Downhole operation platform control system and crane

Abstract

The invention relates to the technical field of downhole operation control, in particular to a downhole operation platform control system and a crane, and the system comprises a task identification module, a demand index module, a power sequencing module, a rhythm switching module and a command reconstruction module. According to the method, through accurate recognition of the structure state and parameter linkage, accurate judgment of the initial operation stage is achieved, false starting and false action of the platform are avoided, coupling analysis between operation data can dynamically set the scheduling priority, it is guaranteed that key tasks are executed in advance, coordination is improved, energy supply conditions are judged through power parameter fusion, and paths are distributed according to needs; the energy utilization efficiency is enhanced, stage rhythm conversion achieves stable switching based on action states and logic mapping, action disjunction is prevented, finally, control instructions are rearranged through feedback time delay and an execution sequence, an efficient and ordered response mechanism is formed, the overall operation efficiency, stability and the intelligent level are improved, and the risk of manual intervention and operation imbalance is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of downhole operation control, and in particular to a downhole operation platform control system and a crane. Background Art

[0002] The field of downhole operation control technology involves real-time monitoring, operational control and operation scheduling of the operating status of downhole equipment during oil and gas drilling and maintenance. Core issues include the lifting and lowering of the operating platform, attitude adjustment, power coordination, personnel safety management and positioning and control of downhole tools. Its overall technical field mainly uses hydraulic, mechanical, and electronic control systems to achieve precise control and integrated management of downhole operation processes. Among them, the traditional downhole operation platform control system refers to a system used to coordinate the platform's lifting and lowering movements, control the operation rhythm and ensure operation safety. The technical matter targeted by this patent subject is the complexity and inefficiency of the operation of the downhole operation platform during the downhole operation due to the difficulty of collaboration among multiple execution units, inconsistent platform action responses, and uncentralized operation control. The traditional downhole operation platform control system usually adopts relay control to achieve individual control of each execution unit and manual intervention to adjust the platform status and control the operation rhythm.

[0003] Traditional downhole operation platform control systems rely on relay control to individually control operating units. This lacks the ability to systematically identify the status of different stages in the operational process, preventing the development of state-driven control response logic. This results in an inability to accurately determine the platform's current state during operation startup, posing the risk of false or delayed startups. At the scheduling level, due to the lack of dynamic linkage between operating parameters, a fixed execution sequence, and a lack of feedback mechanisms, high-load stages are often delayed, impacting overall efficiency. The power allocation process lacks real-time monitoring and allocation of energy conditions, resulting in extensive utilization of power resources, which can lead to slow or even stalled responses for some actions. During the action switching phase, there is a lack of mechanisms to determine angle, duration, and completion, resulting in ambiguous transition points and prone to disjointed or redundant actions. At the command output level, fixed instructions are still predominant, lacking dynamic sequencing and priority recognition, leading to chaotic multi-task responses and system execution delays. These issues manifest themselves in actual operations as frequent manual intervention, increased difficulty in task allocation, and poor platform coordination, directly impacting operational efficiency and safety. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a control system and a crane for a downhole operation platform.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: A control system for a downhole operation platform includes: The task identification module obtains the structural state of the work platform in the initial stage, extracts the stroke information of the hydraulic device, the angle parameters of the support mechanism, and the working state of the locking component. Based on the correspondence between the structural states, it determines whether the work platform is in the startup phase and generates a phase state identification code. The demand index module extracts the operating speed, current feedback and load parameters of the current operation link according to the stage status identification code, establishes a control response level identification based on the influence relationship between the parameters, and generates a priority scheduling link number; The power sequencing module reads the pressure value, voltage parameters and response time of the energy supply system according to the priority scheduling link number, determines whether the scheduling conditions are met, and establishes a power path allocation list according to the order and status of the corresponding links, and generates a scheduling instruction table number; The rhythm switching module calls the scheduling instruction table number, extracts the inclination change, duration and action completion status of the current stage, determines whether the switching conditions are met, and extracts the relationship structure between the current action and the adjacent stage goals to form a logical mapping to generate a rhythm conversion structure code.

[0006] As a further solution of the present invention, the stage state identification code includes hydraulic stroke information, support angle parameters, and locking state parameters; the priority scheduling link number includes operating speed parameters, current feedback parameters, and load parameters; the scheduling instruction table number includes pressure value, voltage parameter, and response time; and the rhythm conversion structure code includes inclination angle change, action duration, and action completion status.

[0007] As a further solution of the present invention, the task identification module includes: The structural parameter extraction submodule obtains the structural state of the work platform in the initial stage, extracts the hydraulic device stroke information, support mechanism angle parameters and locking component working status, and processes the parameters in a standard format based on the device feedback data. Based on the processed results, a unified structural parameter sequence is constructed to generate a set value of the structural state parameters. The state relationship judgment submodule compares the hydraulic stroke section, support angle section and locking state combination according to the set value of the structural state parameter, performs judgment and analysis based on the set starting phase conditions, determines whether the current structural state meets the condition requirements, and generates a structural state matching coefficient; The stage identification generation submodule identifies the state sequence number corresponding to the startup stage according to the structural state matching coefficient, establishes an associated index in combination with the operation process node number, determines the stage according to the associated result, and generates a stage state identification code.

[0008] As a further solution of the present invention, the demand index module includes: The state extraction submodule obtains the stage state identification code, extracts the operating speed, current feedback and load parameters corresponding to the operation number according to the identification code, compares the changes between the operating speed and current feedback with the load parameters, and generates the operating state correlation degree; The parameter response submodule calls the stage state identification code according to the operating state correlation, compares the normalized ratio with the offset corresponding to the reference operating speed, combines the change amplitude of the current feedback with the fluctuation of the load parameter, associates it with the operation number, and generates a control response level coefficient; The priority numbering submodule calls the job number according to the control response level coefficient, compares the associated level coefficient differences, identifies the job number with the larger level coefficient, uses it as the priority number of the current stage task, and generates a priority scheduling link number.

