A well logging instrument automatic leg opening and retraction system and control method thereof

Abstract

The present invention discloses an automatic leg opening and retraction system for a well logging instrument and its control method. The system comprises a controller, a conveyor platform, an instrument identification device, a clamping mechanism, a sensor mechanism, and a transformer unit. The controller is connected to the sensor mechanism; the instrument identification device is respectively connected to the controller and the well logging instrument; the transformer unit is respectively connected to a power supply and the controller, and the transformer unit is connected to a plug via a line. This solves the problem of previously requiring manual switching of the voltage and current types required for cleaning the leg opening and retraction of a well logging instrument, as different logging instruments correspond to different leg opening and retraction voltages and current types. This results in low cleaning efficiency and increased labor costs.

Description

Technical Field

[0001] The present invention relates to the field of oilfield logging engineering technology and equipment, in particular to an automatic leg opening and closing system for a logging instrument and a control method thereof. Background Art

[0002] After a certain period of use or when a fault occurs, logging instruments need to be returned to the instrument repair shop for maintenance and must first be cleaned. The traditional method in the current logging industry is manual cleaning, which involves first opening the instrument's pushers (legs) and then cleaning with a high-pressure water gun. This step will directly affect the cycle and timeliness of logging instrument maintenance and clearance. During the entire instrument cleaning process, in order to achieve the optimal cleaning state and clear the mud and sand residue in the gaps, the instrument's pushers need to be opened to open the instrument to achieve the ideal cleaning state. For the instrument pushers, due to the large number of instrument types, the voltage and current type parameters of each instrument's opening and retraction legs are different. At the same time, due to the extremely harsh environment in which logging instruments are used, high temperature, high pressure, and high wear, traditional identification tags cannot be used for contactless instrument identification. Therefore, the operation of opening and retracting the logging instrument legs has not been completely independent of human participation, and this problem has also become a difficult problem for automatic cleaning. Summary of the Invention

[0003] In view of this, the present invention provides an automatic opening and retracting leg system for a logging instrument and a control method thereof, so as to solve the problem that in the past, when performing the opening and retracting leg operation for cleaning the logging instrument, the voltage and current types corresponding to different logging instruments are different, and manual switching of the voltage and current types is required according to the type of logging instrument, resulting in low cleaning efficiency and increased labor costs.

[0004] In a first aspect, the present invention provides a well logging instrument automatic leg opening and retraction system, comprising: a controller, a transmission platform, an instrument identification device, a clamping mechanism, a sensing mechanism, and a voltage transformation unit;

[0005] The controller is connected to the sensor mechanism, and is used to detect whether there is a logging instrument on the transmission platform and the position information of the logging instrument on the transmission platform through the sensor mechanism;

[0006] The instrument identification device is connected to the controller and the logging instrument respectively, and the controller is used to identify the type of the logging instrument on the transmission platform through the instrument identification device;

[0007] The transformer unit is connected to the power supply and the controller respectively, and the transformer unit is connected to the plug through a line;

[0008] The controller is used to detect the position of the logging instrument on the conveying platform through the sensing mechanism, thereby controlling the movement of the clamping mechanism to connect the plug with the logging instrument.

[0009] Preferably, the instrument identification device comprises: an identification end and an instrument end;

[0010] The instrument end is installed on the well logging instrument, and the instrument end stores well logging instrument type information;

[0011] The identification end is fixed at one end of the transmission platform, connected to the controller, and used for acquiring the logging instrument type information stored in the instrument end and transmitting the information to the controller.

[0012] Preferably, the instrument end includes: a radio frequency card, and the identification end includes: a card reader;

[0013] The radio frequency card is installed on the well logging instrument, and the radio frequency card is used to store the type information of the well logging instrument;

[0014] The controller is connected to the card reader, which is installed at one end of the transmission platform. The card reader is used to read the information on the radio frequency card and transmit it to the controller.

