parameter changes between the previous and current acquisition times. A multinomial interpolation algorithm is then used to construct a multi-parameter correlation function, enabling precise prediction of the error change trend at the next acquisition time. Based on this prediction, a comprehensive error is obtained, and compensation control parameters are determined. This allows for early prediction and proactive compensation of pose deviations, enabling rapid response to minor pose changes caused by uneven ground, metallic obstacles, and other factors. Timely adjustments to the target component's movement through compensation control parameters prevent the deviation from escalating, effectively avoiding serious accidents such as stuck drill bits and borehole collapse caused by accumulated errors, thus improving rescue safety. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a method according to Embodiment 1 of the present invention. Figure 2 This is a schematic diagram of a casing drilling rig provided in Embodiment 1 of the method of the present invention; Figure 3 This is a schematic diagram of the feeding device provided in Embodiment 1 of the method of the present invention; Figure 4 This is a schematic diagram of the sleeve structure provided in Embodiment 3 of the method of the present invention; Figure 5 A graph showing the overall error variation trend of traditional pose adjustment schemes and the method of the present invention is provided. Figure 6 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the position adjustment method of the casing drilling rig in this embodiment of the invention.

[0018] The meanings of the labels in the diagram are as follows: 1. Dual-rotation high-torque power head; 2. Feeding device; 3. Lifting device; 4. Clamping and centralizing device; 5. Support system; 6. Tracked vehicle body; 7. Outer tube power head; 8. Inner tube power head; 9. Inner tube feed cylinder; 10. Outer tube feed cylinder; 11. Clamping and centralizing device; 12. Feeding machine body; 13. Gyroscope sensor; 14. Hinge shaft; 15. Spiral drill rod; 16. Tube casing; 17. Cutterhead; 18. Adjustable guide head. Detailed Implementation

[0019] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0020] In emergency operations such as mine rescue and tunnel construction, large-diameter casing drilling rigs are key equipment for building lifelines, and the accuracy of their drilling trajectory directly affects rescue efficiency and safety. When drilling in complex strata such as collapsed areas and fractured rock layers, casing drilling rigs are prone to changes in position due to factors such as uneven strata and metallic obstacles, causing the borehole to deviate from the preset path. Especially during long-distance drilling, the accumulation of errors can lead to serious accidents such as stuck drill bits and borehole wall collapse, resulting in low rescue safety.

[0021] In view of the above problems, this invention proposes a method for adjusting the posture of a casing drilling rig. Upon reaching a preset acquisition time, the method acquires the current posture parameters and current theoretical control parameters of preset posture measurement points on the target component of the casing drilling rig, and determines the current posture error based on the difference between the current posture parameters and the current theoretical posture parameters. It also determines the error change between the previous posture error and the current posture error, and the theoretical control parameter change between the theoretical control parameters of each posture measurement point at the previous acquisition time and the current theoretical control parameters. Using a polynomial interpolation algorithm, it determines the functional relationship between the error change and the corresponding previous posture error, current posture error, and theoretical control parameter change. Based on the functional relationship and the theoretical control parameters at the next acquisition time, it determines the predicted error change corresponding to the next acquisition time, and uses the sum of the predicted error change and the current posture error as the comprehensive error. Based on the comprehensive error, it determines the compensation control parameters corresponding to the next acquisition time. Finally, based on the compensation control parameters, it issues control commands to the target component to adjust the posture of the casing drilling rig.

[0022] The aforementioned method accurately calculates the current pose error by real-time acquisition of the current pose parameters and theoretical control parameters of the pose measurement points. Simultaneously, it captures the error changes and theoretical control parameter changes between the previous and current acquisition times. A multinomial interpolation algorithm is then used to construct a multi-parameter correlation function, enabling precise prediction of the error change trend at the next acquisition time. Based on this prediction, a comprehensive error is obtained, which is then used to determine compensation control parameters. This allows for early prediction and proactive compensation of pose deviations, enabling rapid response to minor pose changes caused by uneven geological formations, metallic obstacles, and other factors. Timely adjustments to the target component's movement through compensation control parameters prevent deviation from escalating, effectively avoiding serious accidents such as stuck drill bits and borehole collapse caused by accumulated errors, thus improving rescue safety.

[0023] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a control system for a casing drilling rig. The following description uses the control system of a casing drilling rig as an example to illustrate this embodiment and the subsequent embodiments.

[0024] Based on this, the first embodiment of the present invention provides a method for adjusting the position and orientation of a casing drilling rig, such as... Figure 1 In this embodiment, the method for adjusting the position and orientation of the casing drilling rig includes the following steps: Step S10: When the preset acquisition time is reached, the current pose parameters and current theoretical control parameters of the preset pose measurement points on the target component of the casing drilling rig are acquired, and the current pose error is determined based on the difference between the current pose parameters and the current theoretical pose parameters.

[0025] It should be noted that, in this embodiment, the casing drilling rig is a large drilling equipment used for mine rescue and tunnel construction. It is mainly used to construct large-diameter horizontal rescue boreholes under complex geological conditions such as collapsed bodies and fractured strata. It adopts a multi-stage casing drilling process, which can simultaneously lower the protective casing during the drilling process to prevent borehole collapse.

[0026] The preset pose measurement points on the target component of the casing drilling rig refer to the preset sensor installation positions on the target component, used to monitor the pose parameters of various pose motion components of the casing drilling rig in real time. Optionally, the pose motion components of the casing drilling rig mainly include the feed device, clamping and centralizing device, and support system of the casing drilling rig.

[0027] Figure 2This is a schematic diagram of the casing drilling rig provided in this embodiment. The casing drilling rig includes a dual-rotation high-torque power head 1, a feed device 2, a hoisting device 3, a clamping and centralizing device 4, a support system 5, a tracked vehicle body 6, and a power pump truck. During installation, the dual-rotation high-torque power head 1, feed device 2, hoisting device 3, clamping and centralizing device 4, and support system 5 are all mounted on the tracked vehicle body 6. The power pump truck is positioned at the rear or side of the casing drilling rig to provide power. The dual-rotation high-torque power head 1 is located at the feed device 2. The dual-rotation high-torque power head 1 drives the drill string to rotate. The feed device 2 provides feed force to the two rotating heads of the dual-rotation high-torque power head 1. Under the combined action of rotational cutting and feed force, the rock at the bottom of the hole is broken and slag is removed, realizing drilling construction. The hoisting device 3 is hinged to the tracked vehicle body 6 via a hydraulic cylinder. The hoisting device 3 supports height adjustment to adapt to different tunnel conditions and assists in hoisting the drill string. The support system 5 is installed on the lower end face of the feeding device 2 to provide support.

