A control method, device and drilling equipment for an iron roughneck

Abstract

The present invention provides a control method, device and drilling equipment for an iron roughneck. The method includes: obtaining the cantilever extension length, the initial value of the tong body height and the drill pipe collar height at the current moment; based on a preset rule, determining the height change value of the tong body during movement according to the cantilever extension length, and determining the target adjustment height in combination with the height change value, the initial value of the tong body height and the drill pipe collar height; controlling the iron roughneck to act until the lifting and lowering value of the stand height is equal to the target adjustment height. The technical solution of the present invention controls the action of the iron roughneck in combination with the height change of the tong body during movement, improves the accuracy of the drill pipe collar height positioning, and improves the safety of drilling operations.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and more particularly, to a control method and device for an iron roughneck and a drilling rig. Background Art

[0002] An iron roughneck is an important tool for automatically screwing on and unscrewing drill pipes during drilling operations. It generally includes a mast, a boom, and a tong body. One end of the boom is connected to the mast, and the other end of the boom is connected to the tong body. Among them, the tong body is used to clamp the drill pipe. The height of the tong body can be adjusted by the up and down telescoping of the mast cylinder. The tong body can be driven to move horizontally by the telescoping of the boom cylinder, and the tong body can be driven to rotate horizontally by a slewing motor.

[0003] In order to reduce the labor intensity of operators during drilling operations and improve the safety of drilling operations, currently, a height sensor is often used to detect the height of the drill pipe collar and the initial height of the tong body, and the movement of the tong body is controlled according to the difference between the height of the drill pipe collar and the initial height of the tong body to achieve automatic positioning of the drill pipe collar and clamp the tong body at the drill pipe collar. However, during the movement of the tong body, it will be affected by factors such as gravity, resulting in a mismatch between the actual change in the height of the tong body and the difference between the height of the drill pipe collar and the initial height of the tong body, leading to inaccurate positioning of the drill pipe collar height and potential safety hazards. Summary of the Invention

[0004] The problem solved by the present invention is how to improve the accuracy of drill pipe collar height positioning to enhance the safety of drilling operations.

[0005] To solve the above problems, the present invention provides a control method and device for an iron roughneck and a drilling rig.

[0006] In a first aspect, the present invention provides a control method for an iron roughneck, including:

[0007] Obtaining the boom extension length, the initial value of the tong body height, and the drill pipe collar height at the current moment;

[0008] Based on a preset rule, determining the height change value of the tong body during movement according to the boom extension length, and determining the target adjustment height in combination with the height change value, the initial value of the tong body height, and the drill pipe collar height;

[0009] Controlling the operation of the iron roughneck until the lifting and lowering value of the mast height is equal to the target adjustment height.

[0010] Optionally, before controlling the operation of the iron roughneck, it further includes:

[0011] Obtaining the slewing angle of the tong body and the drill pipe position at the current moment;

[0012] Determine the current working position state of the iron roughneck according to the slewing angle and the cantilever extension length, wherein each working position state corresponds to different slewing angles and cantilever extension lengths;

[0013] Determine the action path of the iron roughneck according to the current working position state and the drill pipe position.

[0014] Optionally, the controlling the iron roughneck to act until the lifting value of the mast height is equal to the target adjustment height includes:

[0015] Based on the action path, adjust the slewing angle of the tong body, the telescopic amount of the mast cylinder, and the telescopic amount of the cantilever cylinder until the tong body reaches the drill pipe position and the lifting value of the mast height is equal to the target adjustment height.

[0016] Optionally, the determining the height change value of the tong body during movement according to the cantilever extension length based on a preset rule includes:

[0017] Based on the pre-determined corresponding relationship between the cantilever extension length and the height change value, determine the corresponding height change value according to the cantilever extension length at the current moment;

[0018] and / or,

[0019] Based on a preset calculation rule, determine the height change value by combining the cantilever extension length at the current moment and the relevant parameters of the iron roughneck.

[0020] Optionally, the calculation rule is represented by a first formula, and the first formula includes:

[0021]

[0022] wherein, ΔHc represents the height change value, Hr represents the height of the drill pipe collar, L represents the installation length of the cantilever cylinder in the horizontal direction, X represents the cantilever extension length at the current moment, AB represents that the tong body reaches the drill pipe position and the distance from the end A of the tong body to the preset point B when the height of the cantilever cylinder is equal to the height of the drill pipe collar, BC represents the distance from the connection point C between the fixed seat of the cantilever cylinder and the mast to the preset point B at the current moment, BD represents the distance from the connection point D between the tong body and the cantilever to the preset point B at the current moment, α represents the angle between the line connecting the preset point B and the connection point C and the horizontal plane, and β represents the angle between the line connecting the preset point B and the connection point C and the line connecting the preset point B and the end A of the tong body.