[0015] Preferably, the instrument end includes: a first single chip microcomputer, and the identification end includes: a second single chip microcomputer;

[0016] The first single-chip microcomputer and the second single-chip microcomputer are connected via a wireless transmission module;

[0017] The first single-chip microcomputer is fixed on the well logging instrument, and the first single-chip microcomputer stores well logging instrument type information;

[0018] The second single chip microcomputer is fixed at one end of the transmission platform, and the second single chip microcomputer is connected to the controller;

[0019] The second single chip microcomputer is used to connect to the first single chip microcomputer through the wireless transmission module, and obtain the logging instrument type information stored in the first single chip microcomputer and transmit it to the controller.

[0020] Preferably, the instrument identification device includes: a camera;

[0021] The camera is fixed above the transmission platform and is connected to the controller. The camera is used to capture images of the logging instrument on the transmission platform and transmit the images to the controller.

[0022] Preferably, the sensing mechanism comprises: a pressure sensing unit and a position sensing unit;

[0023] The pressure sensing unit is installed on the conveying platform, the pressure sensing unit is connected to the controller, and the pressure sensing unit is used to detect the pressure value of the conveying platform and transmit it to the controller;

[0024] The position sensing unit is connected to the controller, and is used to detect position information of the logging instrument on the transmission platform.

[0025] Preferably, the position sensing unit comprises: a distance sensor;

[0026] The distance sensor is installed on one side of the conveying platform, and its position corresponds to the clamping mechanism. The distance sensor is used to detect the distance between the logging instrument and the distance sensor and transmit the distance to the controller.

[0027] In a second aspect, the present invention provides a method for controlling an automatic leg opening and retraction system of a logging instrument, including the automatic leg opening and retraction system of the logging instrument as described above, specifically comprising the steps of:

[0028] The controller controls the sensing mechanism to start detecting whether there is a logging instrument on the transmission platform. If there is a logging instrument, the controller controls the instrument identification device to start identifying the type of the logging instrument and transmit the identified instrument type data to the controller.

[0029] The controller controls the conveyor platform to start, causing the logging instrument to move toward the clamping mechanism. At the same time, the controller detects the position information of the logging instrument on the conveyor platform through the sensing mechanism. When one end of the logging instrument moves to the position corresponding to the clamping mechanism, the controller controls the conveyor platform to stop.

[0030] The controller controls the clamping mechanism to start according to the position information, and connects the plug to the socket at one end of the logging instrument through the clamping mechanism;

[0031] Preset the logging instrument type and its corresponding opening and closing leg voltage value and opening and closing leg current type, match the instrument type data with the preset logging instrument type through the controller, and find the opening and closing leg voltage value and the opening and closing leg current type corresponding to the matching preset logging instrument type;

[0032] The controller controls the transformer unit to start converting the power supply voltage value into the opening and retracting leg voltage value and the power supply current type into the opening and retracting leg current type, and then transmits the converted data to the logging instrument through the plug, thereby controlling the opening or retracting of the legs of the logging instrument.

[0033] Preferably, the controller controls the clamping mechanism to start according to the position information, and the method for connecting the plug to the socket at one end of the logging instrument through the clamping mechanism includes:

[0034] The controller controls the clamping mechanism to start moving to the protective cap at one end of the logging instrument according to the position information and clamps the protective cap. The controller then controls the clamping mechanism to move away from the end of the logging instrument until the protective cap is separated from the logging instrument. The controller then controls the clamping mechanism to release the protective cap.

[0035] The controller controls the clamping mechanism to move to the plug and clamp the plug, and then controls the clamping mechanism to move until the plug is aligned with one end of the logging instrument. The controller controls the clamping mechanism to move toward one end of the logging instrument until the plug is inserted into the socket at one end of the logging instrument, thereby connecting the plug to the socket.