[0009] As a further solution of the present invention, the power sequencing module includes: The threshold monitoring submodule obtains the pressure value, voltage parameter and response time of the energy supply system corresponding to the priority scheduling link number, matches the associated energy supply data according to the number information, calls the pressure value and voltage parameter and combines them with the response time, performs parameter comparison and condition judgment based on the pressure threshold, voltage threshold and response time reference value, and generates a scheduling response judgment value; The path screening submodule calls the scheduling link sequence number and state parameters based on the scheduling response judgment value, screens the path nodes with the status mark of available, integrates the screened node information according to the sequence number, and generates a power path number set; The instruction number generation submodule calls the scheduling system path dictionary data according to the power path number set, performs item-by-item matching of the path number and the dictionary identification item, integrates the matching results to construct a scheduling structure sequence, assigns a setting rule number, and generates a scheduling instruction table number.

[0010] As a further solution of the present invention, the associated energy supply data refers to a set of energy supply operation parameters, including pressure value, voltage parameter and response time, which correspond to a specific scheduling link number and can be called; The scheduling structure sequence refers to a group of path node combination structures formed according to the scheduling logic after the path number and the path dictionary are matched. The structure is used to represent the scheduling execution order and path hierarchy.

[0011] As a further solution of the present invention, the rhythm switching module includes: The inclination angle extraction submodule obtains the scheduling instruction table number, extracts the inclination angle change value, action duration and action completion status of the current stage, divides the continuous stage data according to the inclination angle change trend, and combines the start and end positions of the action completion status identification stage to generate a stage angle change sequence; The switching judgment submodule, based on the phase angle change sequence, calls the phase inclination angle change value, action duration and action completion status, identifies the key phases for rhythm switching according to the compliance of the phase change trend with the scheduling trigger threshold, and obtains the switching rhythm node distribution value; The structure mapping submodule calls the structural relationship parameters between the current action and the adjacent stage target according to the switching rhythm node distribution value, matches the connection mode between the stage action characteristics and the target stage structural characteristics according to the correspondence between the key nodes and the action sequence, and generates the rhythm conversion structure code.

[0012] As a further embodiment of the present invention, the system further comprises: The command reconstruction module extracts the control sequence based on the rhythm conversion structure code, completes the reordering operation based on the command response time and execution order, marks the current action execution list, and generates a control command sequence number group; The control command sequence number group includes a control sequence, a command response time, and an execution order.

[0013] As a further solution of the present invention, the command reconstruction module includes: The rhythm conversion submodule extracts the rhythm conversion factor in the original control sequence based on the control structure code, calls the timing identifier and the rhythm interval value, performs interval matching processing, combines the position of the rhythm change node with the control sequence number completion position correspondence, and generates a rhythm conversion index pair value; The response sorting submodule calls the position data in the rhythm conversion index pair value, extracts the instruction response time and execution number, performs sequence comparison and difference judgment, screens the number order according to the sorting rule, and obtains the response priority number sequence; The command marking submodule determines the action content corresponding to the number in the control sequence based on the response priority number sequence, extracts the execution type and control code fragment, completes the identification combination and number mapping, and generates a control command sequence number group.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are: In the present invention, accurate judgment of the initial operation stage is achieved through precise identification of structural status and parameter linkage, avoiding platform misstart and misoperation. The coupling analysis between operating data can dynamically set scheduling priorities to ensure that key tasks are executed first and improve coordination. Power parameter fusion is used to judge energy supply conditions, allocate paths on demand, and enhance energy utilization efficiency. Phase rhythm conversion is based on action status and logical mapping to achieve smooth switching and prevent action disconnection. Finally, control instructions are rearranged through feedback delay and execution order to form an efficient and orderly response mechanism, thereby improving overall operation efficiency, stability and intelligence level, and reducing the risk of manual intervention and operation imbalance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a system flow chart of the present invention; Figure 2 is a system block diagram of the present invention; Figure 3 is a flowchart of the task identification module of the present invention; Figure 4 is a flow chart of the demand index module of the present invention; Figure 5 This is a flow chart of the power sequencing module of the present invention; Figure 6 This is a flow chart of the rhythm switching module of the present invention; Figure 7 This is a flowchart of the command reconstruction module of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] In the description of the present invention, it should be understood that the terms "length," "width," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, in the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0018] See also Figure 1-2 , a downhole operation platform control system includes: The task identification module obtains the structural state of the work platform in the initial stage, extracts the stroke information of the hydraulic device, the angle parameters of the support mechanism, and the working state of the locking component. Based on the correspondence between the structural states, it determines whether the work platform is in the startup phase and generates a phase state identification code. The demand index module extracts the operating speed, current feedback and load parameters of the current operation link according to the stage status identification code, establishes the control response level identification based on the influence relationship between the parameters, and generates the priority scheduling link number; The power sequencing module reads the pressure value, voltage parameters and response time of the energy supply system according to the priority scheduling link number, determines whether the scheduling conditions are met, and establishes a power path allocation list based on the order and status of the corresponding links, and generates a scheduling instruction table number; The rhythm switching module calls the scheduling instruction table number, extracts the inclination change, duration and action completion status of the current stage, determines whether the switching conditions are met, and extracts the relationship structure between the current action and the adjacent stage goals to form a logical mapping and generate the rhythm conversion structure code; The command reconstruction module extracts the control sequence based on the rhythm conversion structure code, completes the reordering operation based on the instruction response time and execution order, marks the current action execution list, and generates a control command sequence number group.

