CN112727434B - Control method and control device of rotary drilling rig - Google Patents
Control method and control device of rotary drilling rig Download PDFInfo
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- CN112727434B CN112727434B CN202110008708.1A CN202110008708A CN112727434B CN 112727434 B CN112727434 B CN 112727434B CN 202110008708 A CN202110008708 A CN 202110008708A CN 112727434 B CN112727434 B CN 112727434B
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- 238000005553 drilling Methods 0.000 title claims abstract description 159
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- 238000001514 detection method Methods 0.000 claims description 7
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/023—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting the mast being foldable or telescopically retractable
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Abstract
The invention discloses a control method and a control device of a rotary drilling rig, wherein the method comprises the following steps: acquiring a current running mode of the rotary drilling rig; when the current running mode of the rotary drilling rig is a top-bottom plate car mode, the mast of the rotary drilling rig is lowered to the bottom; the mast oil cylinder is adjusted to a position higher than a preset plane by lifting the amplitude changing mechanism of the rotary drilling rig, and the engine gear of the rotary drilling rig is adjusted to a preset gear; detecting the running speed of the two tracks of the rotary drilling rig at a preset gear relative to the direction of a scooter, and calculating the speed deviation of the two tracks; and determining a direction compensation amount according to the speed deviation, and correcting the current control direction of the rotary drilling rig through the direction compensation amount. The rotary drilling rig is controlled by the upper and lower plates of the rotary drilling rig, so that the lower pressing plate of the power head is prevented from colliding with the ground, and the transportation cost is further ensured; by controlling the running speeds of the two tracks of the rotary drilling rig, the linearity of the left track and the right track is ensured, and the phenomenon of deviation and turning of the rotary drilling rig is avoided.
Description
Technical Field
The invention relates to the technical field of computer control, in particular to a control method and a control device of a rotary drilling rig.
Background
When the rotary drilling rig is shipped or the construction is transferred, the rotary drilling rig is required to be driven onto a scooter, an operator is required to have a skilled operation skill, an engine gear is required to be controlled to be at a low gear in the process of operating the rotary drilling rig to go up and down the scooter, the phenomenon that the scooter is blocked due to insufficient moment in the process of going up and down the scooter is prevented, meanwhile, the height of a mast is required to be controlled in the process of going up and down the scooter, the power head and the ground are prevented from being damaged by collision, and in order to ensure that the phenomenon of deviation and rollover does not occur in the process of going up and down the scooter, the driving track is required to be corrected at any time. Therefore, the difficulty in controlling the process of controlling the upper and lower plate cranes of the rotary drilling rig by an operator is very high, and in order to ensure the control accuracy, repeated adjustment is often required, so that the working efficiency is affected.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a control method and a control device for a rotary drilling rig, which solve the problems that the process of manually loading and unloading a plate trailer of the rotary drilling rig is difficult to control, and further the working accuracy and the working efficiency cannot be ensured.
In order to achieve the above purpose, the present invention provides the following technical solutions:
in a first aspect, an embodiment of the present invention provides a control method for a rotary drilling rig, including the following steps: acquiring a current running mode of the rotary drilling rig; when the current running mode of the rotary drilling rig is an up-down plate car mode, the mast of the rotary drilling rig is lowered to the bottom; the mast oil cylinder is adjusted to a position higher than a preset plane by lifting the amplitude changing mechanism of the rotary drilling rig, and the engine gear of the rotary drilling rig is adjusted to a preset gear; detecting the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter in the preset gear, and calculating the speed deviation of the two tracks; and determining a direction compensation quantity according to the speed deviation, and correcting the current control direction of the rotary drilling rig by the direction compensation quantity so as to ensure that the running speeds of the two tracks in the direction of the scooter are consistent.
According to the control method of the rotary drilling rig, the rotary drilling rig is correspondingly adjusted by determining the current running mode of the rotary drilling rig, so that the rotary drilling rig is controlled to be driven to go up and down by a plate vehicle, the phenomenon that a lower pressing plate of a power head collides with the ground, and the power head is scratched to cause equipment damage is prevented, and further the transportation cost is guaranteed; by controlling the running speeds of the two tracks of the rotary drilling rig, the linearity of the left track and the right track is ensured, and the phenomenon of deviation and turning of the rotary drilling rig is avoided.
