Sensor change-out automation system and method

Abstract

This invention provides an automated sensor replacement system and method. The system includes an unmanned replacement device, a wireless positioning device, and an image transmission device. The unmanned replacement device can perform sensor replacement and fastening operations; the wireless positioning device collects and locates the sensor's position, elevation, and path; the image transmission device confirms, transmits, and records sensor readings; based on the path, battery level, and work location, the system can record, plan, and select a path after initial route exploration and automatically travel back and forth. The method is implemented through the system and includes: setting up and debugging the system; starting the unmanned replacement device and moving it to the work location, recording key points and passages along the way; performing reading operations, replacement and fastening operations, and / or scheduling and cyclical operations; and achieving retrieval and termination. This invention enables autonomous sensor installation and removal.

Description

Technical Field

[0001] This invention relates to the field of disassembly or installation of logging equipment or sensors during oil drilling, specifically to an automated sensor replacement system and method. Background Technology

[0002] Oil and gas drilling and logging processes encounter numerous unique situations that make it difficult for construction or operation personnel to read sensor values ​​or replace faulty sensors in dangerous areas. Logging is the eye of the well, a crucial technical force for monitoring anomalies in engineering and geological parameters. In dangerous situations, logging often requires monitoring changes in critical parameters, such as pressure sensor and combustible gas sensor values.

[0003] Drone technology has developed rapidly in recent years, especially with image transmission technology now enabling 4G remote control. This allows for synchronized internal communication and external control within a wireless network, and precise identification of the location and status information of each network node. Research indicates that the main approaches to installing equipment using drones are: 1) Using a drone to carry the installation mechanism, a pilot moves the drone to the installation location, controls the mechanism remotely, and completes the installation. 2) Using a gimbal camera and image transmission system to view the target object's location, adjust the drone's movement, and also monitor the position of surrounding obstacles in real time, thus achieving obstacle avoidance.

[0004] Currently, drone installation equipment mainly focuses on grasping and placing objects and attaching magnets, while pre-fabricated path movement technology has not yet been integrated with equipment installation or unloading. Using drones to replace equipment installed with screws, flanges, etc., is a bottleneck technology, as there is a lack of industry-specific, fully functional drone-based devices for sensor installation, replacement, locking, securing, and battery replacement. Current problems include: a. The sensors to be read are located in hazardous environments, such as toxic or potentially dangerous areas, that are inaccessible to operators. Sensor readings are direct parameters that must be obtained promptly for decision-making (direct readings from instruments are more accurate than those from electrical or analog transmissions), and currently, operators sometimes still need to risk their lives to check them; b. The sensor areas are dangerous and inaccessible to operators, with toxic environments exceeding occupational health risks, and there is a risk of combustion or explosion. Existing technologies have the following drawbacks: 1. Improper operation and inaccurate return paths can lead to mechanical impact damage: Inaccurate recording of flight path positions, inaccurate battery level and range planning may result in mechanical impacts, falls, or operational failures; 2. The influence of high-temperature energy fields: Temperatures exceeding 80 degrees Celsius may cause electronic components to malfunction; 3. The influence of humid environments: In special circumstances, rain or humid air may cause humidity levels to exceed the rated operating temperatures of critical components. Therefore, providing an automated sensor replacement system and method is of great significance.

[0005] Chinese patent application number CN201610859466.6, entitled "UAV Device for High-Altitude Sensor Installation and Installation Method Thereof," discloses a UAV device for high-altitude sensor installation and its installation method. This patent application utilizes an arm on the UAV to retract and extend the sensor. Through the action of a safety switch, an electromagnet, and a permanent magnet, the sensor can be separated from the arm and attached to the surface to be installed. However, this device differs from the one in this application and is not suitable for sensors used in drilling or oil testing operations (which are mostly fixed with screws). Summary of the Invention

[0006] The purpose of this invention is to address at least one of the aforementioned shortcomings of the prior art. For example, one objective of this invention is to provide a simple, reliable, and safe automated sensor replacement system. Another objective of this invention is to provide a path determination method for an automated sensor replacement system that considers power consumption and plans the measurement route. A further objective of this invention is to provide an automated sensor replacement method suitable for screw-fixed sensors used in drilling processes or oil testing operations, ensuring the safety of replacement and other operations.