[0019] The stage status identification code includes hydraulic stroke information, support angle parameters, and locking status parameters. The priority scheduling link number includes operating speed parameters, current feedback parameters, and load parameters. The scheduling instruction table number includes pressure value, voltage parameters, and response time. The rhythm conversion structure code includes inclination angle change, action duration, and action completion status. The control command sequence number group includes control sequence, instruction response time, and execution order.

[0020] See also Figure 3 , the task identification module includes: The structural parameter extraction submodule obtains the structural state of the work platform in the initial stage, extracts the hydraulic device stroke information, support mechanism angle parameters and locking component working status, and processes the parameters in a standard format based on the device feedback data. Based on the processed results, a unified structural parameter sequence is constructed to generate a set value of the structural state parameters. To obtain the initial structural state of the work platform, the structural parameter extraction submodule first uses sensors to collect information about the hydraulic device's stroke. For example, if the displacement sensor measures the hydraulic cylinder's current extension length as 85mm and the device's maximum stroke is 1000mm, the current state is in the initial range. The support mechanism's angle parameters are collected using an angle sensor or gyroscope. Assuming the current measured angle is 12.3° and the maximum operating angle is set to 60°, the locking assembly's operating state is determined by telecommunications signal feedback, with a return value of 1 indicating locked. The collected raw data is then uniformly formatted. The hydraulic stroke is normalized to the ratio of the current value to the maximum value, resulting in a value of 0.085. The same applies to the support angle, resulting in a normalized angle of 0.205. The locking state is 1, requiring no conversion. Each parameter is assembled into a unified vector format to construct a structural parameter sequence. Each set of data is assigned a structural sequence number, such as 0001. If there are multiple sets of support leg structures, their hydraulic strokes, support angles, and locking states can be collected in parallel and standardized to form structural vectors, such as [0.09, 0.19, 1], [0.085, 0.205, 1], [0.08, 0.18, 1], etc. All vectors are packaged together as a structural state parameter set, forming the initial structural information set and providing basic data support for subsequent judgment and analysis.

[0021] The state relationship judgment submodule compares the hydraulic stroke section, support angle section and locking state combination based on the set value of the structural state parameter, and performs judgment and analysis based on the set starting phase conditions to determine whether the current structural state meets the condition requirements and generate the structural state matching coefficient; After receiving the set of structural state parameters, the state relationship judgment submodule sequentially extracts the hydraulic stroke, support angle, and locking state from each set of structural parameters. The hydraulic stroke is divided into three ranges: 0 to 0.1 represents the initial state, 0.1 to 0.4 represents the intermediate state, and 0.4 and above represents full deployment. The support angle is similarly divided into three levels: 0 to 0.2 represents the initial state, 0.2 to 0.5 represents the intermediate state, and 0.5 and above represents the maximum deployment state. The locking state value is either 0 or 1, with 1 indicating that the structural locking requirement is met. The method for determining whether each condition meets the initial stage conditions is as follows: if the hydraulic stroke is within the initial range, the support angle is within the initial range, and the locking state is 1, the initial stage requirements are fully met. If any of these conditions are not met, a partial matching degree is calculated based on the weights assigned to each parameter. For example, if the hydraulic stroke weight is 40%, the support angle weight is 30%, and the locking state weight is 30%, then if the hydraulic pressure and locking conditions meet but the support angle does not, the overall matching coefficient is 70%. To determine whether a match is established, a coefficient threshold must be set. For example, 80% is set as the critical value. If the matching coefficient is greater than or equal to this value, the current structure is considered to meet the initial startup conditions; otherwise, the conditions are considered to be unsatisfactory. This process can be implemented through the software logic module, and the current values ​​of each parameter and the matching level can be displayed in the interface to assist the operation process in confirming whether the structure is ready.

[0022] The stage identification generation submodule identifies the state sequence number corresponding to the startup stage based on the structural state matching coefficient, establishes an associated index based on the operation process node number, determines the stage based on the associated result, and generates a stage state identification code; The stage identification generation submodule determines the stage type of the current structural state based on the matching coefficient. A matching coefficient between 80% and 100% is classified as stage 1, corresponding to state number S1; a matching coefficient between 50% and 80% is identified as S2; and a matching coefficient below 50% is identified as S3. A mapping relationship is established between the matching state number and the operation process node number. For example, if the first node in the operation process is numbered N1, then the S1 state is mapped to the N1 node. Based on this mapping result, a stage state identification code is generated. The format consists of the stage number and the structure sequence number. For example, if the stage is 1 and the structure parameter number is 001, the generated identification code is C1-001. If there are multiple supporting structures that are judged at the same time, each group of structures will generate an independent state number. After all the state numbers are aggregated, the majority rule can be used to determine the current stage of the whole. For example, if 2 of the 3 groups of supporting structures match S1 and 1 group is S2, the whole is judged to be in the S1 stage. Then, state identification codes such as C1-001, C1-002, and C1-003 are generated according to the structure number to form a stage state code set for subsequent process linkage and system logic control matching.