In an embodiment, the determining a direction compensation amount according to the speed deviation, and correcting the current control direction of the rotary drilling rig by using the direction compensation amount includes: acquiring a corresponding relation between the speed deviation and the direction compensation quantity, and determining the direction compensation quantity by using the speed deviation and the corresponding relation; and correcting the current control direction of the rotary drilling rig through the direction compensation quantity, adjusting the running speed of the two tracks of the rotary drilling rig relative to the direction of the scooter to be consistent, and determining the running track of the two tracks of the rotary drilling rig relative to the direction of the scooter.
According to the control method of the rotary drilling rig, the direction compensation quantity is determined through the relation between the speed deviation and the direction compensation quantity of the two tracks, so that the control directions of the two tracks of the rotary drilling rig are adjusted, the traveling linearity and the working efficiency of the left track and the right track are ensured, and the phenomenon of deviation and turning of the rotary drilling rig is avoided.
In an embodiment, the obtaining the current operation mode of the rotary drilling rig includes: and acquiring an operation signal, and determining that the operation mode of the rotary drilling rig is an up-down plate car mode or a transportation mode according to the operation signal.
In an embodiment, the method for controlling a rotary drilling rig provided in this embodiment further includes: and when the running mode of the rotary drilling rig is the upper and lower plate vehicle mode, generating prompt information.
According to the control method of the rotary drilling rig, the rotary drilling rig is reminded of the on-line and off-line modes, and the reminding information is used for reminding continuously, so that the safety of work is further guaranteed.
In a second aspect, an embodiment of the present invention provides a control device for a rotary drilling rig, including: the control module is used for realizing the control method of the rotary drilling rig according to the first aspect of the embodiment and any optional implementation manner of the first aspect; the detection module is used for detecting the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter when the rotary drilling rig is in an up-down scooter mode, and sending the detected running speeds to the control module; the detection module is also used for receiving an operation signal and sending the operation signal to the control module.
In an embodiment, the control device of the rotary drilling rig provided by the invention further comprises: and the display module is used for displaying the moving track of the two tracks of the rotary drilling rig relative to the direction of the scooter.
In an embodiment, the control device of the rotary drilling rig provided by the invention further comprises: and the control module is also used for generating prompt information when the operation mode of the rotary drilling rig is a plate loading and unloading mode and sending the prompt information through the alarm.
The embodiment of the invention provides a computer readable storage medium which stores computer instructions which when executed by a processor realize the control method of the rotary drilling rig according to the first aspect and any optional mode.
The embodiment of the invention provides electronic equipment, which comprises: the rotary drilling rig control method comprises the steps of enabling a memory and a processor to be in communication connection with each other, storing computer instructions in the memory, and executing the computer instructions by the processor, so that the rotary drilling rig control method according to the first aspect and any optional mode is executed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a specific example of a control method of a rotary drilling rig according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for calculating a speed deviation according to an embodiment of the present invention;
FIG. 3 is a flowchart of another specific example of a control method of a rotary drilling rig according to an embodiment of the present invention;
fig. 4 is a functional module composition diagram of a control device of a rotary drilling rig according to an embodiment of the present invention;
fig. 5 is a composition diagram of a specific example of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In practical application, when the rotary drilling rig is shipped in a factory or a customer needs to transfer construction, the rotary drilling rig needs to be driven to a plate trailer, which requires a skilled operation skill of an operator. In the process of operating the rotary drilling rig to get on or off the vehicle, the gear of the engine needs to be controlled to be in a low gear, the phenomenon that the engine is inclined to turn over due to insufficient moment in the process of getting on or off the vehicle is prevented, meanwhile, in the process of getting on or off the vehicle, the height of the mast needs to be controlled, the power head is prevented from being damaged by collision with the ground, in order to ensure that the phenomenon of inclined to turn over due to the deviation of the engine does not occur in the process of getting on or off the vehicle, and the vehicle track needs to be corrected at any time.
Therefore, an embodiment of the present invention provides a control method of a rotary drilling rig, as shown in fig. 1, including the following steps:
step S1: and acquiring the current running mode of the rotary drilling rig.