[0023] Optionally, the action path includes all intermediate working position states between the current working position state and the drill pipe position, and the action sequence of the iron roughneck between each intermediate working position state.

[0024] Optionally, the working station states include the wellhead operation working station state, the mousehole operation working station state, the first switching working station state between the wellhead operation and the mousehole operation, and the second switching working station state between the mousehole operation and the slewing limit.

[0025] When the drill pipe position is at the wellhead position, the action sequence among the working station states is, in turn, the second switching working station state, the mousehole operation working station state, the first switching working station state, and the wellhead operation working station state.

[0026] When the drill pipe position is at the mousehole position, the action sequence among the working station states is, in turn, the wellhead operation working station state, the first switching working station state, and the mousehole operation working station state, or the second switching operation working station state and the mousehole operation working station state.

[0027] Optionally, the obtaining the slewing angle of the tong body and the drill pipe position at the current moment includes:

[0028] Obtaining the sampled value output by the rotary encoder, and determining the slewing angle according to the sampled value and the device parameters of the rotary encoder, where the rotary encoder is used to detect the change amount of the slewing angle of the tong body.

[0029] And / or, the obtaining the cantilever extension length, the initial value of the tong body height, and the drill pipe collar height at the current moment includes:

[0030] Obtaining the cantilever analog signal output by the cantilever displacement sensor, and performing analog-to-digital conversion and quadratic fitting numerical calculation on the cantilever analog signal in sequence to obtain the cantilever extension length, where the cantilever displacement sensor is used to detect the telescopic amount of the cantilever oil cylinder.

[0031] Optionally, the determining the target adjustment height by combining the height change value, the initial value of the tong body height, and the drill pipe collar height includes: successively subtracting the initial height of the tong body and the height change value from the drill pipe collar height to obtain the target adjustment height.

[0032] In a second aspect, the present invention provides a top drive control device, including a memory and a processor;

[0033] The memory is used to store a computer program;

[0034] The processor is used to, when executing the computer program, implement the top drive control method according to any item of the first aspect.

[0035] In a third aspect, the present invention provides a drilling device, including an iron roughneck and the iron roughneck control device as described in the second aspect, and the iron roughneck control device is electrically connected to the stand cylinder, the cantilever cylinder and the slewing motor of the iron roughneck respectively.

[0036] Optionally, it further includes a drill pipe coupling height sensor, a cantilever displacement sensor, a stand displacement sensor and a rotary encoder, and the iron roughneck control device is electrically connected to the drill pipe coupling sensor, the cantilever displacement sensor, the stand displacement sensor and the rotary encoder respectively;

[0037] Wherein, the drill pipe coupling height sensor is used to detect the height of the drill pipe coupling, the cantilever displacement sensor is used to detect the telescopic amount of the cantilever cylinder, the stand displacement sensor is used to detect the telescopic amount of the stand cylinder, and the rotary encoder is used to detect the change amount of the rotation angle of the tong body.

[0038] The beneficial effects of the iron roughneck control method, device and drilling device of the present invention are as follows: obtaining the current cantilever extension length, the initial value of the tong body height and the height of the drill pipe coupling, wherein the initial value of the tong body height is the height of the tong body in the initial state, and the height of the drill pipe coupling is the target height that the tong body needs to reach. Based on the preset rules, determine the height change value caused by factors such as gravity during the movement of the tong body according to the cantilever extension length, and combine the height change value, the initial value of the tong body height and the height of the drill pipe coupling to determine the target adjustment height, and the target adjustment height is the height that actually needs to be adjusted when the tong body moves to the height of the drill pipe coupling. Control the iron roughneck to act according to the target adjustment height to adjust the height of the tong body until the lifting value of the stand height is equal to the target adjustment height, indicating that the tong body reaches the height of the drill pipe coupling, and realize the positioning of the drill pipe coupling in height. Since the target adjustment height not only considers the initial value of the tong body height and the height of the drill pipe coupling, but also considers the height change value during the movement of the tong body, the tong body can accurately position the height of the drill pipe coupling during the movement in the height direction, and further enable the tong body to accurately clamp at the drill pipe coupling, improving the safety of drilling operations. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of an iron roughneck in the prior art;

[0040] Figure 2 It is a schematic flow chart of an iron roughneck control method according to an embodiment of the present invention;

[0041] Figure 3 It is a schematic flow chart of the motion path planning according to an embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of the relationship curve of the height change value changing with the cantilever extension length according to an embodiment of the present invention;

[0043] Figure 5 Schematic structural diagram of a drilling device according to another embodiment of the present invention. Detailed implementation manners

[0044] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0045] It should be understood that the various steps recorded in the method embodiments of the present invention can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0046] The term "including" and its variations used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependent relationships.