[0023] See also Figure 4 , the demand index module includes: The state extraction submodule obtains the stage state identification code of the current operation link, extracts the operating speed, current feedback and load parameters corresponding to the operation number based on the identification code, compares the changes between the operating speed and current feedback with the load parameters, and generates the operating state correlation degree; The state extraction submodule first reads the stage state identification code of the corresponding operation link from the PLC acquisition system. The identification code is pre-defined according to the operation process. For example, the processing process can be set to 1 for rough processing, 2 for fine processing, 3 for grinding, and 4 for inspection. After the system obtains the identification code, it extracts the operation data corresponding to the operation number based on this value, including speed, current feedback and load parameters. The operation speed is used in units of m / min, the current feedback unit is A, and the load unit is N. Taking the lathe operation number A123 as an example, when the identification code of the fine processing stage is 2, the data extracted is a speed of 12.6m / min, a current feedback of 8.2A, and a load of 125N. The system calculates the speed change rate and the current feedback change rate respectively. The change rate is obtained by the difference between the two sampling periods before and after. The sampling period is set to 1s. Then it is judged whether the speed change direction is consistent with the current feedback change direction. The consistency is obtained by comparing the change direction trend. If both the speed and current show an upward trend, the direction is considered to be consistent. This process is combined with the load change to make a judgment. The correlation is expressed as the absolute value of the difference between two adjacent cycles. For example, if the load change exceeds 5N and the speed and current change in the same direction, it is considered a "high correlation" state. If the load change is less than 3N and the two change directions are inconsistent, it is judged as a "low correlation" state. Intermediate cases are classified as "moderate correlation". The system summarizes the above judgment results in multiple consecutive cycle data, assigning values ​​of 1, 0.5, and 0 to high, medium, and low, respectively. The average is calculated to obtain the operating state correlation R value. For example, if 8 out of 10 cycles are judged to be highly correlated and 2 cycles to be moderately correlated, the R value is calculated as 8 times 1 plus 2 times 0.5, divided by 10, resulting in an R value of 0.9. This R value can be used in subsequent module calls. In practice, R values ​​above 0.75 are considered "high correlation", below 0.45 are "low correlation", and the rest are "moderate correlation". This judgment method facilitates unified processing of analysis results of operating data under different stage job numbers. The final operating state correlation is used for subsequent parameter response and priority number identification.

[0024] The parameter response submodule calls the stage status identification code according to the operating status correlation, compares the normalized ratio with the deviation corresponding to the reference operating speed, combines the change amplitude of the current feedback with the fluctuation of the load parameters, associates it with the operation number, and generates the control response level coefficient; The parameter response submodule calls the control response rule table to match the corresponding control conditions based on the operating state correlation generated by the previous module and the current stage identification code, calculates the ratio of the current operating speed to the reference speed, and obtains a normalized ratio. This ratio is used to judge the degree of deviation of the current speed. For example, if the current speed is 13m / min and the reference speed is 12m / min, the ratio is 13 divided by 12, which is approximately 1.083. The degree of deviation is the difference between the ratio and 1, and the obtained deviation value is 0.083. This value is used to compare with the set deviation threshold. If it is greater than 10%, it is determined that there is a significant deviation. At the same time, the degree of change of the current feedback is detected. If the current change per unit time exceeds 1.5A, it is determined to be The current fluctuation is significant, and the load data is subjected to a volatility analysis, and the standard deviation over a period of time is calculated. If the standard deviation of the load parameter exceeds 4N, the load fluctuation is also significant. The three test results are combined according to the weights, namely speed offset 0.4, current fluctuation 0.3, and load fluctuation 0.3. The set weights are multiplied by the test results and then summed to obtain the control response level coefficient. This coefficient is used to distinguish the control processing intensity required for different job numbers. For example, the speed offset value is 0.083, the current fluctuation value is 1.8A, and the load standard deviation is 5N. The three items are multiplied by their weights and added together to obtain a control response level coefficient of approximately 2.07. This coefficient reflects the response requirement of the job number in the current stage state.

[0025] The priority number submodule calls the job number according to the control response level coefficient, compares the difference of the associated level coefficients, identifies the job number with the larger level coefficient, and uses it as the priority number of the task in the current stage, and generates the priority scheduling link number; The priority numbering submodule receives all job numbers and corresponding control response level coefficients and sorts them by numerical value. A higher coefficient indicates a higher required control intensity and a higher priority level. The number with the largest coefficient in the job list is selected as the priority number for the current stage. If the difference in the level coefficients of multiple job numbers is not obvious, that is, the difference is less than 0.1, the individual indicators of these numbers in terms of speed offset, current fluctuation, and load fluctuation are further compared. The number with the most significant changes or the largest change amplitude is selected as the final priority number. For example, if the response level coefficients of job numbers A, B, and C are 2.7, 2.3, and 1.9 respectively, the priority number is A. If the difference between A and B is only 0.1, the actual change values ​​of their individual indicators are further compared. For example, if the current fluctuation of A is 2.0A and that of B is 1.5A, and the load fluctuation of A is 5.5N and that of B is 4.2N, then A can be confirmed as the priority number. The final generated priority scheduling number is used by the scheduling system for job sorting and resource allocation.