[0028] Figure 3 This is a schematic diagram of the feeding device provided in this embodiment. The feeding device includes a feeding body 12, an inner tube feeding cylinder 9, an outer tube feeding cylinder 10, an inner tube power head 8, and an outer tube power head 7. The inner tube feeding cylinder 9 and the outer tube feeding cylinder 10 drive the inner tube power head 8 and the outer tube power head 7, respectively. The piston rod end of the inner tube feeding cylinder 9 is mounted on a clamping and centralizing device 11, and the cylinder barrel end is mounted on the inner tube power head 8. The piston rod end of the outer tube feeding cylinder 10 is mounted on the clamping and centralizing device 11, and the cylinder barrel end is mounted on the outer tube power head 7. The cylinder barrel of the inner tube feeding cylinder 9 passes through the housing of the outer tube power head 7. The extension and retraction of the inner tube feeding cylinder 9 and the outer tube feeding cylinder 10 enables independent feeding and lifting of the two power heads, facilitating the addition and removal of the auger drill rod and the front cutter head, and adjusting the inner tube overrun. The clamping and straightening device 11 is used to assist in clamping the drill string and straightening the auger drill pipe and front cutter head during drilling to prevent them from tilting.

[0029] For example, a magnetostrictive displacement sensor is installed at the piston rod end of the feed cylinder. The sensor rod of the magnetostrictive displacement sensor is installed in the feed cylinder, and the magnetic ring moves with the piston to acquire the displacement data of the piston rod. A pressure sensor is installed at the oil port of the piston rod cavity to acquire the thrust of the feed cylinder, and an accelerometer is installed at the oil port of the cylinder cavity to acquire the retraction pressure of the feed cylinder. An acceleration sensor is installed on the exposed part of the piston rod to acquire the acceleration of the piston rod, etc. Alternatively, an angle encoder can be installed on the eccentric roller adjusting gear shaft of the stabilizer to acquire the roller deflection angle; a pressure sensor can be installed at the end of the eccentric roller shaft to acquire and measure the stabilizer support force.

[0030] It should be noted that in the aforementioned feeding device and clamping stabilizer, the position measurement points include, but are not limited to, the piston rod end of the feeding cylinder, the piston rod cavity oil port, the cylinder cavity oil port, the exposed part of the piston rod, the eccentric roller adjusting gear shaft of the stabilizer, and the eccentric roller shaft end. Position parameters include, but are not limited to, the displacement data of the piston rod, the thrust of the feeding cylinder, the retraction pressure of the feeding cylinder, the acceleration of the piston rod, the roller deflection angle, and the stabilizing support force.

[0031] Optionally, the aforementioned support system may further include four parts: chassis support, front and rear supports, top plate support, and side supports, used to provide reaction force for the feed and pulling force of the inner and outer casings. Among them, the chassis support consists of hydraulic outriggers to monitor and adjust the attitude of the casing drilling rig; the front and rear supports and side supports maintain the stability of the casing drilling rig's drilling state; and the top plate support is provided by the casing drilling rig's hoisting device.

[0032] For example, a pressure sensor is installed in the rodless chamber of the support cylinder of the hydraulic outrigger to obtain the support force; an inclination sensor is installed at the connection between the hydraulic outrigger and the casing drilling rig to obtain the levelness of the casing drilling rig; and a displacement sensor is installed in the telescopic sleeve of the hydraulic outrigger to monitor the outrigger extension, etc.

[0033] It should be noted that in the above support system, the position measurement points include, but are not limited to, the rodless chamber of the support cylinder, the connection between the hydraulic outrigger and the casing drilling rig, and the inside of the hydraulic outrigger telescopic sleeve. Position parameters include, but are not limited to, the supporting force of the hydraulic outrigger, the thrust of the feed cylinder, and the outrigger extension.

[0034] It should also be noted that the acquisition time is a pre-set fixed time interval. The control system of the casing drilling rig periodically acquires the pose parameters at the pose measurement points at these times. The theoretical pose parameters are calculated through physical simulation or kinematic models and represent the pose parameters that the target component should ideally achieve. The current pose parameters are the pose parameters actually measured by sensors at the acquisition time. Theoretical control parameters refer to the control command parameters that need to be sent to actuators such as hydraulic cylinders and motors to drive the target component to achieve the theoretical pose, such as hydraulic pressure setpoints and motor speeds.

[0035] At each preset acquisition time, the control system of the casing drilling rig acquires the position and orientation data of the target component in real time through sensors installed at the position and orientation measurement points, obtaining the current position and orientation parameters. Then, based on the preset drilling rig movement trajectory, it calculates the theoretical position and orientation parameters and theoretical control parameters that the target component should achieve at the current acquisition time. Subtracting the current position and orientation parameters from the corresponding current theoretical position and orientation parameters yields the current position and orientation error.

[0036] Step S20: Determine the error change between the previous pose error and the current pose error at the previous acquisition time, and determine the theoretical control parameter change between the theoretical control parameters of each pose measurement point at the previous acquisition time and the current theoretical control parameters.

[0037] After obtaining the current pose error, the control system of the casing drilling rig reads the previous pose error from the storage unit, then subtracts the current pose error from the corresponding previous pose error to obtain the error change, which reflects the trend of pose error change over time. Next, it reads the theoretical control parameters of each pose measurement point from the storage unit, then subtracts the current theoretical control parameters from the corresponding theoretical control parameters of the previous acquisition time to obtain the theoretical control parameter change, which reflects the change in theoretical control commands. The calculated error change and theoretical control parameter change are output for subsequent steps, while the current pose error and current theoretical control parameters are stored in the storage unit for use in the next acquisition time.

[0038] Optionally, at the first acquisition moment, since there is no prior data, the prior pose error and prior theoretical control parameters can be initialized to zero or set to initial values ​​according to the actual situation.