[0047] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly stated in the context, it should be understood as "one or more".

[0048] As Figure 1 shown, the existing iron roughneck includes a support base 10, a column oil cylinder 21, a column 22, a cantilever oil cylinder 31, a cantilever 32, and a tong body 40. The end of the cantilever 31 is connected to the tong body 40. The fixed seat of the cantilever oil cylinder 21 is connected to the column 22. The column oil cylinder 21 is installed on the support base 10. Driven by the column oil cylinder 21, the column 22 can drive the tong body 40 to move in the vertical direction. Driven by the cantilever oil cylinder 31, the cantilever 32 can drive the tong body 40 to move in the horizontal direction. At the same time, the tong body can rotate in the horizontal direction under the drive of a rotary motor ( Figure 1 not shown in the figure).

[0049] AsFigure 2 As shown in the figure, a method for controlling an iron roughneck provided by an embodiment of the present invention includes:

[0050] Step S110, obtaining the cantilever extension length, the initial value of the tong body height, and the drill pipe collar height at the current moment.

[0051] Specifically, the cantilever extension length can be the length of the cantilever in the horizontal direction, and the initial value of the tong body height can be the vertical height of the tong body at the current moment.

[0052] Step S120, based on a preset rule, determining the height change value of the tong body during movement according to the cantilever extension length, and combining the height change value, the initial value of the tong body height, and the drill pipe collar height to determine the target adjustment height.

[0053] Specifically, the height change value represents the amount of change in the height of the tong body due to reasons such as gravity during the movement of the tong body from the current working position state to the drill pipe position, and the target adjustment height represents the lifting and lowering value of the column height corresponding to the drill pipe collar height when the tong body moves from the current working position state.

[0054] Step S130, controlling the iron roughneck to act until the lifting and lowering value of the column height is equal to the target adjustment height.

[0055] Specifically, the lifting and lowering of the tong body can be controlled by adjusting the telescopic amount of the column oil cylinder until the lifting and lowering value of the column height is equal to the target adjustment height, so as to realize the positioning of the drill pipe collar in height.

[0056] In this embodiment, the cantilever extension length, the initial value of the tong body height, and the drill pipe collar height at the current moment are obtained. Among them, the initial value of the tong body height is the height of the tong body in the initial state, and the drill pipe collar height is the target height to which the tong body is to reach. Based on a preset rule, the height change value of the tong body affected by factors such as gravity during movement is determined according to the cantilever extension length, and the target adjustment height is determined by combining the height change value, the initial value of the tong body height, and the drill pipe collar height. The target adjustment height is the height that actually needs to be adjusted when the tong body moves to the drill pipe collar height. The iron roughneck is controlled to act according to the target adjustment height to adjust the height of the tong body until the lifting and lowering value of the column height is equal to the target adjustment height, indicating that the tong body reaches the drill pipe collar height, and the positioning of the drill pipe collar in height is realized. Since the target adjustment height not only considers the initial value of the tong body height and the drill pipe collar height, but also considers the height change value during the movement of the tong body, the tong body can accurately position the drill pipe collar height during the movement in the height direction, and then the tong body can accurately clamp at the drill pipe collar, improving the safety of drilling operations.

[0057] Optionally, as Figure 3 shown, before controlling the iron roughneck to act, it further includes:

[0058] Step S210: Obtain the rotation angle of the tong body and the position of the drill pipe at the current moment.

[0059] Specifically, the rotation angle can represent the angle between the direction pointed by the tong body and a preset reference direction. For example, the direction pointing to the wellhead can be set as the reference direction, and the rotation angle corresponding to the wellhead direction is 0 degrees. The position of the drill pipe can represent the horizontal position where the drill pipe is located, including the wellhead position and the mousehole position.

[0060] Step S220: Determine the current working position state of the iron roughneck according to the rotation angle and the cantilever extension length, where each working position state corresponds to different rotation angles and cantilever extension lengths.

[0061] Specifically, the current working position state can be a comprehensive index characterizing data such as the position of the tong body, the rotation angle of the tong body, and the initial value of the tong height at the current moment. Different working position states correspond to different rotation angles and / or different cantilever extension lengths.

[0062] Step S230: Determine the action path of the iron roughneck according to the current working position state and the position of the drill pipe.

[0063] Specifically, the action path is used to indicate how to move from the current working position state to the position of the drill pipe, and it mainly characterizes the movement process of the tong body in the horizontal direction.

[0064] In this optional embodiment, by determining the action path of the iron roughneck according to the current working position state and the position of the drill pipe, the action of the iron roughneck can be controlled according to the action path. Compared with the random action of the iron roughneck, it can avoid redundant actions and quickly achieve the positioning of the drill pipe joint. At the same time, controlling the action of the iron roughneck according to the action path can avoid the collision interference between the iron roughneck and surrounding objects during the movement process, improving the operation safety.