[0026] See also Figure 5 , the power sequencing module includes: The threshold monitoring submodule obtains the pressure value, voltage parameter, and response time of the energy supply system corresponding to the priority scheduling link number, matches the associated energy supply data according to the number information, calls the pressure value and voltage parameter and combines them with the response time, performs parameter comparison and condition judgment based on the pressure threshold, voltage threshold, and response time reference value, and generates the scheduling response judgment value; The specific calculation formula for calling pressure value and voltage parameters and combining them with response time is: ; Calculate the dispatch response difference value Ψ, perform parameter comparison and condition judgment based on the pressure threshold, voltage threshold and response time reference value, and generate the dispatch response judgment value; in, Represents the dispatch response difference value corresponding to the current priority dispatch number n, Represents the current pressure value of the energy supply unit corresponding to number n, in MPa. Represents the mean pressure threshold of the corresponding scheduling scenario, in MPa. Represents the current voltage parameter of the energy supply unit number n, in volts. Represents the average voltage threshold of the scheduling scenario, in volts. Represents the actual response time corresponding to number n, in milliseconds. Represents the benchmark response time of this type of scheduled task, in milliseconds. Represents the voltage fluctuation amplitude of the i-th preceding node in the scheduling interval, in volts, where the superscript Indicates the current state collection source, superscript Indicates the source of threshold configuration data, superscript Indicates the response monitoring source, the superscript Indicates the source of the response reference value, the superscript Indicates the source of historical fluctuation data, subscript Indicates the current scheduling number index, subscript is the preceding node index, Represents the accumulation of voltage fluctuation amplitudes of the three timing nodes before the current scheduling node; The pressure value is collected by the industrial field pressure sensor. The current pressure value is: ; The mean pressure threshold in the scheduling scenario is obtained by calculating the average value of the pressure measurement values ​​of each node during the normal operation cycle: ; Substitute this into the square root of the pressure difference: ; The voltage parameters measured by the PMU are: ; The mean value of the dispatch voltage threshold is obtained by averaging the voltage samples under the stable power frequency state: ; Substitute this into the square root of the voltage difference: ; The response time parameter is measured by PLC module feedback: ; The task benchmark response time is the preset threshold in the system: ; Substitute this into the square root of the response time difference: ; The historical voltage fluctuation values ​​are collected from the previous three cycles: ; Add up: ; Combination formula calculation: Molecular part: ; Denominator: ; Finally, bring it into the main formula: ; The results show that the dispatch response difference value Ψ_n is 0.336, which represents the response offset strength of the current numbered energy supply node under the influence of the current pressure, voltage and response time deviation and historical fluctuation interference. The larger the value, the more significant the difference from the system dispatch threshold. The closer it is to 0, the more stable the parameter and reliable the response. Ultimately, this value will be used as a conditional judgment reference in the generation process of the dispatch response judgment value. This formula incorporates the pressure difference, voltage difference, response time offset and historical fluctuation interference terms into the comparison structure to quantify the degree of response difference under a single scheduling number. The numerator calculates the deviation between the pressure and voltage and their threshold mean values ​​respectively, and uses the square root to make the positive and negative differences equivalent to avoid the deviation cancellation phenomenon. The two terms are then added and combined to form the overall offset of the current node on the energy supply side. The denominator uses the absolute value of the response time deviation value and takes the square root to form a stable time response comparison term. At the same time, the historical voltage fluctuation amplitude values ​​of the previous nodes in the scheduling process are summed up in absolute value and included as the system dynamic disturbance influence quantity, which constitutes the system-level fluctuation resistance benchmark as a whole. The formula structure uses division to compare the energy supply parameter offset value with the response fluctuation tolerance. The resulting scheduling response difference value removes the directionality through absolute value processing in the structure, retaining only the numerical intensity, reflecting the degree of adaptation deviation of the numbered node response behavior in the global scheduling scenario; The dispatch response difference value is used to measure the degree of deviation between the current state of the energy supply unit corresponding to the dispatch number and the system's preset dispatch threshold. It is a quantitative indicator of response performance that integrates pressure, voltage, response time, and historical fluctuation disturbance factors. The larger the value, the greater the difference between the current energy supply parameters and the system's expected state, indicating that its response capability is limited or its stability is insufficient. The smaller the value, the closer the current energy supply state is to the baseline configuration and has higher execution reliability. This indicator is used as one of the judgment bases in the dispatch process to assist in identifying the advantages and disadvantages of candidate scheduling nodes, thereby building a more stable energy supply execution sequence.

[0027] The path screening submodule calls the scheduling link sequence number and state parameters based on the scheduling response judgment value, screens the path nodes with the status mark as available, integrates the screened node information according to the sequence number, and generates a power path number set; The path screening submodule enters the subsequent screening program based on the scheduling response judgment value, reads the sequential number set in the scheduling system, such as N1, N2, N3, etc., and calls the operating status parameters of each node. The status parameters indicate whether it is in an available state. For example, the status of node N1 is "running", N2 is "fault", and N3 is "running". Therefore, N1 and N3 with the status of "running" are screened out to generate a set of available path nodes. The order in the original scheduling is retained and integrated into a new node set. The corresponding path numbers are, for example, P001 and P003, representing the compressed air supply and voltage regulation modules respectively. Finally, the set consisting of P001 and P003 is used as a valid power path number set for the construction of subsequent scheduling tasks.

[0028] The instruction number generation submodule calls the scheduling system path dictionary data based on the power path number set, performs item-by-item matching of the path number and the dictionary identification item, integrates the matching results to construct a scheduling structure sequence, assigns the setting rule number, and generates the scheduling instruction table number; The instruction number generation submodule calls the generated power path number set, such as P001 and P003, and queries the path dictionary data in the system to obtain the task identifier corresponding to each path number. For example, P001 corresponds to A101, and P003 corresponds to B304. This creates a mapping relationship and pairs each item to form a scheduling structure sequence, such as [A101, B304]. The instruction numbers are arranged according to a set numbering rule. For example, if the numbering rule is: task identifier plus path sequence plus time code, and A101 and B304 are the first and second paths, respectively, then A101-01-25 and B304-02-25 are generated. These numbers are then aggregated to form a scheduling instruction table number set. This set serves as the final output and provides the basis for subsequent scheduling task calls.