[0036] The present invention has the following beneficial effects:

[0037] The present invention provides a system and control method for automatically opening and retracting the legs of a logging instrument. The system automatically identifies the logging instrument type through an instrument identification device; automatically connects the logging instrument to a plug through a controller-controlled clamping mechanism; and automatically adjusts and controls the current type and voltage parameters input to the logging instrument through the controller and transformer unit, eliminating the need for manual intervention and improving work efficiency and reducing labor costs. This system solves the problem of previously requiring manual switching of the voltage and current types required for cleaning the legs of logging instruments, as different logging instruments correspond to different opening and retracting leg voltages and current types, resulting in low cleaning efficiency and increased labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0039] Figure 1 It is a structural schematic diagram of an automatic leg opening and retraction system for a well logging instrument in an embodiment of the present invention.

[0040] Figure 2 The present invention is a flowchart of a method for controlling an automatic leg opening and closing system of a well logging instrument.

[0041] In the figure, 1-support leg, 2-card reader, 3-chuck, 4-plug, 5-transfer platform, 6-laser rangefinder, 7-protective cap, 8-manipulator. DETAILED DESCRIPTION

[0042] The present invention will be described below based on the embodiments, but it is worth noting that the present invention is not limited to these embodiments. In the detailed description of the present invention below, some specific details are described in detail. However, for the part that is not described in detail, those skilled in the art can also fully understand the present invention.

[0043] In addition, those skilled in the art should understand that the drawings are only provided to illustrate the purpose, features and advantages of the present invention, and are not actually drawn to scale.

[0044] At the same time, unless the context clearly requires otherwise, words such as "include", "comprising" and the like throughout the specification and claims should be interpreted as inclusive rather than exclusive or exhaustive; that is, as "including but not limited to".

[0045] Figure 1 This is a schematic diagram of the structure of an automatic leg opening and closing system for a well logging instrument according to an embodiment of the present invention. Figure 1 As shown, a system for automatically opening and retracting the legs of a well logging instrument comprises: a controller, a conveying platform 5, an instrument identification device, a clamping mechanism, a sensing mechanism and a transformer unit; the controller is connected to the sensing mechanism, and the controller is used to detect whether there is a well logging instrument on the conveying platform 5 and the position information of the well logging instrument on the conveying platform 5 through the sensing mechanism; the instrument identification device is respectively connected to the controller and the well logging instrument, and the controller is used to identify the type of well logging instrument on the conveying platform 5 through the instrument identification device; the transformer unit is respectively connected to the power supply and the controller, and the transformer unit is connected to the plug 4 through a line; the controller is used to detect the position of the well logging instrument on the conveying platform 5 through the sensing mechanism, thereby controlling the movement of the clamping mechanism to connect the plug 4 with the well logging instrument.

[0046] In the embodiment of the present invention, the instrument identification device is installed on one side of the conveying platform 5 near one end of the conveying platform 5 ; the clamping mechanism is located on one side of the conveying platform 5 near the middle of the conveying platform 5 .

[0047] The conveying platform 5 includes a rectangular bracket, and several rotatable transmission shafts are arranged side by side on the top of the bracket. The transmission shafts are connected to the transmission motor, and the transmission motor is connected to the controller. A conveyor belt is laid above the transmission shafts; the controller controls the transmission motor to start, the transmission motor drives the transmission shaft to rotate, and the transmission shaft drives the conveyor belt to move.

[0048] During the leg opening and closing operation, the controller activates the sensing mechanism. The logging instrument to be opened and closed is placed on the table at one end of the conveyor platform 5, i.e., on the conveyor belt. When the sensing mechanism detects the presence of the logging instrument on the conveyor platform 5, it transmits the signal to the controller. The controller then activates the instrument identification device to identify the type of logging instrument on the conveyor platform 5 and transmits the identified logging instrument type signal to the controller. For example, the logging instrument type is a compensated density logging instrument.

[0049] The controller controls the transmission motor of the conveyor platform 5 to start, driving the transmission shaft to rotate, thereby driving the conveyor belt and the logging instrument to move toward the clamping mechanism; when the logging instrument moves to the position corresponding to the clamping mechanism, the controller controls the transmission motor to turn off, causing the logging instrument to stop moving.

[0050] The controller controls the sensing mechanism to start, detects the position information of the logging instrument on the conveying platform 5, and transmits the position information to the controller. The controller controls the start of the clamping mechanism according to the position information of the logging instrument.