[0065] Optionally, the working position states include the wellhead operation working position state, the mousehole operation working position state, the first switching working position state between the wellhead operation and the mousehole operation, and the second switching working position state between the mousehole operation and the rotation limit.

[0066] Specifically, multiple working position states can be divided in advance according to different rotation angles and cantilever extension lengths, and then the corresponding current working position state can be determined according to the rotation angle and the cantilever extension length at the current moment.

[0067] Exemplarily, as shown in Table 1, 10 working position states, zone1 to zone10, can be divided according to different rotation angles and cantilever extension lengths.

[0068] Table 1 Schematic Table of Iron Roughneck Working Position States

[0069]

[0070] Among them, zone1 means that the tong body points to the wellhead (the first set angle can be 0 degrees). At this time, the tong body retracts to the safe standby position, and the safe standby position is the limit position where the cantilever retracts backward (that is, the length of the cantilever extension is equal to the first set length corresponding to the safe standby position, and the first set length can be the horizontal distance from the safe standby position to the column).

[0071] zone2 means that the tong body points to the wellhead (the slewing angle is 0 degrees), and the tong body is between the safe standby position and the wellhead standby position (that is, the length of the cantilever extension is greater than the first set length and less than the second set length corresponding to the wellhead standby position, and the second set length can be the horizontal distance from the wellhead standby position to the column).

[0072] zone3 means that the tong body points to the wellhead (the slewing angle is 0 degrees), and the tong body is at the wellhead standby position (that is, the length of the cantilever extension is equal to the second set length).

[0073] zone4 means that the tong body points to the wellhead (the slewing angle is 0 degrees), and the tong body is at the wellhead target position (that is, the length of the cantilever extension is equal to the third set length corresponding to the wellhead target position, and the third set length can be the horizontal distance from the wellhead target position to the column).

[0074] zone5 means that the tong body points between the wellhead and the mouse hole, that is, the slewing angle is greater than 0 degrees (in the wellhead direction) and less than the second set angle (in the mouse hole direction, such as 21 degrees, etc.), and the tong body is at the safe standby position (that is, the length of the cantilever extension is equal to the first set length).

[0075] zone6 means that the tong body points to the mouse hole (that is, the slewing angle is equal to the second set angle), and the tong body is at the safe standby position (that is, the length of the cantilever extension is equal to the first set length).

[0076] zone7 means that the tong body points to the mouse hole (that is, the slewing angle is equal to the second preset angle), and the tong body is between the safe standby position and the mouse hole standby position (that is, the length of the cantilever extension is greater than the first set length and less than the fourth set length corresponding to the mouse hole standby position, and the fourth set length can be the horizontal distance from the mouse hole standby position to the column).

[0077] zone8 means that the tong body points to the mouse hole (that is, the slewing angle is equal to the second set angle), and the tong body is at the mouse hole standby position (that is, the length of the cantilever extension is equal to the fourth set length).

[0078] zone9 means that the tong body points to the mouse hole (that is, the slewing angle is equal to the second set angle), and the tong body is at the mouse hole target position (that is, the length of the cantilever extension is equal to the fifth set length corresponding to the mouse hole target position, and the fifth set length can be the horizontal distance from the mouse hole target position to the column).

[0079] Zone10 indicates that the tong body is between the mouse hole direction and the slewing limit, that is, the slewing angle is greater than the second set angle (mouse hole direction) and less than the slewing limit angle (for example, 90 degrees), and the tong body is in the safe standby position (that is, the cantilever extension length is equal to the first set length).

[0080] Among them, zone1 to zone4 can be divided into wellhead operation station states, zone6 to zone9 can be divided into mouse hole operation station states, zone5 can be divided into the first switching station state between wellhead operation and mouse hole operation, and zone10 can be divided into the second switching station state between mouse hole operation and slewing limit.

[0081] In this optional embodiment, multiple station states can be pre-divided according to different slewing angles and cantilever extension lengths, which is convenient for path planning. Furthermore, it is convenient to control the slewing angle and cantilever extension length of the iron roughneck during movement, avoiding collision interference between the iron roughneck and surrounding objects during movement, and improving operation safety.

[0082] Optionally, the action path includes all intermediate station states between the current station state and the drill pipe position, and the action sequence of the iron roughneck between each intermediate station state.

[0083] Specifically, determining the action path of the iron roughneck according to the current station state and the drill pipe position includes: determining all intermediate station states between the current station state and the drill pipe position, and determining the action sequence of the iron roughneck between each intermediate station state according to the preset action sequence.