[0029] See also Figure 6 , the rhythm switching module includes: The inclination angle extraction submodule obtains the scheduling instruction table number, extracts the inclination angle change value, action duration and action completion status of the current stage, divides the continuous stage data according to the inclination angle change trend, and combines the start and end positions of the action completion status to identify the stage to generate the stage angle change sequence; After obtaining the dispatch instruction table number, the inclination angle extraction submodule first uses the number to locate the structural data corresponding to the current operation cycle. For example, for operation task ID_2025071401, this number contains the robot arm's inclination angle change record for the current phase, the duration of each movement, and the completion status indicator. After reading the data, the inclination angle change trend is divided into chronological order, using one data point per second. The angle difference between adjacent data points is compared second by second. If the angle continuously increases, the period is classified as the rising phase; if the angle continuously decreases, it is classified as the falling phase. If the angle fluctuates between plus or minus 0.5 degrees for more than 2 seconds, it is classified as the stable phase. For example, from 0 to 5 seconds, the angle of a device increases from 30 to 36 degrees. For the first 3 seconds, the angle increases continuously at a rate of 2 degrees per second. From the 4th to 5th seconds, the angle remains constant. The first 3 seconds can be classified as the rising phase, and the last 2 seconds as the stable phase. The start and end times of each phase can then be precisely determined by combining the time series of the movement completion status. If the completion status at the start of a phase is 0 and the end status is 1, the phase is considered a valid action phase, and the start and end times and angle values ​​are recorded. For example, if the state sequence is 0, 0, 0, 1, 1, the state change between the 3rd and 4th seconds can be identified, and the valid action phase ends at the 4th second. The angle change time and value can then be traced back to construct a sequence of action phase data segments. Each segment records the corresponding start time, end time, start angle, and end angle, providing continuous stage input for subsequent rhythm switching analysis.

[0030] The switching judgment submodule is based on the phase angle change sequence, calling the phase angle change value, action duration and action completion status. According to the compliance of the phase change trend with the scheduling trigger threshold, it identifies the key phases for rhythm switching and obtains the switching rhythm node distribution value; The switching judgment submodule reads the angle change amplitude, duration, and action status flag for each stage. The angle change amplitude is calculated as the difference between the starting and ending angles, the duration is calculated as the time difference between the starting and ending times, and the action status is determined based on the recorded status flags. After constructing the stage data, the angle change trends of each stage are compared sequentially. If the angle change values ​​of two consecutive stages show an increasing relationship, the trend is judged to be increasing; if the relationship is decreasing, the trend is judging to be decreasing. The system has preset scheduling trigger thresholds. For example, a stage with an angle change of at least 5 degrees and a duration of at least 2 seconds is marked as a critical stage. For example, a stage with an angle change from 30 degrees to 36 degrees and a duration of 3 seconds meets the preset threshold conditions and is therefore included in the node list for rhythm switching judgment. Ultimately, the time points corresponding to all critical stages that meet the conditions are extracted as switching rhythm nodes, which are used to identify possible rhythm transition starting points between stages.

[0031] The structure mapping submodule calls the structural relationship parameters between the current action and the adjacent stage target according to the distribution value of the switching rhythm node. Based on the correspondence between the key nodes and the action sequence, it matches the connection between the stage action characteristics and the target stage structural characteristics to generate the rhythm conversion structure code. The structure mapping submodule, based on the positions of transition rhythm nodes, such as at the third and seventh seconds, searches for corresponding action types in the action sequence, such as the transition from a "lift" action to a "stay" action. For each set of structural relationships between the current and target actions, key parameters such as spatial displacement, angular rotation range, and force coefficient are extracted. For example, if the arm lift at the current stage causes a horizontal displacement of 100 mm and an angular offset of 15 degrees, with a force coefficient of 1.2, these parameters are compared with the structural parameters of the subsequent target stage. The displacement and angular deviation ratios are used to assess whether the structure matches. If the deviation ratio is low, the node is matched as a rhythm transition point. Ultimately, all matching nodes and their corresponding action features and structural parameters are organized into a transition structure code, containing the action time point, current action type, target action type, and key structural parameter values. This code serves as the basic data input for rhythm adjustment in the next stage.