[0007] To achieve the above objectives, the present invention provides an automated sensor replacement system. The system may include unmanned replacement equipment, wireless positioning equipment, and image transmission equipment. The unmanned replacement equipment is capable of replacing and securing sensors. The wireless positioning equipment is capable of collecting and locating the sensor's position, elevation, and path. The image transmission equipment is capable of confirming, transmitting, and recording sensor readings. Based on the path, battery level, and work location, the system can record, plan, and select the path after initial route exploration and automatically travel back and forth.

[0008] According to one or more exemplary embodiments of one aspect of the present invention, the acquisition and positioning of the input location, elevation and path may include: serial number, priority, X coordinate, Y coordinate, Z relative elevation coordinate, attribute and job type.

[0009] According to one or more exemplary embodiments of one aspect of the present invention, the replacement and fastening operation may include: replacing threaded fasteners, replacing unidirectional reciprocating pins, fastening, and replacing consumables or vulnerable items such as batteries.

[0010] According to one or more exemplary embodiments of one aspect of the present invention, the sensor replacement automation system may further include an emergency recovery module, which is located on the unmanned replacement equipment and is configured to record the departure route, perform one-key return and one-key power off, and set up coordination to actively shut down the power / return when entering a dangerous area, or obtain dangerous parameter values ​​by communicating with monitoring equipment within the dangerous area, display the dangerous critical point, and shut down the power / return once the threshold is exceeded.

[0011] According to one or more exemplary embodiments of one aspect of the present invention, the unmanned changing device may include an adaptive self-control machine, the adaptive self-control machine having a gimbal and a mechanical structure unit mounted on the adaptive self-control machine; the adaptive self-control machine records its movement position during movement and maintains a safe distance from each inspection collision point.

[0012] According to one or more exemplary embodiments of one aspect of the present invention, the mechanical structure unit may include: a power motor and battery, a power transmission hinge, a fixing device, a quick-release clamping device, and a data processing system.

[0013] According to one or more exemplary embodiments of one aspect of the present invention, the gimbal can be connected to the mechanical structure unit through the fixing device, and the connection may include threaded connection, riveting, welding, flange connection and magnetic attraction.

[0014] According to one or more exemplary embodiments of one aspect of the present invention, the adaptive self-control machine may include a model powered by solid-state battery-type electricity.

[0015] According to one or more exemplary embodiments of one aspect of the present invention, the adaptive self-control machine can record its location during movement via a global positioning navigation system or mobile communication technology.

[0016] According to one or more exemplary embodiments of one aspect of the present invention, the gimbal is capable of housing a mechanical structure that can rotate, twist, move up and down, and move horizontally at multiple angles.

[0017] According to one or more exemplary embodiments of one aspect of the present invention, maintaining a safe distance from each inspection collision point may include:

[0018] The safety distance R satisfies:

[0019]

[0020] The position coordinates of the adaptive self-control machine are (x i y i , z i The coordinates of the relative positions of each collision point F are (x j y j , z j );

[0021] When the adaptive and self-controlled machine detects an abnormal safe distance, it will brake in an emergency and forcibly stop.

[0022] According to one or more exemplary embodiments of one aspect of the present invention, the replacement and fastening operation may include: at least two machines working together through adaptive self-control, one machine carrying the old sensor and the other machine carrying the new sensor, to replace threaded fasteners, replace unidirectional reciprocating pins, fasten, and replace consumables or vulnerable items such as batteries.

[0023] Another aspect of the present invention provides an automated sensor replacement method, which can be implemented by the sensor replacement automation system described above. The method may include: setting up and debugging the sensor replacement automation system; starting the unmanned replacement equipment and moving it to the work point, recording key points and channels along the way; performing reading operations, replacement and fastening operations and / or scheduling and cyclic operations; and realizing retrieval and termination.

[0024] According to one or more exemplary embodiments of another aspect of the present invention, the reading operation may include: recording and reading the values ​​reflected by the sensor, automatically reading and automatically inputting them through the image recognition system of the terminal; and having an operator read the readings on the image screen transmitted back from the image transmission system and manually record them as a check calibration.