[0084] In this optional embodiment, all intermediate station states that the iron roughneck has to pass through from the current station state to the drill pipe position, and the action sequence between each intermediate station state, are used to indicate the actions of the iron roughneck. While improving the positioning speed of the drill pipe collar by the iron roughneck, it can prevent the iron roughneck from colliding with surrounding objects during movement, and improve operation safety.

[0085] Optionally, when the drill pipe position is the wellhead position, the action sequence between each station state is the second switching station state, the mouse hole operation station state, the first switching station state, and the wellhead operation station state in sequence;

[0086] When the drill pipe position is the mouse hole position, the action sequence between each station state is the wellhead operation station state, the first switching station state, and the mouse hole operation station state in sequence, or the second switching operation station state and the mouse hole operation station state.

[0087] Specifically, when the drill pipe position is at the wellhead position, the iron roughneck moves from the current working position state to the wellhead position. The action sequence among the various working position states in the wellhead operation working position state is zone1, zone2, zone3, zone4 in turn. Understandably, the first switching working position state, the mousehole operation working position state, and the second switching working position state all need to move to zone1 first. The moving sequence is the second switching working position state, the mousehole operation working position state, the first switching working position state, zone1, and then from zone1 through zone2, zone3, zone4 to the wellhead position in turn. At this time, the action sequence among the various working position states in the mousehole operation working position state is zone9, zone8, zone7, zone6 in turn.

[0088] Exemplarily, when the drill pipe position is at the wellhead position, if the current working position state is zone1, the iron roughneck moves from zone1 through zone2, zone3, zone4 in turn to reach the wellhead position; if the current working position state is zone9, the iron roughneck first moves from zone9 through zone8, zone7 to reach zone6, then moves from zone6 through zone5 to reach zone1, and then moves from zone1 through zone2, zone3, zone4 in turn to reach the wellhead position; if the current working position state is zone10, the iron roughneck first moves from zone10 to zone6, then moves from zone6 through zone5 to reach zone1, and then moves from zone1 through zone2, zone3, zone4 in turn to reach the wellhead position.

[0089] Correspondingly, when the drill pipe position is at the mousehole position, the iron roughneck moves from the current working position state to the mousehole position. The action sequence among the various working position states in the mousehole operation working position state is zone6, zone7, zone8, zone9 in turn. Understandably, the wellhead operation working position state, the first switching working position state, and the second switching working position state all need to move to zone6 first, and then from zone6 through zone7, zone8, zone9 to the mousehole position in turn. At this time, the action sequence among the various working position states in the wellhead operation working position state is zone4, zone3, zone2, zone1 in turn.

[0090] Exemplarily, when the drill pipe position is the mousehole position, if the current working station status is zone6, the iron roughneck moves from zone6 through zone7 and zone8 in sequence to reach zone9 and then arrives at the mousehole position; if the current working station status is zone4, the iron roughneck first moves from zone4 through zone3 and zone2 in sequence to reach zone1, then moves from zone1 through zone5 to reach zone6, and then moves from zone6 through zone7 and zone8 in sequence to reach the mousehole position; if the current working station status is zone10, the iron roughneck first moves from zone10 to zone6, and then moves from zone6 through zone7 and zone8 in sequence to reach the mousehole position.

[0091] Optionally, controlling the movement of the iron roughneck until the lifting value of the mast height is equal to the target adjustment height includes:

[0092] Based on the movement path, adjusting the rotation angle of the tong body, the telescopic amount of the mast cylinder, and the telescopic amount of the cantilever cylinder until the tong body reaches the drill pipe position and the lifting value of the mast height is equal to the target adjustment height.

[0093] Specifically, by adjusting the rotation angle of the tong body and the telescopic amount of the cantilever cylinder, the movement of the tong body in the horizontal direction can be controlled according to the movement path, and by adjusting the telescopic amount of the mast cylinder, the movement of the tong body in the vertical direction can be controlled. When the tong body reaches the drill pipe position and the lifting value of the mast height is equal to the target adjustment height, it means that the tong body reaches the drill pipe collar, and the positioning of the drill pipe collar is completed.

[0094] Exemplarily, when the drill pipe position is the wellhead position, if the current working station status is zone1, control the cantilever cylinder to extend to drive the tong body to move towards the working station status zone2; when the tong body reaches zone2, the telescopic amount of the cantilever cylinder and the telescopic amount of the mast cylinder can be synchronously adjusted according to the lifting value of the mast height feedback by the mast displacement sensor and the telescopic value of the cantilever length feedback by the cantilever displacement sensor. When the lifting value of the mast height is equal to the target adjustment height, the mast cylinder stops acting, and the cantilever cylinder continues to push the tong body towards zone3. The control process can adopt PID control; when the tong body reaches zone3, control the extension speed of the cantilever cylinder to decrease, and drive the tong body to slowly reach zone4 to avoid interference and collision between the tong body and the drill pipe collar due to too fast extension speed of the cantilever cylinder; when the tong body reaches zone4, compare the lifting value of the mast height feedback by the mast displacement sensor with the target adjustment height, and compare the telescopic value of the cantilever length feedback by the cantilever displacement sensor with the third set length corresponding to the wellhead target position. If both comparison results are equal, it means that the tong body reaches the drill pipe collar, and the positioning of the drill pipe collar is achieved.