[0039] Step S30: Using a polynomial interpolation algorithm, determine the functional relationship between the error change and the corresponding previous pose error, current pose error, and theoretical control parameter changes.

[0040] Polynomial interpolation algorithms construct a polynomial function from known discrete data points, ensuring that the polynomial function perfectly matches the data values ​​at all known points. In this embodiment, a polynomial interpolation algorithm is used to establish a polynomial function relationship with the error change as the dependent variable and the previous pose error, the current pose error, and the theoretical control parameter changes as independent variables.

[0041] Specifically, let E be the previous pose error vector at the i-th acquisition time. i-1 (i.e., the pose error at the previous moment), the current pose error vector is E. i The theoretical control parameter change vector is ΔC. i =C i -C i-1 The error change vector at that moment is ΔE. i =E i -E i-1 The constructed polynomial function relation aims to express: ΔE i =F(E i-1 E i ΔC i ) Where F is a polynomial vector function. For each output component of the error change (e.g., the change in position error or angle error in a certain direction), a second-order polynomial relationship of the following form can be established (taking a one-dimensional output as an example): ΔE = a0 + a1·E prev +a2·E curr +a3·ΔC+a4·E prev ²+a5·E curr ²+a6·ΔC²+a7·E prev ·E curr +a8·E prev ·ΔC+a9·E curr ·ΔC In the formula, E prev E represents a component of the previous pose error. curr The coefficients represent the corresponding components of the current pose error, and ΔC represents the corresponding components of the theoretical control parameter change. The coefficients a0 to a9 are regression coefficients, determined by fitting historical data. When multi-dimensional output is involved, each output dimension has its own independent set of coefficients, i.e., a coefficient matrix.

[0042] For example, historical data sequences of the most recent N consecutive acquisition times are extracted from the storage unit. Each data record contains four complete vectors: the previous pose error, the current pose error, the theoretical control parameter change, and the error change to be determined. The three independent variable vectors corresponding to each acquisition time, namely the previous pose error, the current pose error, and the theoretical control parameter change, are concatenated and combined to form a comprehensive input feature vector x=[E]. prev E curr ,ΔC] This input feature vector comprehensively characterizes the state of the casing drilling rig at this moment and the input excitation described by the changes in theoretical control parameters. Simultaneously, the error change at the same moment is used as the target output vector to characterize the actual response generated under the given state and input excitation.

[0043] Fitting is performed on the above N input feature vectors and their corresponding N target output vectors. Optionally, batch fitting can be performed using the least squares method. Specifically, each input feature vector is expanded according to a set polynomial term (such as the above second-order polynomial including constant term, first-order term, second-order term, and cross term) to obtain a higher-dimensional feature vector Φ(x). By solving an optimization problem with the criterion of minimizing the sum of squared residuals between the predicted target output vector and the actual target output vector, a set of polynomial regression coefficient matrices W is calculated. The obtained polynomial regression coefficient matrix is ​​bound to the predefined polynomial term structure to form an executable mathematical function expression, resulting in the above functional relationship.

[0044] For example, suppose the input feature vector is a d-dimensional vector, which includes the previous pose error, the current pose error, and the theoretical control parameter change, denoted as x=[ , ,..., ] Assuming we choose a second-order polynomial and the input feature vector x = [ , ] The higher-dimensional eigenvector Φ(x) obtained after expanding it includes a constant term b representing the bias or intercept, and a first-order term. and Quadratic terms and and cross terms That is, Φ(x)=[b, , , , , ] If there are N input feature vectors, then for the i-th input feature vector... Performing the same polynomial expansion yields its high-dimensional eigenvector Φ( Assume that the N target output vectors are k-dimensional vectors. Organize all N target output vectors into an N×k matrix Y, where each row corresponds to a k-dimensional output of a target output vector. There is a linear mapping relationship between the output Y and the input Φ(x). That is, it is possible to find a set of polynomial regression coefficient matrices W such that the linear combination of high-dimensional features best predicts the output, expressed as Y = Φ × W + ε. Solving for W results in a matrix that predicts the target output vector matrix. =ΦW is the difference between the actual target output vector matrix Y, i.e., the residual matrix ε=Y- The sum of squares across all output dimensions is minimized. The W obtained from the above solution is the polynomial regression coefficient matrix. After obtaining the polynomial regression coefficient matrix W, each coefficient in each column of W is bound to each term in the polynomial term structure to obtain the functional relationship between the error change and the corresponding changes in the previous pose error, current pose error, and theoretical control parameters. For example, the above polynomial term structure is [b, , , , Assume the coefficient matrix is ​​[ , , , , , ] The functional relationship obtained after binding is: Y(x) = b+ + + + + .

[0045] For example, assuming only two independent variables are considered (the current pose error E(t) and the theoretical control parameter change ΔC(t) – in practical applications, three independent variables are included: the previous pose error E(t-1), the current pose error E(t), and the theoretical control parameter change ΔC(t)). Using a second-order polynomial expansion, the expanded high-dimensional eigenvector is Φ = [b, E(t), ΔC(t), E²(t), ΔC²(t), E(t)·ΔC(t)]. , where b is a constant term (taken as 1). The corresponding regression coefficient vector is w = [w0, w1, w2, w3, w4, w5]. The functional relationship between the error change ΔE(t) obtained after binding and the current pose error E(t) and the theoretical control parameter change ΔC(t) is as follows: ΔE(t)=w0·b+w1·E(t)+w2·ΔC(t)+w3·E²(t)+w4·ΔC²(t)+w5·E(t)·ΔC(t) For a complete second-order polynomial containing three independent variables—previous pose error E(t-1), current pose error E(t), and theoretical control parameter change ΔC(t)—its functional relationship is the aforementioned expansion: ΔE(t)=a0+a1·E(t-1)+a2·E(t)+a3·ΔC(t)+a4·E²(t-1)+a5·E²(t)+a6·ΔC²(t)+a7·E(t-1)·E(t)+a8·E(t-1)·ΔC(t)+a9·E(t)·ΔC(t) In the above formula, ΔE(t) is the change in error, E(t-1) is the previous pose error, E(t) is the current pose error, and ΔC(t) is the change in theoretical control parameters; the coefficients a0~a9 are regression coefficients determined by fitting historical data.