[0025] According to one or more exemplary embodiments of another aspect of the present invention, the scheduling and cyclic operation may include: traversing the positions of each sensor according to the recording point where the sensor is located, in a set order or random order, and scheduling and / or cyclical based on specific conditions such as the working point information of the replacement operation, the battery power and endurance of the unmanned replacement equipment under its own weight, whether it is necessary to carry the sensor to be updated, whether to recycle the old or scrapped replacement sensor, and whether to only patrol the line to record and read the status of each sensor.

[0026] According to one or more exemplary embodiments of another aspect of the present invention, the recovery may include three methods: automatic recovery at waypoints, manual recall, and automatic landing under special circumstances after shutdown.

[0027] According to one or more exemplary embodiments of another aspect of the present invention, the termination may include: when the environment does not allow the operation to continue, or when there is another emergency requiring the operation to be shut down, the unmanned changing equipment is returned or powered off.

[0028] According to one or more exemplary embodiments of another aspect of the present invention, the step of activating the unmanned changing equipment and moving to the work point, and recording key points and channels along the way may include: obtaining the path from the starting point to the work point where each sensor is located, including straight-line distance, distance, point location and elevation.

[0029] According to one or more exemplary embodiments of another aspect of the present invention, the step of starting the unmanned changing equipment and moving to the work point, recording key points and channels along the way may further include: using an enumeration method to estimate the power consumption of each path, wherein the power consumption of the planned path must be less than or equal to the maximum design battery capacity.

[0030] Another aspect of the present invention provides a digital path sensor replacement automation system, which can acquire and record the path from the starting point to the working points 1 to n, and the path between adjacent working points 1 to n, to form a path network.

[0031] Compared with the prior art, the beneficial effects of the present invention include at least one of the following:

[0032] (1) The system proposed in this invention is simple and reliable in its composition, uses qualified machine parts, and has a simple combination method, without introducing additional complex and uncertain factors.

[0033] (2) The system proposed in this invention ensures the safety of personnel and the quality of construction through remote control and image transmission.

[0034] (3) The present invention is not limited to a fixed route and can realize the replacement and fixation of new sensors.

[0035] (4) The sensor replacement automation method proposed in this invention can be used to automatically disassemble and install sensor accessories such as transmission threads, pins, and magnetic suction, and perform sensor maintenance in complex, dangerous, and personnel health-threatening environments.

[0036] (5) The path determination method proposed in this invention enables remotely controlled unmanned equipment to enter a local networked or unnetworked network and remember the route to return, which facilitates safe recycling. Attached Figure Description

[0037] The above and other objects and features of the present invention will become clearer from the following description taken in conjunction with the accompanying drawings, in which:

[0038] Figure 1 A flowchart illustrating the steps involved in achieving automatic sensor replacement without human intervention is provided. Detailed Implementation

[0039] The automated sensor replacement system and method of the present invention will be described in detail below with reference to the accompanying drawings and exemplary embodiments.

[0040] Exemplary Example 1

[0041] This exemplary embodiment provides an automated sensor replacement system.

[0042] The automated sensor replacement system mainly includes unmanned replacement equipment, wireless positioning equipment, and image transmission equipment. The wireless positioning and image transmission equipment can communicate with the unmanned replacement equipment. The unmanned replacement equipment can perform sensor replacement and fastening operations, specifically, it can replace threaded fasteners, unidirectional reciprocating pins, tighten them, and replace consumables or vulnerable parts such as batteries. The wireless positioning equipment can collect and locate position, elevation, and path information, including: sequence number, priority, X coordinate, Y coordinate, Z relative elevation coordinate, attributes, and operation type. The image transmission equipment can confirm, transmit, and record sensor readings. Based on the path, battery level, and work location, after initial route exploration, the system can record, plan, and select a path, and automatically reroute.

[0043] In this exemplary embodiment, the automated sensor replacement system may further include an emergency recovery module. The emergency recovery module is located on the unmanned replacement equipment and is configured to record the departure route, perform one-key return, and one-key power-off. It is set to coordinate actions to proactively shut down the power / return when entering a hazardous area, or to obtain hazardous parameter values ​​by communicating with monitoring equipment within the hazardous area, displaying the critical hazardous point, and shutting down the power / returning once the threshold is exceeded.

[0044] In this exemplary embodiment, the unmanned replacement equipment may include an adaptive self-control machine. When performing sensor replacement and fastening operations, at least two adaptive self-control machines can work together, one carrying the old sensor and the other carrying the new sensor, to achieve threaded fastener replacement, unidirectional reciprocating pin replacement, fastening, and replacement of consumables or vulnerable items such as batteries.