In the embodiment of the invention, the current operation mode of the rotary drilling rig can be acquired by using the existing acquisition equipment, and the confirmation signal of the operation mode can be directly received by the controller of the rotary drilling rig, wherein the operation mode is the operation mode of the rotary drilling rig in the transportation process, and comprises an up-down plate-turning mode and a transportation mode, the up-down plate-turning mode is the mode which needs to be maintained in the process of starting the transportation plate-turning during the transportation process, the transportation mode is the mode of the rotary drilling rig which is already parked in the transportation process, and the rotary drilling rig is in a rest flameout state at the moment, and the embodiment is not limited by the above.
Step S2: and when the current running mode of the rotary drilling rig is the upper and lower plate car mode, the mast of the rotary drilling rig is lowered to the bottom. When detecting that the current operation mode of the rotary drilling rig is an up-down plate car mode, the rotary drilling rig needs to be adjusted at the moment to adapt to the up-down plate car process, the mast of the rotary drilling rig is lowered to the bottom, the power head is prevented from colliding with the ground, equipment is damaged, and therefore transportation cost is guaranteed.
Step S3: and adjusting the mast oil cylinder to a position higher than a preset plane by lifting the amplitude changing mechanism of the rotary drilling rig, and adjusting the engine gear of the rotary drilling rig to a preset gear.
The amplitude changing mechanism is used for changing the amplitude of the machine, namely changing the horizontal distance from the center of the lifting hook (or the grab bucket) to the rotation central axis of the machine so as to adapt to the loading and unloading of articles under different conditions. The planetary gear reducer with the built-in high precision and hard tooth surface is characterized by stable operation, high transmission efficiency, compact structure, convenient installation, high bearing capacity and long service life, and has incomparable superiority of cycloidal pin gears and worm wheel reduction amplitude variation mechanisms; the mast oil cylinder of the rotary drilling rig exceeds the plane where the cab is located (namely the position of a preset plane) by lifting the amplitude variation mechanism.
And then the engine gear of the rotary drilling rig is adjusted to a preset gear, the speed of the preset gear is controllable, enough time can be provided for subsequent speed adjustment, the gear can ensure that the torque is high enough, and the problem that the torque of the rotary drilling rig is insufficient to cause flameout in the ascending process is avoided.
Step S4: and detecting the running speed of the two tracks of the rotary drilling rig at the preset gear relative to the direction of the scooter, and calculating the speed deviation of the two tracks.
At the moment, the rotary drilling rig is in a preset gear, the controller detects the running speeds of the two tracks of the rotary drilling rig relative to the direction of a scooter, and calculates the speed deviation of the two tracks, wherein the algorithm for calculating the speed deviation of the two tracks can be the existing algorithm, and meanwhile, the output power of the main pump is limited, so that the pedal is not sensitive, and the speed of the pedal control track is stable.
Step S5: and determining a direction compensation quantity according to the speed deviation, and correcting the current control direction of the rotary drilling rig through the direction compensation quantity so as to ensure that the running speeds of the two tracks in the direction of the scooter are consistent.
In the embodiment of the invention, the direction compensation quantity of the rotary drilling rig to be adjusted is determined according to the calculated speed deviation, the current control direction of the rotary drilling rig is corrected through the direction compensation quantity, so that the running speed of the two tracks in the direction of a vehicle is consistent, the phenomenon that the rotary drilling rig is deviated and overturns is caused is avoided, the running track is required to be corrected at any time, the running linearity of the rotary drilling rig is ensured in the process of loading and unloading the vehicle, for example, an algorithm shown in fig. 2 is selected, wherein the CPU calculates the speed deviation according to the monitored left/right rotation degree (the speed of the left track or the speed of the right track is a1 and a2 respectively), and then the proportional valve can convert the calculated speed deviation into the direction compensation quantity and send the direction compensation quantity to the left motor and the right motor so as to realize the direction adjustment.
According to the control method of the rotary drilling rig, the rotary drilling rig is correspondingly adjusted by determining the current running mode of the rotary drilling rig, so that the rotary drilling rig is controlled to be driven by a driver to move up and down, the phenomenon that a lower pressing plate of a power head collides with the ground, and equipment is damaged due to the fact that the power head is scratched is prevented, and further transportation cost is guaranteed; by controlling the running speeds of the two tracks of the rotary drilling rig, the linearity of the left track and the right track is ensured, and the phenomenon of deviation and turning of the rotary drilling rig is avoided.