[0032] See also Figure 7 , the command reconstruction module includes: The rhythm conversion submodule extracts the rhythm conversion factor in the original control sequence based on the control structure code, calls the timing identifier and the rhythm interval value, performs interval matching processing, combines the position of the rhythm change node with the control sequence number completion position correspondence, and generates the rhythm conversion index pair value; The specific calculation formula for calling the timing identifier and rhythm interval value is: ; Calculate the rhythm interval adjustment value ΔR, perform interval matching processing, combine the position of the rhythm change node with the corresponding position of the control sequence number, and generate the rhythm conversion index pair value; in, Representative With the The rhythm interval adjustment value between two control nodes, 、 Representing the , No. The original time series identification value of the node, in seconds (s), 、 Representing the , No. The rhythm density value within the control segment indicates the number of rhythm events within a unit of duration, in units of per second. 、 Representing the , No. The rhythm level identification value corresponding to the control node is a dimensionless discrete level code. Representative The value of the rhythm micro-change amplitude extracted from the node is in units of seconds, where the superscript Indicates the source of the time series dimension index, superscript Indicates the source dimension of density feature, superscript Indicates the rhythm level reference source, superscript Indicates the dimension of the micro-change factor, subscript Represents the rhythm control node index number, summation symbol Indicates in To Control the accumulation process within the node interval; The parameters are obtained from the following sources: : Timing identification value, collected by audio beat detection equipment (such as OnsetDetection algorithm). The collected value is: Second, Second; : Rhythm density value, calculated as the number of rhythm events per unit time. The detection time window is set to 1 second, and the beat number sampling result is: / second, pcs / second; : The amplitude of the rhythm micro-change is obtained by the mean of the beat interval offset between consecutive frames. The monitoring results of the three control nodes between the sampling nodes are: / second, / second, pcs / second; : Rhythm level identification value, according to the manually defined level rules, the rhythm density is mapped to an integer level, and the sampling annotation value is: , ; The calculation process is as follows: Calculate the timing difference: ; Calculate the absolute value of rhythm density difference ; Calculate the square root of the rhythm density difference ; Sum of small changes ; Absolute value of rhythm level difference ; Composite denominator ; Substitute into the main formula to calculate ΔR ; The result shows that the rhythm interval adjustment value ΔR is 0.6662. This value is a quantitative expression of the rhythm interval from node i to node j under the influence of the composite factors of timing, rhythm density, level and micro-change amplitude. The absolute value result used in the interval matching processing logic of this step will be compared with the preset matching threshold to screen the optimal rhythm transition index position and generate the final rhythm transition index pair value. This formula maps multiple rhythmic feature parameters to a unified temporal difference metric by constructing a weighted, normalized rhythmic interval adjustment structure. The numerator of the formula uses the difference in the timing identifiers of two rhythmic control nodes to represent the temporal span of the rhythmic change, serving as the primary metric for the adjustment behavior. The denominator integrates three types of interference factors: the absolute value of the rhythmic density difference, introduced as a square root, reflects the nonlinear compression effect of changes in rhythmic compactness on temporal span perception. Therefore, square root processing is used to enhance the high sensitivity of rhythmic density to rhythmic judgment. The absolute value of the summed amplitude of rhythmic micro-variations represents the cumulative impact of local rhythmic fluctuations within the control interval, which perturbs the main interval and is therefore incorporated as a whole through summation. The rhythmic level identifier difference is introduced to represent the overall structural adjustment caused by rhythmic level switching, and its effect is linearly superimposed. The addition operation between the parameters is used to aggregate the interference of multiple source features on temporal adjustment behavior, constructing a unified rhythmic complexity offset weight. Dividing the numerator by the denominator yields the temporal adjustment response under unit rhythmic complexity. Finally, taking the absolute value removes directionality, retaining the amplitude to quantify the degree of matching and adaptation between rhythmic segments. The rhythm interval adjustment value measures the relative rhythmic matching between two rhythm control nodes on the timeline. It is a quantitative result that comprehensively considers multiple factors, including timing differences, rhythm density changes, local rhythm fluctuations, and rhythm level switching. This value reflects the actual adjustment strength of the time span based on the unit rhythm complexity. Larger values ​​indicate longer time intervals and lower adaptability of rhythmic transitions between nodes under conditions of significant rhythmic feature differences. Conversely, smaller values ​​indicate more consistent rhythmic characteristics, a more concentrated temporal distribution, and a closer transition relationship. This metric is used in rhythm control systems to determine interval matching, assisting the system in determining the transition rationality of rhythmic change segments and the combination order of rhythmic segments.

[0033] The response sorting submodule calls the position data in the rhythm conversion index pair value, extracts the instruction response time and execution number, performs sequence comparison and difference judgment, and filters the number order according to the sorting rules to obtain the response priority number sequence; The response sorting submodule uses the position information in the rhythm conversion index to read the corresponding response data from the control sequence. The response data includes the response time and execution number for each segment. For example, the response times corresponding to the index pair (5,7) are 1.3, 0.9, and 1.1 seconds, and the execution numbers are 105, 106, and 107. The response times are sorted according to the original sequence order and compared to determine whether there is a premature response. For example, the response time of segment 6 is 0.9 seconds earlier than the response time of segment 5, which is 1.3 seconds. This is a sequence deviation, and the response difference is recorded as −0.4 seconds. The response differences are processed by absolute value to form a difference degree, which is used to indicate the degree of response deviation. All differences are sorted and mapped to the corresponding execution numbers to form a response difference map. For example, the difference of response number 106 is 0.4 seconds, 107 is 0.2 seconds, and 105 is no deviation. The response numbers are sorted from largest to smallest by difference value to form a priority response structure. The response numbers are ordered from largest deviation to smallest deviation, for example, 106, 107, and 105. The order is finally extracted to form a priority number sequence, which provides a sequence reference for downstream command labeling.

[0034] The command marking submodule determines the action content corresponding to the number in the control sequence based on the response priority number sequence, extracts the execution type and control code fragment, completes the identification combination and number mapping, and generates a control command sequence number group; The command tag submodule determines the control action and control code corresponding to each number based on the priority number sequence. By traversing the control sequence, it extracts the action type corresponding to each number, such as number 106 for acceleration, 107 for steering, and 105 for braking. It also extracts the corresponding control code fragments, such as 0xA2B3, 0xC8F1, and 0xD2E0. The execution number, action type, and control code fragment are combined into an identification structure, such as 106_Acceleration_0xA2B3. Each number is sequentially concatenated with the identification and added to the control command sequence, forming a number group containing multiple identification combinations. This group is used to output the control execution order, maintaining a number chain consistent with the response sorting results. The final number group, such as 106_Acceleration_0xA2B3, 107_Steering_0xC8F1, and 105_Brake_0xD2E0, guides the specific action module in control code parsing and action execution.

[0035] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A control system for a downhole operation platform, characterized by: The system comprises: The task identification module obtains the structural state of the work platform in the initial stage, extracts the stroke information of the hydraulic device, the angle parameters of the support mechanism, and the working state of the locking component. Based on the correspondence between the structural states, it determines whether the work platform is in the startup phase and generates a phase state identification code. The demand index module extracts the operating speed, current feedback and load parameters of the current operation link according to the stage status identification code, establishes a control response level identification based on the influence relationship between the parameters, and generates a priority scheduling link number; The power sequencing module reads the pressure value, voltage parameters and response time of the energy supply system according to the priority scheduling link number, determines whether the scheduling conditions are met, and establishes a power path allocation list according to the order and status of the corresponding links, and generates a scheduling instruction table number; The rhythm switching module calls the scheduling instruction table number, extracts the inclination change, duration and action completion status of the current stage, determines whether the switching conditions are met, and extracts the relationship structure between the current action and the adjacent stage goals to form a logical mapping to generate a rhythm conversion structure code.