[0046] Step S40: Based on the functional relationship and the theoretical control parameters at the next acquisition time, determine the change in prediction error at the next acquisition time, and use the sum of the change in prediction error and the current pose error as the comprehensive error.

[0047] Specifically, let the current acquisition time be t, and the next acquisition time be t+1. In step S30, a functional relationship has been determined using a polynomial interpolation algorithm. This functional relationship expresses the mapping relationship between the error change ΔE(t) and the previous pose error E(t-1), the current pose error E(t), and the theoretical control parameter change ΔC(t), that is: ΔE(t)=F(E(t-1),E(t),ΔC(t)) To predict the error change at the next acquisition time, we first determine the theoretical change in control parameters between the next acquisition time and the current acquisition time: ΔC(t+1) = C(t+1) - C(t) Where C(t+1) is the theoretical control parameter for the next acquisition moment (which can be obtained in advance through drilling trajectory planning or simulation), and C(t) is the theoretical control parameter for the current acquisition moment. Substituting the current pose error E(t), the previous pose error E(t-1) at the previous acquisition moment, and the calculated change in theoretical control parameters ΔC(t+1) into the above functional relationship, the change in prediction error for the next acquisition moment can be obtained: ΔE(t+1)=F(E(t-1),E(t),ΔC(t+1)) Based on this, the change in prediction error ΔE(t+1) is added to the current pose error E(t) to obtain the comprehensive error E_total(t+1) corresponding to the next acquisition time: E_total(t+1)=E(t)+ΔE(t+1) This comprehensive error includes both the actual pose deviation that already exists at the current moment and the error change trend that will appear at the next moment. It reflects the overall prediction level of the deviation of the drilling rig's pose from the theoretical value at the next acquisition moment, and provides an accurate input basis for determining the subsequent compensation control parameters.

[0048] Step S50: Determine the compensation control parameters corresponding to the next acquisition time based on the comprehensive error.

[0049] The compensation control parameter is a correction value of the actual control parameter determined based on the comprehensive error, which includes the change in the current pose error and the predicted error at the next acquisition time. It is used to correct and adjust the theoretical control parameters of the target component according to the pose deviation of the casing drilling rig. By using the compensation control parameter to compensate and adjust the theoretical control parameters of the target component, the pose deviation corresponding to the comprehensive error is specifically offset, thereby achieving the advance correction of the pose of the casing drilling rig. This avoids the lag caused by adjusting only based on the current pose error, and pushes the drilling rig pose closer to the theoretical pose until the actual error drops to a preset fixed threshold.

[0050] For example, assuming that at the preset acquisition time t, the current pose parameter of the preset pose measurement point on the target component of the casing drilling rig is f(t), the corresponding current theoretical pose parameter is F(t), and the current theoretical control parameter is C(t). First, the difference between the current pose parameter f(t) and the theoretical pose parameter F(t) is determined as the current pose error E(t) = f(t) - F(t). Then, the error change ΔE(t) = E(t) - E(t-1) between the previous acquisition time's pose error E(t-1) and the current pose error E(t) is determined. Next, the theoretical control parameter corresponding to the previous acquisition time t-1 is determined as C(t-1), and the theoretical control parameter change ΔC(t) = C(t) - C(t-1) between the theoretical control parameters of each pose measurement point at the previous acquisition time and the current theoretical control parameter is determined. Using a polynomial interpolation algorithm, the functional relationship between the error change and the corresponding changes in the previous pose error, current pose error, and theoretical control parameters is determined: ΔE(t) = Y(E(t-1), ΔC(t), C(t)). Specifically, this functional relationship is a second-order polynomial function with the error change ΔE(t) as the dependent variable and the previous pose error E(t-1), current pose error E(t), and theoretical control parameter change ΔC(t) as independent variables. Taking a one-dimensional output as an example, its specific expansion form is: ΔE(t)=a0+a1·E(t-1)+a2·E(t)+a3·ΔC(t)+a4·E²(t-1)+a5·E²(t)+a6·ΔC²(t)+a7·E(t-1)·E(t)+a8·E(t-1)·ΔC(t)+a9·E(t)·ΔC(t) In the formula, E(t-1) represents the previous pose error at the previous acquisition time, E(t) represents the current pose error at the current acquisition time, and ΔC(t) represents the change in theoretical control parameters; the coefficients a0~a9 are regression coefficients determined by fitting historical data. For multi-dimensional output, each output dimension has its own independent set of coefficients, i.e., a coefficient matrix. That is, the change in the current pose error is jointly determined by the pose error state at the previous acquisition time, the change in control commands, and the current theoretical operating conditions.

[0051] Before the casing drilling rig continues to operate until the next acquisition moment, the theoretical control parameter for the next acquisition moment can be known in advance through simulation as C(t+1). Then, the change in the theoretical control command ΔC(t+1) = C(t+1) - C(t) can be calculated. Substituting the current pose error E(t) corresponding to the current acquisition moment, the previous pose error E(t-1) at the previous acquisition moment, and the change in the theoretical control command ΔC(t+1) into the above functional relationship Y(x), we obtain the change in the prediction error ΔE(t+1), that is, ΔE(t+1) = a0 + a1·E(t-1) + a2·E(t) + a3·ΔC(t+1) + a4·E²(t-1) + a5·E²(t) + a6·ΔC²(t+1) + a7·E(t-1)·E(t) + a8·E(t-1)·ΔC(t+1) + a9·E(t)·ΔC(t+1). The sum of the predicted error change ΔE(t+1) and the current pose error is taken as the comprehensive error E_total(t+1) = E(t) + ΔE(t+1) for the next acquisition time. Based on the comprehensive error E_total(t+1), the controller of the casing drilling rig can calculate the control compensation amount that needs to be applied in advance, so as to start adjusting before reaching time t+1, realizing feedforward predictive control to adjust the pose of the casing drilling rig and improve rescue safety.

[0052] Furthermore, step S50 above includes steps S51 to S52: Step S51: Determine the compensation matrix based on the mapping relationship between the control parameters and the pose change. The compensation matrix is ​​used to represent the change in pose caused by the change in control parameters within a preset unit.