[0095] Understandably, when the drill pipe position is the mouse hole position and the current working station status is zone6, the control process of the iron roughneck corresponds to the above process. Among them, the mouse hole position corresponds to the wellhead position, zone6 corresponds to zone1, zone7 corresponds to zone2, zone8 corresponds to zone3, zone9 corresponds to zone4. The specific control process will not be elaborated here.

[0096] When the current working station status is zone5, if the drill pipe position is the wellhead position, first control the slewing motor to drive the tong body to rotate from zone5 to zone1. During the rotation, the extended length of the boom (i.e., the tong body is in the safe standby position) makes the turning radius the smallest to prevent the tong body from colliding and interfering with surrounding objects. When the tong body reaches zone1, then it passes through the above-mentioned zone2 and zone3 in sequence and reaches zone4. At this time, the control process is the same as the process from zone1 to zone4 above and will not be elaborated here.

[0097] If the drill pipe position is the mouse hole position, first control the slewing motor to drive the tong body to rotate from zone5 to zone6. During the rotation, the tong body is in the safe standby position to prevent the tong body from colliding and interfering with surrounding objects. When the tong body reaches zone6, control the tong body to move from zone6 to zone9.

[0098] When the current working station status is zone10, if the drill pipe position is the wellhead position, first control the slewing motor to drive the tong body to rotate from zone10 to zone6. When the tong body reaches zone6, control the slewing motor to drive the tong body to rotate to zone5, and then control the slewing motor to drive the tong body to rotate from zone5 to zone1. During the rotation, the tong body is always in the safe standby position. When the tong body reaches zone1, control the tong body to pass through zone2 and zone3 in sequence and reach zone4.

[0099] If the drill pipe position is the mouse hole position, first control the slewing motor to drive the tong body to rotate from zone10 to zone6, and then control the boom cylinder to extend to drive the tong body to pass through zone7 and zone8 in sequence and reach zone9.

[0100] In this alternative embodiment, by adjusting the slewing angle, the telescopic amount of the mast cylinder, and the telescopic amount of the boom cylinder, the three-axis compound control of the tong body slewing, boom telescoping, and tong body lifting can be realized, which can quickly realize the positioning of the drill pipe collar, and control the tong body to move along the action path, which can avoid the random actions of the tong body during the movement from colliding and interfering with surrounding objects and improve the control safety.

[0101] Optionally, the determining the height change value of the tong body during the movement according to the extended length of the boom based on the preset rule includes:

[0102] Based on the pre-determined correspondence between the cantilever extension length and the height change value, determine the corresponding height change value according to the cantilever extension length at the current moment.

[0103] Specifically, as Figure 4 shown, a curve of the height change value varying with the cantilever extension length can be pre-drawn, or a correspondence table between the height change value and the cantilever extension length can be established, and the corresponding height change value can be found in the correspondence according to the cantilever extension length at the current moment.

[0104] It should be noted that, as Figure 4 shown by the numerical value of the height change value, the height change value can be a positive value or a negative value. A positive value indicates that the tong body deflects upward during movement, and a negative value indicates that the tong body deflects downward during movement.

[0105] In this alternative embodiment, according to the pre-determined correspondence between the cantilever extension length and the height change value, the corresponding height change value can be quickly determined, with high efficiency and accuracy.

[0106] Optionally, based on a preset calculation rule, combine the cantilever extension length at the current moment and the relevant parameters of the iron roughneck to determine the height change value.

[0107] Specifically, the equipment parameters of the tong body include the installation length of the cantilever oil cylinder in the horizontal direction, etc.

[0108] Optionally, the calculation rule is expressed by a first formula, and the first formula includes:

[0109]

[0110] where ΔHc represents the height change value, Hr represents the height of the drill pipe collar, L represents the installation length of the cantilever oil cylinder in the horizontal direction, X represents the cantilever extension length at the current moment. As Figure 1 shown, A can represent the position of the end of the tong body when the tong body reaches the drill pipe position and the height of the cantilever oil cylinder is equal to the height of the drill pipe collar. B can represent a preset point ( Figure 1 represents the end point of the support seat away from the column in [[ ]], and can also represent other positions, such as any point on the horizontal installation surface, which is not limited here). AB represents the distance from point A to point B; C can represent the connection point between the fixed seat of the cantilever oil cylinder and the column at the current moment (i.e., when the iron roughneck is in the current working position state), D can represent the connection point between the tong body and the cantilever at the current moment, BC represents the distance from point B to point C, BD represents the distance from point B to point D, and CD is L + X; α represents the angle between the straight line where BC is located and the horizontal plane, and β represents the angle between the straight line where AB is located and the straight line where BD is located.