[0045] In this exemplary embodiment, the adaptive self-control machine may include a model powered by solid-state battery-type electricity.

[0046] Furthermore, the adaptive and self-controlled machine is equipped with a mechanical structure unit, which may include: a power motor and battery, a power transmission hinge, a fixing device, a quick-release clamping device, and a data processing system, etc. The gimbal can be connected to the mechanical structure unit through the fixing device, and the connection may include threaded connection, riveting, welding, flange connection and magnetic attraction.

[0047] Furthermore, adaptive and self-controlled machines can be equipped with a gimbal, which can be used to place mechanical structures that rotate, twist, move up and down, and move horizontally at multiple angles.

[0048] In this exemplary embodiment, the adaptive autonomous machine can record its movement position during movement using a global positioning navigation system or mobile communication technology (e.g., 4G / 5G / 6G mobile networks, GPS, BeiDou, etc.), and maintain a safe distance from each collision detection point. The maintained safe distance R needs to satisfy the following relationship:

[0049]

[0050] The position coordinates of the adaptive self-control machine are (x i y i , z i The coordinates of the relative positions of each collision point F are (x j y j , z j ).

[0051] It should be noted that adaptive autonomous machines can brake and forcibly stop in an emergency if they detect an abnormal safe distance. For example, adaptive autonomous machines can measure distances using distance measuring devices (utilizing ultrasonic waves, infrasound, lasers, etc.) installed on them, and brake and forcibly stop in an emergency if the safe distance is abnormal.

[0052] Exemplary Example 2

[0053] This exemplary embodiment provides an automated sensor replacement system for digital paths.

[0054] The digital path-based automated sensor replacement system can acquire and record the paths from the starting point to working points 1 through n, as well as the paths between adjacent working points 1 through n, forming a path network. The digital path-based automated sensor replacement system may include the sensor replacement automated system structure described in Exemplary Example 1 above.

[0055] Exemplary Example 3

[0056] This exemplary embodiment provides an automated method for sensor replacement.

[0057] The automated sensor replacement method can be implemented using the automated sensor replacement system described in Exemplary Example 1 above. The automated sensor replacement method may include:

[0058] Step 1: Set up and debug the sensor replacement automation system.

[0059] a. Prepare an automated sensor replacement system. For unmanned replacement equipment, there are no restrictions on its type, brand, or power type. Solid-state battery power is preferred. It is not recommended to use fuel or methanol power, which require ignition, because the impact of combustible gas is one of the most important hazards at the drilling site.

[0060] b. The unmanned sensor replacement automation system may include an adaptive self-control machine equipped with a gimbal (a threaded gimbal-like structure) for traction of mechanical structures at multiple angles, including rotation, torsion, vertical movement, and horizontal movement. It may also utilize wireless positioning and image transmission equipment, which can be installed on the unmanned replacement machine or at a centralized starting point. The image transmission equipment enables sensor reading confirmation, transmission, and recording; the wireless positioning equipment enables the acquisition and positioning of location, elevation, and path. The above structure and components are suitable for drilling and logging engineering environments involving flammable, explosive, or hazardous chemical accumulations, high temperatures, and excessive exhaust emissions. Furthermore, the sensor replacement automation system may include a storage device capable of storing working point information, reading data, path information, etc., which can be installed on the unmanned replacement machine.

[0061] c. The mechanical structure mounted on the adaptive and autonomous machine mainly includes the following structures: ① power motor and battery (power supply), ② power transmission hinge (transmission motor supplies kinetic energy), ③ fixing device (interfacing with the gimbal), ④ quick release clamping device (clamping mechanical devices and loading sensor accessories), ⑤ landing gear (used for recovery landing buffer and auxiliary hovering to save power), and ⑥ data processing system.

[0062] d. Wireless positioning equipment and image transmission equipment.

[0063] The system collects and locates position, elevation, and path information using wireless positioning devices. This allows for the input of coordinates and location information for work points requiring alteration or replacement. Work point information can include (serial number, priority, X-coordinate, Y-coordinate, Z-relative elevation coordinate, attribute, and job type). The attribute indicates whether the work point requires work, and the job type indicates whether the work point is for alteration, inspection, adjustment, testing, reading, or other job types. The wireless positioning device determines the work path and scheduling strategies, including the number of return trips.