[0053] Step S52: Using the compensation matrix and comprehensive error as input parameters of the preset compensation equation, solve the compensation equation to obtain the compensation control parameters.

[0054] For example, assuming all control parameters are represented as the control vector C, all pose changes are represented as the pose change vector E, and the compensation matrix is ​​an invertible matrix J, then the mapping relationship between the control parameters and pose changes can be expressed as E = J × ΔC. Wherein, if the control vector C is m-dimensional (i.e., there are m control parameters) and the pose change vector E is n-dimensional (i.e., there are n pose changes), then the compensation matrix J is m × n dimensional. This represents the change in pose caused by the change in the j-th unit control parameter.

[0055] When the comprehensive error E(t+1) is obtained, to ensure that the change in pose caused by the compensation of the ideal control parameters is equal to the comprehensive error, the compensation equation can be set as J×ΔC=-E(t+1). Solving for ΔC will yield the various compensation control parameters.

[0056] Optionally, if the dimension m of the control vector C is equal to the dimension n of the pose change vector E, then .

[0057] Optionally, if the dimension m of the control vector C is greater than the dimension n of the pose change vector E, then the pseudo-inverse is used to obtain the minimum norm solution: ,in .

[0058] Optionally, if the dimension m of the control vector C is less than the dimension n of the pose change vector E, then the current control parameters cannot compensate for all the integrated errors, and the weighted least squares method is used to solve the problem. , where W is the weight matrix, reflecting the importance of each error component.

[0059] In this context, the dimension of the control vector refers to the number of independently controllable variables, such as propulsion speed, rotation speed, feed pressure, and lifting force. The dimension of the pose change vector refers to the number of output variables to be controlled, such as displacement changes and angle changes.

[0060] Step S60: Based on the compensation control parameters, a control command is sent to the target component to adjust the position and posture of the casing drilling rig.

[0061] Based on the compensation control parameters obtained in step S50 above, corresponding control commands are generated and sent to the target components. The target components adjust their motion state according to the received control commands, such as adjusting the extension amount and speed of the piston rod of the feed cylinder, the speed and output torque of the motors in the inner and outer tube power heads, etc., to coordinate the cooperative actions of each target component in order to adjust the position and posture of the casing drilling rig.

[0062] This embodiment accurately calculates the current pose error by real-time acquisition of the current pose parameters and theoretical control parameters of the pose measurement point. Simultaneously, it captures the error changes and theoretical control parameter changes between the previous and current acquisition times. A multinomial interpolation algorithm is then used to construct a multi-parameter correlation function, enabling accurate prediction of the error change trend at the next acquisition time. Based on this prediction, a comprehensive error is obtained, and compensation control parameters are determined. This allows for early prediction and proactive compensation of pose deviations, enabling rapid response to minor pose changes caused by uneven ground, metallic obstacles, and other factors. Timely adjustments to the target component's movement through compensation control parameters prevent the deviation from escalating, effectively avoiding serious accidents such as stuck drill bits and borehole collapse caused by accumulated errors, thus improving rescue safety.

[0063] Based on the first embodiment of the present invention, in the second embodiment of the present invention, the contents that are the same as or similar to those in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, refer to... Figure 4The target component includes an offset cylinder. The cylinder end of the offset cylinder is fixed to the head of the casing 16 via a hinge point. The piston rod end of the offset cylinder is connected to the tail of the adjustable guide head 18 near the cutterhead 17 via another hinge point. The adjustable guide head 18 is connected to the head of the casing via a hinge shaft 14 and can swing up and down via the hinge shaft 14. The outer diameter of the adjustable guide head 18 is the same as the outer diameter of the casing 16. The adjustable guide head 18 is installed between the cutterhead 17 and the casing 16 and is connected to the casing 16 via the hinge shaft 14 and the retractable offset cylinder. When the piston rod of the offset cylinder is fully retracted, the adjustable guide head 18 is coaxial with the casing 16, and the casing drilling rig is in a horizontal and straight drilling mode. When the piston rod of the offset cylinder is fully extended, the adjustable guide head 18 forms the maximum guide angle with the casing 16, and the casing drilling rig is in a full-power directional drilling mode. During actual inclined construction, the guide angle between the adjustable guide head 18 and the casing 16 can be arbitrarily adjusted between 0 and the maximum guide angle according to the magnitude of the piston rod extension force of the offset cylinder.

[0064] Optionally, when the target component is an offset cylinder, the pose measurement point is set inside the auger drill pipe and at the connection between the piston rod and the cylinder barrel of the offset cylinder.

[0065] Among them, when the preset acquisition time is reached, the current pose parameters of the upper pose measurement point of the bias cylinder include the current first tilt angle acquired by the gyroscope sensor inside the auger drill pipe, and the current displacement of the piston rod acquired by the sensor at the connection between the piston rod and the cylinder barrel; when the preset acquisition time is reached, the current theoretical control parameters of the upper pose measurement point of the bias cylinder include the extension amount and extension speed of the bias cylinder.

[0066] like Figure 4 A gyroscope sensor 13 is installed inside the auger rod 15 near the cutterhead to acquire the current first tilt angle, which reflects the tilt angle and azimuth angle of the auger rod in space, and the current displacement of the piston rod is acquired by a magnetostrictive displacement sensor.

[0067] Therefore, when the target component is an offset cylinder, the compensation control parameters include the compensation extension amount and compensation extension speed of the offset cylinder. Step S60 above includes step S61: Step S61: Based on the compensation extension amount and compensation extension speed of the bias cylinder, control the piston rod of the bias cylinder to extend, so as to push the adjustable guide head to rotate around the hinge axis to form a guide angle and adjust the inclination angle of the auger drill rod; wherein, the greater the extension amount of the bias cylinder, the greater the guide angle, and the greater the inclination angle of the auger drill rod.

[0068] The extension length refers to the required elongation of the piston rod in the offset cylinder, which determines the size of the guide angle formed by the adjustable guide head. The extension speed refers to the rate at which the piston rod extends, controlling the speed and smoothness of guide angle formation. During the correction process, a stable extension speed can avoid severe impacts on the drill bit and drill pipe, ensuring the smoothness of the guiding process and preventing drill string vibration or stuck drill bit due to excessively rapid movement.