2. The control system for a downhole operation platform according to claim 1, characterized in that: The stage state identification code includes hydraulic stroke information, support angle parameters, and locking state parameters; the priority scheduling link number includes operating speed parameters, current feedback parameters, and load parameters; the scheduling instruction table number includes pressure value, voltage parameter, and response time; and the rhythm conversion structure code includes inclination angle change, action duration, and action completion status.

3. The control system for a downhole operation platform according to claim 1, characterized in that: The task identification module includes: The structural parameter extraction submodule obtains the structural state of the work platform in the initial stage, extracts the hydraulic device stroke information, support mechanism angle parameters and locking component working status, and processes the parameters in a standard format based on the device feedback data. Based on the processed results, a unified structural parameter sequence is constructed to generate a set value of the structural state parameters. The state relationship judgment submodule compares the hydraulic stroke section, support angle section and locking state combination according to the set value of the structural state parameter, performs judgment and analysis based on the set starting phase conditions, determines whether the current structural state meets the condition requirements, and generates a structural state matching coefficient; The stage identification generation submodule identifies the state sequence number corresponding to the startup stage according to the structural state matching coefficient, establishes an associated index in combination with the operation process node number, determines the stage according to the associated result, and generates a stage state identification code.

4. The control system for a downhole operation platform according to claim 1, characterized in that: The demand index module includes: The state extraction submodule obtains the stage state identification code, extracts the operating speed, current feedback and load parameters corresponding to the operation number according to the identification code, compares the changes between the operating speed and current feedback with the load parameters, and generates the operating state correlation degree; The parameter response submodule calls the stage state identification code according to the operating state correlation, compares the normalized ratio with the offset corresponding to the reference operating speed, combines the change amplitude of the current feedback with the fluctuation of the load parameter, associates it with the operation number, and generates a control response level coefficient; The priority numbering submodule calls the job number according to the control response level coefficient, compares the associated level coefficient differences, identifies the job number with the larger level coefficient, uses it as the priority number of the current stage task, and generates a priority scheduling link number.

5. The control system for a downhole operation platform according to claim 1, characterized in that: The power sequencing module includes: The threshold monitoring submodule obtains the pressure value, voltage parameter and response time of the energy supply system corresponding to the priority scheduling link number, matches the associated energy supply data according to the number information, calls the pressure value and voltage parameter and combines them with the response time, performs parameter comparison and condition judgment based on the pressure threshold, voltage threshold and response time reference value, and generates a scheduling response judgment value; The path screening submodule calls the scheduling link sequence number and state parameters based on the scheduling response judgment value, screens the path nodes with the status mark of available, integrates the screened node information according to the sequence number, and generates a power path number set; The instruction number generation submodule calls the scheduling system path dictionary data according to the power path number set, performs item-by-item matching of the path number and the dictionary identification item, integrates the matching results to construct a scheduling structure sequence, assigns a setting rule number, and generates a scheduling instruction table number.

6. The control system for the downhole operation platform according to claim 5, characterized in that: The associated energy supply data refers to a set of energy supply operation parameters, including pressure value, voltage parameter and response time, which correspond to a specific scheduling link number and can be called; The scheduling structure sequence refers to a group of path node combination structures formed according to the scheduling logic after the path number and the path dictionary are matched. The structure is used to represent the scheduling execution order and path hierarchy.

7. The control system for a downhole operation platform according to claim 5, characterized in that: The rhythm switching module includes: The inclination angle extraction submodule obtains the scheduling instruction table number, extracts the inclination angle change value, action duration and action completion status of the current stage, divides the continuous stage data according to the inclination angle change trend, and combines the start and end positions of the action completion status identification stage to generate a stage angle change sequence; The switching judgment submodule, based on the phase angle change sequence, calls the phase inclination angle change value, action duration and action completion status, identifies the key phases for rhythm switching according to the compliance of the phase change trend with the scheduling trigger threshold, and obtains the switching rhythm node distribution value; The structure mapping submodule calls the structural relationship parameters between the current action and the adjacent stage target according to the switching rhythm node distribution value, matches the connection mode between the stage action characteristics and the target stage structural characteristics according to the correspondence between the key nodes and the action sequence, and generates the rhythm conversion structure code.

8. The control system for a downhole operation platform according to claim 1, characterized in that: The system further comprises: The command reconstruction module extracts the control sequence based on the rhythm conversion structure code, completes the reordering operation based on the command response time and execution order, marks the current action execution list, and generates a control command sequence number group; The control command sequence number group includes a control sequence, a command response time, and an execution order.

9. The control system for a downhole operation platform according to claim 1, characterized in that: The command reconstruction module includes: The rhythm conversion submodule extracts the rhythm conversion factor in the original control sequence based on the control structure code, calls the timing identifier and the rhythm interval value, performs interval matching processing, combines the position of the rhythm change node with the control sequence number completion position correspondence, and generates a rhythm conversion index pair value; The response sorting submodule calls the position data in the rhythm conversion index pair value, extracts the instruction response time and execution number, performs sequence comparison and difference judgment, screens the number order according to the sorting rule, and obtains the response priority number sequence; The command marking submodule determines the action content corresponding to the number in the control sequence based on the response priority number sequence, extracts the execution type and control code fragment, completes the identification combination and number mapping, and generates a control command sequence number group.

10. A crane comprising a lifting mechanism and a running mechanism, characterized in that: A computer program is stored in the lifting mechanism, and when the operating mechanism executes the computer program, the downhole operation platform control system according to any one of claims 1 to 9 is implemented.

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