[0064] The image transmission device can collect relevant parameters and record key point data when a collision warning is detected, which facilitates the return to base. There are two methods: one is to record the points according to the existing sampling rate if there is no collision warning or adjustment, and the other is to automatically record if a collision is detected.

[0065] e. Emergency recovery module.

[0066] The unmanned equipment changing machine can be equipped with an emergency recovery module. This module includes complete departure route recording, one-click return, and one-click power-off. This requires coordination; that is, when the unmanned equipment changing machine enters a hazardous area, the machine (i.e., the unmanned equipment changing machine) can proactively shut down its power (abandon the machine) or obtain hazardous parameter values ​​through remote communication with other monitoring equipment. For example, when the unmanned equipment changing machine detects other sensors indicating excessive combustible gas levels or reaching the critical point of combustion and explosion, such as when the concentration of air mixed with powder exceeds the critical explosion concentration, it can automatically shut down according to a preset program to avoid inducing a critical event. Another example is when the unmanned equipment changing machine departs, the panel prompts whether to record the route. In the complex drilling site environment, by recording the current location, route memory is achieved. The route includes x, y, and z three-axis coordinates, where x and y represent planar position coordinates, and z represents relative elevation coordinates.

[0067] Step 2: Start and move to the work site, recording key points and passages along the way.

[0068] A-1. Determining the movement path of unmanned equipment:

[0069] The first method is suitable for traditional wired sensors (without wireless network access). The working node information and route information need to be surveyed and recorded on-site.

[0070] The second method: For working objects such as wireless sensors, the working point can be read from the wireless positioning device, and the path can be determined by on-site survey and unmanned equipment movement.

[0071] A-2. Unmanned garment changing equipment can record its movement location during transit using global positioning and navigation systems or mobile communication technologies. It obtains the path from the starting point to each sensor's work point, including straight-line distance, distance, location, and elevation. A key technique is to determine a simplified location rather than continuous recording, with manual verification. This can be achieved through manual observation and self-checking by the unmanned garment changing equipment.

[0072] A-3. Self-check: By determining the safe distance of the obstruction sensor (the safe distance can be set manually), and confirming that the distance from the unmanned changing equipment to the sensor in all directions is greater than the safe distance, the system automatically records the location of that movement path. Considering the movement of people on the ground, the safe distance setting on the ground-facing side should be higher than the average person's height to ensure the safety of operators in case of accidents. The safe distance refers to the distance between the unmanned changing equipment and obstacles.

[0073] A-4. Emergency Braking: If an abnormal safe distance is detected, the unmanned equipment can be forcibly stopped, and a reminder and waiting instruction will be displayed on the software terminal.

[0074] Step 3: Reading the data.

[0075] A-1. Reading refers to reading the values ​​recorded and reflected by the sensor. In order to accurately measure and verify the data, in special circumstances, it is usually necessary to test and analyze the accurate readings of the instrument on-site, rather than counting electronically remotely. Reading data on-site is an important way to correct and verify electronic or computer records.

[0076] A-2. The operator reads the readings from the transmitted image screen and records them manually. Wireless positioning and image transmission equipment rely on manual observation for correction and instrument recording.

[0077] A-3. The terminal's image recognition system enables automatic reading and input. Both methods primarily use automatic recording for work point readings, with manual recording used for inspection and calibration purposes.

[0078] Regarding readings, it should be noted that in complex and dangerous situations during drilling, such as high wellhead pressure, the pressure gauges and other sensors and instruments requiring readings need to have their actual readings manually verified, rather than simply viewing analog or digital signals in a remote instrument room. This work activity is called manual measurement data, and it serves as an important measured calibration value for sensor and instrument readings. This invention enables the reading and counting of mechanical or instrument-type sensors and other instruments through two methods: Method 1 uses image transmission equipment to transmit data back to personnel in a safe area for identification and recording; Method 2 uses an image transmission and image recognition system to automatically acquire and recognize images.

[0079] Step 4: Changing and tightening the garment.

[0080] A. Threaded Fastener Replacement: The unmanned replacement equipment can disconnect the old sensor by rotating and loosening the thread, and replace and secure the new sensor by tightening the thread. This unmanned replacement equipment should require at least two machines working together: one to carry the old sensor and the other to carry the new sensor.