[0069] The control system of the casing drilling rig converts the compensation extension amount and compensation extension speed into analog current signals that drive the hydraulic servo valve. The hydraulic servo valve precisely adjusts the flow rate and direction of the hydraulic oil flowing towards the bias cylinder based on the magnitude and direction of the control current. High-pressure oil pushes the piston of the bias cylinder, causing it to extend smoothly at the compensation speed until the compensation extension amount is reached. As the piston rod of the bias cylinder extends, it acts as the driving arm, pushing the adjustable guide head to rotate around the hinge axis. The greater the extension amount of the piston rod, the greater the angle at which the guide head swings, resulting in a larger guide angle. This guide angle causes the auger drill pipe to experience a continuous lateral force during rotary drilling, thus forcing a change in drilling direction. The larger the guide angle, the greater the lateral force applied to the auger drill pipe, the stronger the tendency to change direction, and ultimately, the greater the change in the inclination angle of the auger drill pipe, i.e., the tangent direction of the borehole trajectory.

[0070] Based on the above embodiments, in the third embodiment of the present invention, the same or similar contents as those in the above embodiments can be referred to the above description, and will not be repeated hereafter. In addition, the target component also includes hydraulic outriggers for the casing drilling rig, which are driven by electro-hydraulic controlled support cylinders; the cylinder end of the support cylinder is connected to the drilling rig chassis via a hinged base or is fixedly installed on the drilling rig chassis, and the piston rod end of the support cylinder contacts the ground via a support foot plate.

[0071] Understandably, regardless of the slope of the tunnel surface, the casing drilling rig can be kept at its theoretical inclination angle by controlling the extension of the hydraulic outriggers. During drilling, ensuring that each hydraulic outrigger provides sufficient support to resist the enormous reaction forces and vibrations generated by feed, pull-out, and rotation can prevent the casing drilling rig from shifting or overturning.

[0072] Optionally, when the target component is a hydraulic outrigger, the position measurement point is set on the body of the casing drilling rig and in the hydraulic circuit of the hydraulic outrigger.

[0073] Among them, when the preset acquisition time is reached, the current posture parameters of the hydraulic outrigger upper posture measurement point are obtained, including the current second tilt angle collected by the sensor at the preset measurement point on the machine body and the current pressure of the pressure sensor in the hydraulic circuit of each hydraulic outrigger; when the preset acquisition time is reached, the current theoretical control parameters of the hydraulic outrigger upper posture measurement point are obtained, including the extension amount and extension speed of the support cylinder.

[0074] For example, tilt sensors are installed at at least one of the aforementioned measuring points on the drilling rig body to determine the pitch and roll angles of the drilling rig body relative to the horizontal plane, i.e., the aforementioned current second tilt angle. Simultaneously, pressure sensors are installed on the inlet and / or return oil lines of the support cylinders of each hydraulic outrigger to measure the oil pressure and obtain the current pressure.

[0075] Therefore, when the target component is a hydraulic outrigger, the compensation control parameters include the target extension amount of the support cylinder. Step S60 above includes step S62: Step S62: Based on the compensation extension amount and compensation extension speed of the support cylinder, control the electro-hydraulic proportional valve or servo valve of the hydraulic outrigger to drive hydraulic oil into or out of the support cylinder, so as to extend and retract the piston rod of the support cylinder to adjust the position of the casing drilling rig.

[0076] For example, the compensated extension amount and speed of the support cylinder are converted into analog current signals or PWM signals to drive the electro-hydraulic proportional valve or servo valve. Based on the received control signals, the electro-hydraulic proportional valve or servo valve precisely adjusts the flow rate and direction of hydraulic oil to the rodless and rod chambers of each support cylinder. High-pressure oil pushes the piston of the support cylinder, causing the piston rod of the hydraulic outrigger to extend and retract independently. For example, when it is necessary to raise a corner, the piston rod of the corresponding hydraulic outrigger extends; when it is necessary to lower a corner, the piston rod retracts.

[0077] The coordinated change in the extension of the hydraulic outriggers can directly alter the height of the casing drilling rig chassis relative to the ground. Through this differentiated adjustment, the pitch and roll angles of the rig can be corrected, restoring it to a horizontal position.

[0078] In this embodiment, the hydraulic outriggers, through an independent control mechanism, can adapt to various inclined roadway surfaces. The above embodiment combines tilt angle control with support force monitoring to form a dual protection mechanism, effectively preventing equipment overturning risks, compensating for ground subsidence and other disturbances in real time, and ensuring the operational stability of the casing drilling rig under complex geological conditions.

[0079] For example, in order to facilitate understanding of the position adjustment method of the casing drilling rig given in this embodiment and the above embodiments, this embodiment also provides the following application data examples of offset cylinder adjustment and hydraulic outrigger adjustment.

[0080] Application Scenario 1: Taking a preset acquisition interval of 100ms and horizontal drilling of the auger rod as an example, i.e., the theoretical first inclination angle is 0°. The parameters of the offset cylinder and auger rod at times t-100ms, t, and t+100ms are shown in the table below: Table 1. Parameters of the offset cylinder and auger drill pipe at times t-100ms, t, and t+100ms.

[0081] First, calculate the error change ΔE = - =-0.3°-(-0.2°)=-0.1°; Theoretical extension change ΔL=12mm-10mm=2mm; Theoretical extension speed change ΔV=25mm / s-20mm / s=5mm / s.

[0082] Suppose we construct a functional relationship using historical data: Δ =0.02 +0.01ΔL+0.005ΔV. Substituting the data at time t, predict the error change at t+100ms: Δ =0.02×(-0.3°)+0.01×2mm+0.005×5mm / s=-0.001°. The total error E_total is obtained. +Δ =-0.3°+(-0.001°)=-0.301°. Based on simulation or experimental measurements, a 1mm compensation extension corresponds to a 0.1° tilt angle correction, meaning the compensation matrix is ​​0.1° / mm. Therefore, the compensation extension is approximately 0.301°÷0.1° / mm≈3.01mm, and the compensation extension speed is 30mm / s. The offset cylinder operates at a compensation extension of 3mm and a speed of 30mm / s, pushing the adjustable guide head to form a 0.3° guide angle. At t+100ms, the first tilt angle of the drill pipe is corrected to 0.001°, approaching the target value.