In a specific embodiment, the step S2, as shown in fig. 3, further includes the following steps:
step S21: and obtaining the corresponding relation between the speed deviation and the direction compensation quantity, and determining the direction compensation quantity by using the speed deviation and the corresponding relation. In the embodiment of the invention, the corresponding relation between the pre-stored speed deviation and the direction compensation amount is firstly obtained, namely, after the speed deviation of the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter is determined, the direction compensation amount required by the rotary drilling rig can be determined so as to be convenient for adjusting the rotary drilling rig.
Step S22: and correcting the current control direction of the rotary drilling rig through the direction compensation quantity, adjusting the running speed of the two tracks of the rotary drilling rig relative to the direction of the scooter to be consistent, and determining the running track of the two tracks of the rotary drilling rig relative to the direction of the scooter.
Correcting the current control direction of the rotary drilling rig through the determined direction compensation amount, and adjusting the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter to be consistent in a mode of correcting the control direction so as to determine that the running direction of the rotary drilling rig is stable; further determining the running track of the two tracks of the rotary drilling rig relative to the direction of the scooter, and facilitating the observation and control of the rotary drilling rig by operators.
In a specific embodiment, the step S1 further includes the following steps:
step S11: and acquiring an operation signal, and determining that the operation mode of the rotary drilling rig is an up-down plate car mode or a working mode according to the operation signal. In the embodiment of the invention, the operation signal is acquired, and the controller can determine that the operation mode of the rotary drilling rig is the upper and lower plate-turning mode or the working mode according to the acquired operation signal, so that the rotary drilling rig can be controlled correspondingly. In practical application, an onboard computer is arranged on the rotary drilling rig, an operation signal is generated by arranging buttons of a shift up and down mode on a touch screen of the onboard computer, random switching of the shift up and down mode is realized by the buttons, wherein the operation signal can be acquired through an external signal acquisition device or through an interface of the onboard computer, and the embodiment of the invention has no limitation on a mode of acquiring the signal.
Specifically, the control method of the rotary drilling rig provided in the embodiment further includes:
step S6: and when the operation mode of the rotary drilling rig is a top-bottom plate car mode, generating prompt information. Particularly, the buzzer can be used for carrying out intermittent warning and alarming to prompt that the current rotary drilling rig is carrying out the process of loading and unloading the vehicle, and surrounding personnel pay attention to safety.
According to the control method of the rotary drilling rig, the rotary drilling rig is correspondingly adjusted by determining the current running mode of the rotary drilling rig, so that the rotary drilling rig is controlled to be driven by a driver to move up and down, the phenomenon that a lower pressing plate of a power head collides with the ground, and equipment is damaged due to the fact that the power head is scratched is prevented, and further transportation cost is guaranteed; the running speeds of the two tracks of the rotary drilling rig are controlled, so that the linearity and the working efficiency of the left and right track running are ensured, and the phenomenon of deviation and turning of the rotary drilling rig is avoided; the automatic reminding device has the advantages that the automatic reminding device reminds that the rotary drilling rig is in a loading and unloading plate vehicle mode, and reminds continuously through the reminding information, so that the working safety is further guaranteed.
An embodiment of the present invention provides a control device for a rotary drilling rig, as shown in fig. 4, including:
the control module 1 is used for realizing a control method of the rotary drilling rig; this module performs the methods described in steps S1-S5, which are not described here.
Specifically, the control device of the rotary drilling rig provided by the embodiment of the invention further comprises: detection module 2, display module 3 and alarm 4:
the detection module 2 is used for detecting the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter when the rotary drilling rig is in an up-down scooter mode, and sending the detected running speeds to the control module 1 so as to facilitate the calculation of speed deviation by the control module 1 and ensure the normal running of the up-down scooter of the rotary drilling rig; the detection module 2 is further configured to receive an operation signal, send the operation signal to the control module 1, and ensure that the control module 1 can change an operation mode of the rotary drilling rig according to the operation signal.
The display module 3 is used for displaying the running track of the two tracks of the rotary drilling rig relative to the direction of the scooter, so that the problem that an operator continuously stretches out of a cab window to observe when the rotary drilling rig is controlled, the driving direction is corrected, and the working efficiency is affected is avoided. The control module 1 is further used for generating prompt information when the operation mode of the rotary drilling rig is a top-bottom plate car mode, and sending out the prompt information through the alarm 4.