[0081] B. Replacement of unidirectional reciprocating pin parts: Same as above, requires cooperation of two machines.

[0082] C. Tighten: If the parts are found to be loose, the replacement steps AB need to be repeated.

[0083] D. Replacement of consumables or easily damaged items such as batteries. This is usually a routine and frequent operation. The procedure is the same as described above.

[0084] Step 5: Scheduling and recurring operations.

[0085] A-1. Based on the sensor's location, complete the sensor positioning in a pre-defined order or randomly. The program system iterates through all location points, collects relevant parameters, and records key point data for collision warnings to facilitate return to base. There are two methods: one is to record points according to the existing sampling rate if there is no collision warning or adjustment; the other is to automatically record points if a potential collision is detected. Location point recording includes, but is not limited to, (serial number, priority, X coordinate, Y coordinate, Z relative elevation coordinate, attributes, and job type).

[0086] A-2. Based on the attributes and job type of each key sensor location, the operation sequence is determined and optimized. This also includes considering the battery life and weight of the unmanned replacement equipment, whether it is necessary to carry the sensors to be updated, whether to retrieve old or scrapped sensors, or whether to only patrol the line to record and read the status of each sensor. Here, there is a relationship between mileage and battery power. Due to multiple operations, a three-dimensional coordinate system is formed to reach each point, allowing for an estimation of the battery power required to complete the operation at this coordinate. Therefore, the order of arrival at position 1 or position 2 can be determined based on the recorded trajectory along the route.

[0087] A-3. Once the workload is completed or an instruction is issued to terminate the operation early, the unmanned equipment will return along the preset path or land on the spot and shut down.

[0088] It should be noted that issuing instructions and manually adjusting his movement trajectory constitutes scheduling.

[0089] Step Six: Recycling and Termination (including recycling decisions).

[0090] A. The unmanned equipment can be recovered in three ways: first, it can be recovered automatically based on the waypoints; second, it can be manually recalled; and third, it can be automatically shut down and landed under special circumstances.

[0091] B. Termination of Operation: When the environment does not allow the operation to continue, or when there are other emergencies that require the operation to be shut down, the unmanned equipment will return or land and the power will be cut off.

[0092] The key technical points and main features of this invention may include the following three points:

[0093] 1. The unmanned garment changing equipment can communicate with existing wireless networks and transmit signals via 4G to obtain work locations. It can also provide real-time images of the work to operators and system terminals via image transmission. Here, the unmanned garment changing equipment may be equipped with a control system, which refers to a mechanical device that controls actions such as rotation and extraction of the installed sensors.

[0094] 2. By recording the locations where work needs to be done, the control system can automatically plan and execute tasks.

[0095] 3. The control system makes "work-return" decisions based on factors such as average operation time, travel time, and load. Before the control system starts operation, key locations and data are recorded, and a memory route is formed, so the return trip requires no commands or calculations. The first trip involves detection, sensing, and calculation.

[0096] Special points that need to be explained may include:

[0097] ①The method of the present invention is applicable to the replacement of various sensors and parts that are fixed by flanges, rivets, etc.

[0098] ②The purpose of this invention includes reading, replacing and disassembling sensors using non-human direct operation, but through unmanned changing equipment, non-contact remote image transmission and multi-functional robotic arms.

[0099] This invention also provides a method for deploying unmanned sensor replacement equipment and automating sensor replacement in high-risk or hazardous drilling and logging operations. It primarily addresses the problem of sensor monitoring and maintenance in high-risk, complex drilling and logging environments. First, the task is defined, mainly by determining the work point location, coordinates, and work content. Then, planning and calculation are performed, including modeling and calculating power consumption, and planning the travel route and return strategy. Next, pipeline patrol is carried out. The task definition also includes triggering a return trip, task termination, or looping based on conditions and power consumption to adjust the pipeline patrol operation (see...). Figure 1 Its main meaning is: the first exploration determines the key points and routes, and the second exploration or return is an automatic return because the point and altitude information are stored.