[0111] In this optional embodiment, by substituting the cantilever extension length at the current moment into the above formula, the height change value during the cantilever telescoping process can be quickly calculated, which is convenient and efficient.

[0112] Optionally, the obtaining of the rotation angle of the tong body and the drill pipe position at the current moment includes:

[0113] Obtaining the sampling value output by the rotary encoder, and determining the rotation angle according to the sampling value and the device parameters of the rotary encoder, where the rotary encoder is used to detect the change amount of the rotation angle of the tong body.

[0114] Specifically, the rotation angle can be calculated using the third formula, and the third formula includes:

[0115] angle=(coder_pulse_cal - coder_pulse_set)×par_k1 / (encodenum×dint#2),

[0116] where angle represents the rotation angle, coder_pulse_cal represents the encoder sampling value, coder_pulse_set represents the encoder calibration value, par_k1 represents the rotation reduction ratio, encodenum represents the encoder resolution, and dint#2 represents the compensation parameter.

[0117] Optionally, the obtaining of the cantilever extension length, the initial value of the tong body height, and the drill pipe collar height at the current moment includes:

[0118] Obtaining the cantilever analog signal output by the cantilever displacement sensor, and sequentially performing analog-to-digital conversion and quadratic fitting numerical calculation on the cantilever analog signal to obtain the cantilever extension length, where the cantilever displacement sensor is used to detect the telescopic amount of the cantilever cylinder.

[0119] Specifically, performing analog-to-digital conversion on the cantilever analog signal to obtain the telescopic amount of the cantilever cylinder, and performing quadratic fitting numerical calculation according to the telescopic amount of the cantilever cylinder. The calculation process can be represented by the fourth formula:

[0120]

[0121] where y l represents the cantilever extension length, and x l represents the telescopic amount of the cantilever cylinder.

[0122] Optionally, obtaining the column analog signal output by the column displacement sensor, and sequentially performing analog-to-digital conversion and quadratic fitting numerical calculation on the column analog signal to obtain the column extension height at the current moment, where the column displacement sensor is used to detect the telescopic amount of the column cylinder.

[0123] Specifically, the telescopic amount of the stand cylinder is subjected to analog-to-digital conversion to obtain the telescopic amount of the stand cylinder. Based on the telescopic amount of the stand cylinder, quadratic fitting numerical calculation is performed, and the calculation process can be expressed by the fifth formula:

[0124]

[0125] where y h represents the extended height of the stand, and x h represents the telescopic amount of the stand cylinder.

[0126] Optionally, the determination of the target adjustment height by combining the height change value, the initial value of the tong body height, and the height of the drill pipe collar includes: successively subtracting the initial height of the tong body and the height change value from the height of the drill pipe collar to obtain the target adjustment height.

[0127] Specifically, the calculation process can be expressed by the second formula, and the second formula includes:

[0128] Ht = Hr - Hi - ΔHc,

[0129] where Ht represents the target adjustment height, Hr represents the height of the drill pipe collar, Hi represents the initial value of the tong body height, and ΔHc represents the height change value.

[0130] A drill floor control device provided by another embodiment of the present invention includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the drill floor control method as described above when executing the computer program.

[0131] As Figure 5 shown, a drilling rig provided by another embodiment of the present invention includes a drill floor and the drill floor control device as described above, and the drill floor control device is electrically connected to the stand cylinder, the cantilever cylinder, and the slewing motor of the drill floor respectively.

[0132] Optionally, it further includes a drill pipe collar height sensor, a cantilever displacement sensor, a stand displacement sensor, and a slewing encoder, and the drill floor control device is electrically connected to the drill pipe collar sensor, the cantilever displacement sensor, the stand displacement sensor, and the slewing encoder respectively;

[0133] wherein, the drill pipe collar height sensor is used to detect the height of the drill pipe collar, the cantilever displacement sensor is used to detect the telescopic amount of the cantilever cylinder, the stand displacement sensor is used to detect the telescopic amount of the stand cylinder, and the slewing encoder is used to detect the change amount of the slewing angle of the tong body.

[0134] The control device of the iron roughneck of the present invention is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The control device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0135] The control device includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored.