According to the control device for the rotary drilling rig, the rotary drilling rig is correspondingly adjusted by determining the current running mode of the rotary drilling rig, so that the rotary drilling rig is controlled to be driven by a driver to move up and down, the phenomenon that a lower pressing plate of a power head collides with the ground, equipment is damaged due to scraping of the power head is prevented, and further transportation cost is guaranteed; the running speeds of the two tracks of the rotary drilling rig are controlled, so that the linearity and the working efficiency of the left and right track running are ensured, and the phenomenon of deviation and turning of the rotary drilling rig is avoided; the automatic reminding device has the advantages that the automatic reminding device reminds that the rotary drilling rig is in a loading and unloading plate vehicle mode, and reminds continuously through the reminding information, so that the working safety is further guaranteed.
The present invention also provides an electronic device, as shown in fig. 5, which may include a processor 901 and a memory 902, where the processor 901 and the memory 902 may be connected by a bus or other means, and in fig. 5, the connection is exemplified by a bus.
The processor 901 may be a central processing unit (Central Processing Unit, CPU). The processor 901 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory 902 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods of the embodiments of the present invention. The processor 901 performs various functional applications of the processor and data processing, i.e., implements the above-described methods, by running non-transitory software programs, instructions, and modules stored in the memory 902.
The memory 902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor 901, and the like. In addition, the memory 902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 902 optionally includes memory remotely located relative to processor 901, which may be connected to processor 901 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 902 that, when executed by the processor 901, perform the methods described above.
The specific details of the electronic device may be correspondingly understood by referring to the corresponding related descriptions and effects in the above method embodiments, which are not repeated herein.
It will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the steps of the embodiments of the above-described methods when executed. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
The above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the scope of the claims.
Claims (9)
1. A control method of a rotary drilling rig, comprising:
acquiring a current running mode of the rotary drilling rig;
when the current running mode of the rotary drilling rig is an up-down plate car mode, the mast of the rotary drilling rig is lowered to the bottom;
the mast oil cylinder is adjusted to a position higher than a preset plane by lifting the amplitude changing mechanism of the rotary drilling rig, and the engine gear of the rotary drilling rig is adjusted to a preset gear;
detecting the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter in the preset gear, and calculating the speed deviation of the two tracks;
and determining a direction compensation quantity according to the speed deviation, and correcting the current control direction of the rotary drilling rig by the direction compensation quantity so as to ensure that the running speeds of the two tracks in the direction of the scooter are consistent.
2. The control method according to claim 1, wherein the determining a direction compensation amount according to the speed deviation, correcting the current control direction of the rotary drilling machine by the direction compensation amount, includes:
acquiring a corresponding relation between the speed deviation and the direction compensation quantity, and determining the direction compensation quantity by using the speed deviation and the corresponding relation;
and correcting the current control direction of the rotary drilling rig through the direction compensation quantity, adjusting the running speed of the two tracks of the rotary drilling rig relative to the direction of the scooter to be consistent, and determining the running track of the two tracks of the rotary drilling rig relative to the direction of the scooter.
3. The control method according to claim 1, wherein the obtaining the current operation mode of the rotary drilling machine includes:
and acquiring an operation signal, and determining that the operation mode of the rotary drilling rig is an up-down plate car mode or a transportation mode according to the operation signal.
4. The control method according to claim 1, characterized by further comprising:
and when the running mode of the rotary drilling rig is the upper and lower plate vehicle mode, generating prompt information.
5. A control device for a rotary drilling rig, comprising:
a control module for implementing the control method of the rotary drilling rig according to any one of claims 1-4;
the detection module is used for detecting the running speeds of the two tracks of the rotary drilling rig relative to the direction of the scooter when the rotary drilling rig is in an up-down scooter mode, and sending the detected running speeds to the control module;
the detection module is also used for receiving an operation signal and sending the operation signal to the control module.
6. The control device according to claim 5, characterized by further comprising:
and the display module is used for displaying the moving track of the two tracks of the rotary drilling rig relative to the direction of the scooter.
7. The control device according to claim 5, characterized by further comprising:
and the control module is also used for generating prompt information when the operation mode of the rotary drilling rig is a plate loading and unloading mode and sending the prompt information through the alarm.
8. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the control method of any one of claims 1-4.
9. An electronic device, comprising:
a memory and a processor, said memory and said processor being communicatively coupled to each other, said memory having stored therein computer instructions, said processor, by executing said computer instructions, thereby controlling the method according to any one of claims 1-4.
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