[0100] In this exemplary embodiment, the present invention can perform path estimation, wherein all sensors along the path or to be processed are set as a working node, i.e., a point, with (x, y, z) coordinates, where x represents the relative abscissa, which is the distance in the horizontal x-direction between the point and the rectangular coordinates relative to the well site measurement origin; z represents the vertical distance relative to the ground elevation; and y represents the relative ordinate, which is the distance in the horizontal y-direction between the well site measurement origin and the point. The above applies to all types of coordinates, including rectangular coordinates.

[0101] In this exemplary embodiment, the present invention estimates the safe distance, including:

[0102] Let the location coordinates of the unmanned equipment changer be (x i y i , z i The coordinates of the relative positions of each collision point F are (x j y j , z j ), and setting a safe distance R, should include:

[0103]

[0104] Since the collision point is fixed, the unmanned changing equipment travels between work points along a fixed route.

[0105] For example, the journey from point A to point B can be denoted as... Accordingly, the distance from point B to A can be denoted as:

[0106] We use an enumeration method to estimate the power consumption of each path. Assuming that power consumption depends only on the path, we mark all paths as shown above. Assuming there are Q possible paths, the total power consumption is Q. m Then we have min(Q) m This is the optimal path; additionally, Q m ≤D max That is, the power consumption of the planned route must be less than or equal to the maximum design battery capacity.

[0107] Once the work nodes to be processed are determined (here, work nodes refer to sensors that need to be read or operated), the factors that determine the online time of the unmanned garment changing equipment may also include the work required to complete the task and travel between the points, the maximum starting movement weight, and the total battery capacity.

[0108] In summary, the advantages proposed by this invention include at least one of the following:

[0109] (1) The system proposed in this invention can automate operations such as sensor installation, replacement, locking, fastening and battery replacement.

[0110] (2) The system proposed in this invention is highly versatile and applicable to drilling and logging sites, especially to harsh environments such as well blowouts, areas with toxic gases, flammable and explosive materials, and other areas where it is inconvenient for operators to enter.

[0111] (3) The sensor replacement automation method proposed in this invention is applicable to drilling or oil testing operations, including special drilling and logging operation areas with high risk or danger; the conditions for use are that the personnel are in a safe position and the on-site conditions of the equipment allow for the response operation.

[0112] (4) The sensor replacement automation method proposed in this invention can be applied to sensors used in drilling or oil testing operations (most of which are fixed with screws), which is different from sensors that are attached with magnets; it can realize the old sensor is disconnected by the self-rotation and the thread opening loosening action, and the new sensor is replaced and fixed by the thread opening tightening action.

[0113] (5) The system proposed in this invention can cope with emergency situations and avoid machine damage or triggering environmental degradation. In extreme cases, it can shut down automatically or passively to avoid aggravating or causing more serious environmental changes. At the same time, in emergency situations, it can clamp the sensor and quickly discard it, regardless of whether it is new or old, in order to quickly get away from the dangerous area and ensure safety. In special cases, it can separate the main body from the parts to be replaced and the sensor to ensure quick escape from the dangerous and harmful area.

[0114] Although the invention has been described above in conjunction with exemplary embodiments, those skilled in the art will understand that various modifications and changes can be made to the exemplary embodiments of the invention without departing from the spirit and scope defined by the claims.

Claims

1. An automated sensor replacement system, characterized in that, The system includes unmanned changing equipment, wireless positioning equipment, and image transmission equipment. The unmanned changing equipment can perform sensor changing and fastening operations; the wireless positioning equipment realizes the acquisition and positioning of location, elevation, and path; the image transmission equipment realizes sensor reading confirmation, transmission, and recording actions; based on the path, power, and work location, the system can record, plan, and select the path after the initial route exploration, and automatically travel back and forth.

2. The automated sensor replacement system according to claim 1, characterized in that, The acquisition and positioning of the input location, elevation, and path include: serial number, priority, X coordinate, Y coordinate, Z relative elevation coordinate, attribute, and job type.

3. The automated sensor replacement system according to claim 1, characterized in that, The replacement and fastening operations include: replacing threaded fasteners, replacing unidirectional reciprocating pins, fastening, and replacing consumables or vulnerable items such as batteries.

4. The sensor replacement automation system according to claim 1, characterized in that, The automated sensor replacement system also includes an emergency recovery module, which is located on the unmanned replacement equipment. It is configured to record the departure route, return to base with one key, and shut down the power with one key. It is set to coordinate and actively shut down the power / return to base when entering a dangerous area, or obtain dangerous parameter values ​​by communicating with monitoring equipment within the dangerous area, display the dangerous critical point, and shut down the power / return to base once the threshold is exceeded.