[0083] Application Scenario 2: A casing drilling rig is used for drilling in tunnel construction. It includes four hydraulic outriggers: front left hydraulic outrigger L1, front right hydraulic outrigger L2, rear left hydraulic outrigger L3, and rear right hydraulic outrigger L4. The theoretical second tilt angle of the casing drilling rig body is 0° pitch and 0° roll, meaning it remains horizontal. The parameters of the casing drilling rig body and hydraulic outriggers at times t-100ms, t, and t+100ms are shown in the table below: Table 2. Parameters of the casing drilling rig body and hydraulic outriggers at times t-100ms, t, and t+100ms

[0084] First, calculate the pose error to determine the pitch angle error (previous pose error) at the previous moment. =0.3°-0°=0.3°; Current pitch angle error =0.5°-0°=0.5°; Roll angle error at the previous moment (previous pose error) =0.2°-0°=0.2°; Current roll angle error =0.4°-0°=0.4°. The change in pitch angle error Δ can then be calculated. = - =0.5° - 0.3° = 0.2°; Roll angle error change Δ = - =0.4°-0.2°=0.2°. Next, determine the changes in theoretical control parameters: extension amount change ΔL(L1-L4)=79mm-78mm=1mm; extension speed change ΔV=15mm / s-12mm / s=3mm / s; pressure change ΔP(L1 / L2)=18MPa-19MPa=-1MPa; ΔP(L3 / L4)=22MPa-21MPa=1MPa.

[0085] Assuming a functional relationship is constructed based on historical data: the change in pitch angle prediction error Δ =0.04 +0.01ΔL+0.006ΔV, where, The current error is represented by ΔL, where ΔL is the change in extension and ΔV is the change in velocity. The change in roll angle prediction error is Δ. =0.04 +0.01ΔL+0.006ΔV.

[0086] Substitute the above parameters to calculate Δ =0.04×0.5°+0.01×1mm+0.006×3mm / s=0.02°+0.01+0.018=0.048°; Δ =0.04×0.4°+0.01×1mm+0.006×3mm / s=0.016°+0.01+0.018=0.044°. Therefore, the combined pitch angle error E p _total= +Δ =0.5° + 0.048° = 0.548°; Total roll angle error E _total= +Δ =0.4° + 0.044° = 0.444°. Based on simulations or experiments, a 1mm outrigger extension corresponds to a 0.1° tilt angle correction, and a 1mm extension corresponds to a 0.5MPa pressure increase. Therefore, the compensation control parameters can be calculated as follows: L1: Both pitch and roll angles need to be compensated simultaneously. The compensation extension is approximately 0.548° ÷ 0.1° / mm + 0.444° ÷ 0.1° / mm ≈ 9.92mm, and the compensation speed is 18mm / s. L2: Only compensates for pitch angle, compensation extension = 0.548° ÷ 0.1° / mm ≈ 5.48mm, compensation speed = 18mm / s; L3: Only compensates for roll angle, compensation extension = 0.444° ÷ 0.1° / mm ≈ 4.44mm, compensation speed = 18mm / s; L4: No tilt angle error, compensation extension = 0mm, compensation speed = 15mm / s (maintaining theoretical speed). The L1 / L2 / L3 outriggers are controlled to extend and retract according to the compensation parameters. At t+100ms, the pitch angle of the rig is corrected to 0.048° and the roll angle is corrected to 0.044°, approaching the target horizontal state. The hydraulic circuit pressure of the four outriggers is stable at 20MPa, and the supporting force is uniform, effectively offsetting the disturbance caused by ground subsidence and preventing the drilling rig from shifting or overturning.

[0087] Figure 5 A trend chart of the overall error variation corresponding to the traditional pose adjustment scheme and the pose adjustment scheme of the present invention is given.

[0088] It should be noted that the above examples are only for understanding the present invention and do not constitute a limitation on the position adjustment method of the casing drilling rig of the present invention. Any simple modifications based on this technical concept are within the protection scope of the present invention.

[0089] The present invention provides a position adjustment device for a casing drilling rig, the position adjustment device for the casing drilling rig includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the position adjustment method for the casing drilling rig in the above embodiment 1.

[0090] like Figure 6 A schematic diagram of a position adjustment device suitable for implementing embodiments of the present invention is provided. The position adjustment device for the casing drilling rig in this embodiment may include, but is not limited to, mobile terminals such as laptops and tablets (PADs), and fixed terminals such as desktop computers. Figure 6 The given example of a positioning and orientation adjustment device for a casing drilling rig is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0091] like Figure 6As shown, the attitude adjustment device of a casing drilling rig may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) or programs loaded from storage devices into random access memory (RAM). The RAM also stores various programs and data required for the operation of the attitude adjustment device of the casing drilling rig. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus. Typically, the following systems can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disks, etc.; and communication devices. The communication device allows the attitude adjustment device of the casing drilling rig to communicate wirelessly or wiredly with other devices to exchange data. Although the diagram shows attitude adjustment equipment for casing drilling rigs with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0092] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a read-only memory. When the computer program is executed by a processing device, it performs the functions defined in the methods of the embodiments disclosed in this invention.

[0093] The position adjustment device for a casing drilling rig provided by this invention, employing the position adjustment method for a casing drilling rig in the above embodiments, can solve the technical problem of how to automatically adjust the position of the casing drilling rig to improve rescue safety. Compared with the prior art, the beneficial effects of the position adjustment device for a casing drilling rig provided by this invention are the same as those of the position adjustment method for a casing drilling rig provided in the above embodiments, and other technical features in this position adjustment device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0094] It should be understood that the various parts disclosed in this invention can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0095] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

[0096] The present invention provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, the computer-readable program instructions being used to execute the attitude adjustment method of the casing drilling rig in the above embodiments.

[0097] The computer-readable storage medium provided by this invention may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0098] The aforementioned computer-readable storage medium may be included in the attitude adjustment device of the casing drilling rig; or it may exist independently and not be assembled into the attitude adjustment device of the casing drilling rig.

