Method, system and computer program for controlling propulsion of a drilling rig as well as a drilling rig

• US 10,232,876 B2
• Filed: 01/29/2015
• Issued: 03/19/2019
• Est. Priority Date: 02/03/2014
• Status: Active Grant

• Current Assignee: Epiroc Rock Drills AB (Epiroc AB)
• Original Assignee: Epiroc Rock Drills AB (Epiroc AB)
• Inventors: Alden, Erik, Ohman, Fredrik, Ahlstrom, Erik
• Primary Examiner(s): Young, Edwin A
• Application Number:
  US15/112,277
• Publication Number:
  US 20160339956A1
• Time in Patent Office: 1,510 Days
• CPC Class Codes: B62D 11/003 Electric or electronic control systems
• CPC Class Codes: B62D 11/04 by means of separate power sources
• CPC Class Codes: B62D 11/12 using separate change-speed gearings
• CPC Class Codes: E21B 7/02 Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
• CPC Class Codes: E21D 11/10 with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
• CPC Class Codes: F16H 48/36 characterised by intentionally generating speed difference between outputs

Abstract

A method for controlling propulsion of a drilling rig. The drilling rig includes a right propulsion unit and a left propulsion unit and mutually independent speed control and a transmission for driving the right propulsion unit and the left propulsion unit. The transmission provides at least two gear states of a gear box. A propulsion speed is request for the right propulsion unit and for the left propulsion unit. A difference is determined between a requested propulsion speed of the right propulsion unit and the left propulsion unit. A suitable gear state is determined based on the determined difference. Also a computer program product including program code for a computer for implementing the method. A system and a drilling rig equipped with the system.

Claims

1. A method for controlling propulsion of a drilling rig, said drilling rig comprising a right propulsion unit and a left propulsion unit and mutually independent speed control and a transmission for driving said right propulsion unit and left propulsion unit, said transmission providing at least two gear states of a gearbox, the method comprising:

requesting a propulsion speed for said right propulsion unit and for said left propulsion unit,

determining a difference between a requested propulsion speed of said right propulsion unit and said left propulsion unit; and

determining suitable gear state on the basis of the thus determined difference.

2. The method according to claim 1, further comprising:

propelling said drilling rig utilizing tracks or wheels, wherein said drilling rig is made to turn by driving said right propulsion unit and left propulsion unit at different speeds.

3. The method according to claim 1, further comprising:

at a determined suitable gear state lower than a current gear state, automatically shifting gear state from said current gear state to said determined lower gear state.

4. The method according to claim 3, further comprising:

after automatically shifting gear state from said current gear state to said determined lower gear state, automatically shifting gear state from said lower gear state to a former higher gear state.

5. The method according to claim 1, further comprising:

at a determined suitable gear state lower than a current gear state presenting a need for shifting gear state from said current gear state to said determined lower gear state to an operator, whereby said operator may choose to manually shift gear state.

6. The method according to claim 1, further comprising:

comparing said difference between requested propulsion speed of said right propulsion unit and said left propulsion unit with a predetermined threshold value, whereby a suitable gear state is determined if said difference exceeds said threshold value.

7. The method according to claim 1, further comprising:

determining requested propulsion speed for said right propulsion unit and said left propulsion unit, whereby said difference is initially determined only if at least one requested propulsion speed exceeds a predetermined threshold value.

8. The method according to claim 1, further comprising:

determining requested propulsion speed for said right propulsion unit and said left propulsion unit, wherein said gear state automatically is shifted to a gear state lower than a current gear state in a case where the requested propulsion speeds relate to opposite directions for said right propulsion unit and said left propulsion unit.

9. A computer program for controlling propulsion of a drilling rig, said computer program comprising:

program code for causing an electronic control unit or a computer connected to the electronic control unit to perform the method according claim 1.

10. A computer program product, comprising:

a program code stored on a computer readable medium, for performing the method according to claim 1, when said program code is run on an electronic control unit or a computer connected to said electronic control unit.

11. A system for controlling propulsion of a drilling rig, said drilling rig comprising a right propulsion unit and a left propulsion unit and mutually independent speed control and a transmission for driving said right propulsion unit and said left propulsion unit, said transmission providing at least two gear states of a gear box, the system comprising:

an actuator for requesting propulsion speed for said right propulsion unit and for said left propulsion unit,

a first control for determining a difference between a requested propulsion speed of said right propulsion unit and said left propulsion unit; and

a second control for determining suitable gear state on the basis of the thus determined difference.

12. The system according to claim 11, wherein said drilling rig is arranged to be propelled by tracks or wheels, and hereby arranged to be made to turn by driving said right propulsion unit and left propulsion unit at different speeds.

13. The system according to claim 11, further comprising:

said transmission for, at a determined suitable gear state lower than a current gear state, automatically shifting gear state from said current gear state to said determined lower gear state.

14. The system according to claim 13, further comprising:

said transmission for automatically shifting gear state from said determined lower gear state to a former higher gear state.

15. The system according to claim 11, further comprising:

an indicator for, at a determined suitable gear state lower than a current gear state, presenting a need to shifting gear state from said current gear state to said determined lower gear state for an operator; and

said transmission for allowing an operator to manually shift gear state.

16. The system according to claim 11, further comprising:

a comparison module configured to compare said difference between requested propulsion speed of said right propulsion unit and said left propulsion unit with a predetermined threshold value; and

a determining module configured to determine a suitable gear state if said difference exceeds said threshold value.

17. The system according to claim 11, further comprising:

a determining module configured to determine requested propulsion speed for said right propulsion unit and said left propulsion unit; and

a determining module configured to initially determine said difference only if at least one requested propulsion speed exceeds a predetermined threshold value.

18. The system according to claim 11, further comprising:

a determining module configured to determine requested propulsion speed for said right propulsion unit and said left propulsion unit and to automatically shifting said gear state to a gear state lower than a current gear state if the requested propulsion speeds relate to opposite directions of said right propulsion unit and said left propulsion unit.

19. The system according to claim 11, wherein said actuator is configured to request propulsion speed comprises two separate control paddles, one for said right propulsion unit and one for said left propulsion unit.

20. The system according to claim 11, wherein said actuator is configured to request propulsion speed comprises a control and a separate accelerator.

21. The system according to claim 11, wherein said transmission comprises a propulsion system for hydraulic control and operation of said propulsion unit.

22. A drilling rig, comprising:

a system according to claim 11.