5. The automated sensor replacement system according to claim 1, characterized in that, The unmanned changing equipment includes an adaptive self-control machine, which is equipped with a gimbal and a mechanical structure unit. The adaptive self-control machine records its movement position while moving and maintains a safe distance from each inspection collision point.

6. The automated sensor replacement system according to claim 5, characterized in that, The mechanical structure unit includes: a power motor and battery, a power transmission hinge, a fixing device, a quick-release clamping device, and a data processing system.

7. The automated sensor replacement system according to claim 6, characterized in that, The gimbal is connected to the mechanical structure unit through the fixing device, and the connection includes threaded connection, riveting, welding, flange connection and magnetic attraction.

8. The automated sensor replacement system according to claim 5, characterized in that, The adaptive self-control machine includes models that use solid-state battery power.

9. The automated sensor replacement system according to claim 5, characterized in that, The adaptive self-control machine records its location during movement using a global positioning navigation system or mobile communication technology.

10. The automated sensor replacement system according to claim 5, characterized in that, The gimbal can accommodate mechanical structures that can rotate, twist, move up and down, and move horizontally at multiple angles.

11. The automated sensor replacement system according to claim 5, characterized in that, Maintaining a safe distance from each collision point includes: The safety distance R satisfies: The position coordinates of the adaptive and self-controlled machine are (x i y i , z i The coordinates of the relative positions of each collision point F are (x j y j , z j ); When the adaptive and self-controlled machine detects an abnormal safe distance, it will brake in an emergency and forcibly stop.

12. The automated sensor replacement system according to claim 5, characterized in that, The replacement and fastening operations include: at least two adaptive and self-controlled machines working together, one carrying the old sensor and the other carrying the new sensor, to replace threaded fasteners, replace unidirectional reciprocating pins, fasten, and replace consumables or vulnerable items such as batteries.

13. An automated sensor replacement method, characterized in that, The method is implemented using an automated sensor replacement system as described in any one of claims 1 to 12, and the method includes: Setting up and debugging the automated sensor replacement system; Start the unmanned changing equipment and move it to the work site, recording key locations and passageways along the way; Perform reading operations, changing and fastening operations, and / or scheduling and cyclical operations; To achieve recycling and termination.

14. The automated sensor replacement method according to claim 13, characterized in that, The reading operation includes: recording and reading the values ​​reflected by the sensor, automatically reading and inputting them through the terminal's image recognition system; and manually recording the readings on the image screen transmitted back by the operator as a check and calibration.

15. The automated sensor replacement method according to claim 13, characterized in that, The scheduling and cyclical operations include: According to the recording points where the sensors are located, the positions of each sensor are traversed in a set order or random order. The scheduling and / or looping are based on the specific conditions of the work point information to be replaced, the battery power and endurance of the unmanned replacement equipment under its own weight, whether it is necessary to carry the sensor to be updated, whether to collect the old or scrapped replaced sensor, and whether to only patrol and record and read the status of each sensor.

16. The automated sensor replacement method according to claim 13, characterized in that, The recovery process includes three methods: automatic recovery at waypoints, manual recall, and automatic landing after shutdown in special circumstances.

17. The automated sensor replacement method according to claim 13, characterized in that, The termination includes: when the environment does not allow the operation to continue, or when there are other emergencies that require the operation to be shut down, the unmanned equipment will be returned or the power will be cut off.

18. The automated sensor replacement method according to claim 13, characterized in that, The process of starting the unmanned garment changing equipment and moving it to the work site, and recording key points and channels along the way, includes: obtaining the path from the starting point to the work site where each sensor is located, including straight-line distance, distance, point location and elevation.

19. The automated sensor replacement method according to claim 13, characterized in that, The process of starting the unmanned equipment changeover and moving it to the work site, recording key points and passages along the way, also includes: using an enumeration method to estimate the power consumption of each path, and ensuring that the power consumption of the planned path is less than or equal to the maximum design battery capacity.

20. An automated sensor replacement system with a digital path, characterized in that, The digital path sensor replacement automation system can acquire and record the path from the starting point to the working points 1 to n, as well as the path between adjacent working points 1 to n, forming a path network.

Images