[0099] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the attitude adjustment device of the casing drilling rig, enable the attitude adjustment device to write computer program code for performing the operations of the present invention in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, or as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0101] The modules involved in the embodiments of this invention can be implemented in software or hardware. The name of the module does not, in some cases, constitute a limitation on the unit itself.

[0102] The readable storage medium provided by this invention is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described method for adjusting the position of a casing drilling rig. This solves the technical problem of how to automatically adjust the position of the casing drilling rig to improve rescue safety. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this invention are the same as those of the method for adjusting the position of the casing drilling rig provided in the above embodiments, and will not be repeated here.

[0103] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method for adjusting the position of a casing drilling rig.

[0104] The computer program product provided by this invention can solve the technical problem of how to automatically adjust the position and orientation of the casing drilling rig to improve rescue safety. Compared with the prior art, the beneficial effects of the computer program product provided by this invention are the same as the beneficial effects of the casing drilling rig position and orientation adjustment method provided in the above embodiments, and will not be repeated here.

[0105] The above are some embodiments of the present invention, and do not limit the patent scope of the present invention. All equivalent structural transformations made under the technical concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

[0106] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0107] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0108] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A method for adjusting the position and posture of a casing drilling rig, characterized in that, Includes the following steps: Step S10: At the preset acquisition time, acquire the current pose parameters and current theoretical control parameters of the preset pose measurement points on the target component of the casing drilling rig, and determine the current pose error based on the difference between the current pose parameters and the current theoretical control parameters. Step S20: Read the stored previous acquisition time's previous pose error, determine the error change between the previous acquisition time's previous pose error and the current pose error, and determine the theoretical control parameter change between the theoretical control parameters of each pose measurement point at the previous acquisition time and the current theoretical control parameters. Step S30: Using a polynomial interpolation algorithm, determine the functional relationship between the error change and the corresponding previous pose error, current pose error, and theoretical control parameter change. Step S40: Based on the functional relationship and the theoretical control parameters at the next acquisition time, determine the change in prediction error at the next acquisition time, and use the sum of the change in prediction error and the current pose error as the comprehensive error. Step S50: Determine the compensation control parameters corresponding to the next acquisition time based on the comprehensive error; Step S60: Based on the compensation control parameters, a control command is sent to the target component to adjust the position and posture of the casing drilling rig.

2. The method for adjusting the position of a casing drilling rig as described in claim 1, characterized in that, Step S50 includes: The compensation matrix is ​​determined based on the mapping relationship between the control parameters and the pose change, and the compensation matrix is ​​used to represent the change in pose caused by the change in control parameters of a preset unit. The compensation matrix and the comprehensive error are used as input parameters of the preset compensation equation. The solution of the compensation equation is obtained to obtain the compensation control parameters.

3. The method for adjusting the position of a casing drilling rig as described in claim 1, characterized in that, The target component includes an offset cylinder. The cylinder end of the offset cylinder is fixed to the head of the heel sleeve via a hinge point. The piston rod end of the offset cylinder is connected to the tail of an adjustable guide head via another hinge point. The adjustable guide head is connected to the head of the heel sleeve via a hinge shaft. The adjustable guide head can swing up and down via the hinge shaft.

4. The method for adjusting the position of a casing drilling rig as described in claim 3, characterized in that, When the target component is the offset cylinder, the pose measurement point is set inside the auger drill rod and at the connection between the piston rod and the cylinder barrel of the offset cylinder; When the preset acquisition time is reached, the current pose parameters of the pose measurement point on the bias cylinder are obtained, including the current first tilt angle acquired by the gyroscope sensor inside the spiral drill rod, and the current displacement of the piston rod acquired by the sensor at the connection between the piston rod and the cylinder. When the preset acquisition time is reached, the current theoretical control parameters of the pose measurement point on the bias cylinder are obtained, including the extension amount and extension speed of the bias cylinder.

5. The method for adjusting the position and orientation of a casing drilling rig as described in claim 4, characterized in that, The compensation control parameters include the compensation extension amount and compensation extension speed of the bias cylinder; The step of issuing control commands to the target component based on the compensation control parameters to adjust the position and orientation of the casing drilling rig includes: Based on the compensation extension amount and compensation extension speed of the bias cylinder, the piston rod of the bias cylinder is controlled to extend, thereby pushing the adjustable guide head to rotate around the hinge axis to form a guide angle, and adjusting the inclination angle of the auger drill rod; wherein, the greater the extension amount of the bias cylinder, the greater the guide angle, and the greater the inclination angle of the auger drill rod.

6. The method for adjusting the position of a casing drilling rig as described in claim 1, characterized in that, The target component also includes the hydraulic outriggers of the casing drilling rig, which are driven by electro-hydraulic controlled support cylinders. The cylinder end of the support cylinder is connected to the drilling rig chassis via a hinged base or is fixedly installed on the drilling rig chassis. The piston rod end of the support cylinder is in contact with the ground via a support foot plate.

7. The method for adjusting the position of a casing drilling rig as described in claim 6, characterized in that, When the target component is a hydraulic outrigger, the position measurement point is set in the body of the casing drilling rig and in the hydraulic circuit of the hydraulic outrigger; When the preset acquisition time is reached, the current pose parameters of the pose measurement point on the hydraulic outrigger are obtained, including the current second tilt angle acquired by the sensor at the preset measurement point on the machine body and the current pressure of the pressure sensor in the hydraulic circuit of each hydraulic outrigger. When the preset acquisition time is reached, the current theoretical control parameters of the pose measurement point on the hydraulic outrigger obtained include the extension amount and extension speed of the support cylinder.

8. The method for adjusting the position of a casing drilling rig as described in claim 7, characterized in that, The compensation control parameters include the compensation extension amount and compensation extension speed of the support cylinder; The step of issuing control commands to the target component based on the compensation control parameters to adjust the position and orientation of the casing drilling rig includes: Based on the compensation extension amount and compensation extension speed of the support cylinder, the electro-hydraulic proportional valve or servo valve of the hydraulic outrigger is controlled to drive hydraulic oil into or out of the support cylinder, so as to extend and retract the piston rod of the support cylinder to adjust the position of the casing drilling rig.

9. A position adjustment device for a casing drilling rig, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the position adjustment method for the casing drilling rig as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the position adjustment method of the casing drilling rig as described in any one of claims 1 to 8.

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