[0136] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0137] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A control method for an iron driller, characterized in that Including: Obtaining the cantilever extension length, the initial value of the tong body height, and the drill pipe coupling height at the current moment; Based on a preset rule, determining the height change value of the tong body during movement according to the cantilever extension length, and determining the target adjustment height by combining the height change value, the initial value of the tong body height, and the drill pipe coupling height; Controlling the operation of the iron roughneck until the lifting and lowering value of the mast height is equal to the target adjustment height; The determining the height change value of the tong body during movement according to the cantilever extension length based on the preset rule includes: determining the height change value based on a preset calculation rule by combining the cantilever extension length at the current moment and the relevant parameters of the iron roughneck; the calculation rule is represented by a first formula, and the first formula includes: Wherein, ΔHc represents the height change value, Hr represents the drill pipe coupling height, L represents the installation length of the cantilever oil cylinder in the horizontal direction, X represents the cantilever extension length at the current moment, AB represents the distance from the end A of the tong body to the preset point B when the tong body reaches the drill pipe position and the height of the cantilever oil cylinder is equal to the drill pipe coupling height, BC represents the distance from the connection point C between the fixed seat of the cantilever oil cylinder and the mast to the preset point B at the current moment, BD represents the distance from the connection point D between the tong body and the cantilever to the preset point B at the current moment, α represents the angle between the line connecting the preset point B and the connection point C and the horizontal plane, and β represents the angle between the line connecting the preset point B and the connection point C and the line connecting the preset point B and the end A of the tong body.

2. The iron roughneck control method according to claim 1, wherein Before controlling the operation of the iron roughneck, it further includes: Obtaining the swing angle of the tong body and the drill pipe position at the current moment; Determining the current working position state of the iron roughneck according to the swing angle and the cantilever extension length, wherein each working position state corresponds to different swing angles and cantilever extension lengths; Determining the action path of the iron roughneck according to the current working position state and the drill pipe position.

3. The iron roughneck control method according to claim 2, characterized in that, The controlling the operation of the iron roughneck until the lifting and lowering value of the mast height is equal to the target adjustment height includes: Based on the action path, adjusting the swing angle of the tong body, the telescopic amount of the mast oil cylinder, and the telescopic amount of the cantilever oil cylinder until the tong body reaches the drill pipe position and the lifting and lowering value of the mast height is equal to the target adjustment height.

4. The iron roughneck control method according to claim 2 or 3, characterized in that The action path includes all intermediate working position states between the current working position state and the drill pipe position, and the action sequence of the iron roughneck between each intermediate working position state.

5. The iron roughneck control method according to claim 4, characterized in that, The working position states include the wellhead operation working position state, the mousehole operation working position state, the first switching working position state between the wellhead operation and the mousehole operation, and the second switching working position state between the mousehole operation and the swing limit; When the drill pipe position is the wellhead position, the action sequence between each working position state is successively the second switching working position state, the mousehole operation working position state, the first switching working position state, and the wellhead operation working position state; When the position of the drill pipe is the mousehole position, the action sequence among the states of each station is, in sequence, the wellhead operation station state, the first switching station state, and the mousehole operation station state, or the second switching operation station state and the mousehole operation station state.

6. The iron roughneck control method according to claim 2 or 3, characterized in that, The obtaining of the rotation angle of the tong body and the drill pipe position at the current moment includes: obtaining a sampling value output by a rotary encoder, and determining the rotation angle according to the sampling value and the device parameters of the rotary encoder, where the rotary encoder is used to detect the change amount of the rotation angle of the tong body; and / or, the obtaining of the cantilever extension length, the initial value of the tong body height, and the drill pipe collar height at the current moment includes: obtaining a cantilever analog signal output by a cantilever displacement sensor, performing analog-to-digital conversion and quadratic fitting numerical calculation on the cantilever analog signal in sequence to obtain the cantilever extension length, where the cantilever displacement sensor is used to detect the telescopic amount of the cantilever oil cylinder.

7. A control device for an iron driller, characterized in that, including a memory and a processor; the memory is used to store a computer program; the processor is used to, when executing the computer program, implement the iron roughneck control method according to any one of claims 1 to 6.

8. A drilling device, characterized in that, including an iron roughneck and the iron roughneck control device according to claim 7, and the iron roughneck control device is electrically connected to the mast cylinder, the cantilever cylinder, and the rotary motor of the iron roughneck respectively.

9. The drilling equipment according to claim 8, characterized in that, further including a drill pipe collar height sensor, a cantilever displacement sensor, a mast displacement sensor, and a rotary encoder, and the iron roughneck control device is electrically connected to the drill pipe collar sensor, the cantilever displacement sensor, the mast displacement sensor, and the rotary encoder respectively; wherein, the drill pipe collar height sensor is used to detect the drill pipe collar height, the cantilever displacement sensor is used to detect the telescopic amount of the cantilever oil cylinder, the mast displacement sensor is used to detect the telescopic amount of the mast cylinder, and the rotary encoder is used to detect the change amount of the rotation angle of the tong body.

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