[0051] The gripping mechanism can be a robot 8, located to one side of the conveyor platform 5. The robot 8 can be an existing product, such as the Robotiq AG-95. It is an automated device that mimics certain movements and functions of the human hand and arm, used to grasp, move objects, or manipulate tools according to a fixed program. It can be programmed to complete various desired tasks. The robot 8 comprises a hand, arm, and torso. The hand is used to grasp the workpiece (or tool), while the arm guides the hand to accurately grasp the workpiece and transport it to the desired location. Each component is connected to a motion mechanism, which enables the arm and hand to perform various rotational (swinging), translational, or combined motions to achieve the desired action, change the position and posture of the grasped object, and control the arm and hand's movements, such as lifting, retracting, and rotating. Among them, in addition to the manipulator 8, the clamping mechanism can also be other devices that can clamp and move objects, such as by setting a horizontally rotatable bracket, the top of the bracket is connected to a track that can run horizontally, the track is connected to a telescopic rod and a clamper, the telescopic rod controls the up and down movement of the clamper, the clamper is used to clamp objects and move in a predetermined direction on the track, the bracket, track and clamper can be connected to the controller respectively through motors, so that their movement is controlled by the controller.

[0052] Based on the position information, the controller controls the movement of the manipulator 8's arm to move the hand above the protective cap 7 at one end of the logging instrument. The controller then controls the two fingers of the manipulator 8's hand, i.e., the two chucks 3, to open, and controls the arm to move downward until the protective cap 7 is inside the two chucks 3. The controller then controls the chucks 3 to close together and clamp the protective cap 7. A clamping force sensor is provided inside the two chucks 3, i.e., near the protective cap 7. The clamping force sensor can be a second pressure sensor connected to the controller. When the chucks 3 clamp the protective cap 7, the second pressure sensor detects the pressure applied to the protective cap 7 by the clamping force of the chucks 3, i.e., the clamping force of the chucks 3, and transmits it to the controller. The controller then determines whether the clamping force reaches a preset clamping force. If so, it indicates that the chucks 3 have clamped the protective cap 7. The controller then controls the manipulator 8's arm to move away from the logging instrument until the protective cap 7 is disengaged from the logging instrument, thereby removing the protective cap 7 from one end of the logging instrument.

[0053] After the protective cap 7 is removed, the controller controls the chuck 3 to open and place the protective cap 7 on the conveying platform 5. The controller controls the arm movement of the manipulator 8 to drive the chuck 3 to move above the plug 4. The controller controls the arm movement downward until the plug 4 is inside the chuck 3, and then controls the chuck 3 to retract and clamp the plug 4. The second pressure sensor detects the pressure value when the inside of the chuck 3 clamps the plug 4 and transmits it to the controller. The controller determines that when the clamping force reaches the preset clamping force, it controls the movement of the manipulator arm to drive the chuck 3 to move to the position of one end of the logging instrument, so that the plug 4 corresponds to the position of the socket at one end of the logging instrument. The controller controls the arm movement of the manipulator 8 to drive the chuck 3 to move closer to the logging instrument until the pin on the plug 4 is inserted into the inside of the socket at one end of the logging instrument, thereby completing the connection between the plug 4 and the logging instrument.

[0054] The controller is pre-set with the logging instrument type and the corresponding AC or DC type required to control the opening and closing of its legs, as well as the voltage value required to control the opening and closing of its legs. For example, if the logging instrument type detected by the instrument identification device is a compensated density logging instrument, the controller finds the corresponding current type required to control the opening and closing of its legs based on the logging instrument type: AC, and the voltage is: 110V. The controller then controls the transformer unit to start, adjusts the current of the power supply to the current type and voltage value corresponding to the logging instrument type, that is, the controller controls the transformer unit to output AC power and adjusts the output AC power voltage to 110V. The current is then transmitted in the forward direction to the logging instrument through the line and plug 4, thereby controlling the forward rotation of the logging instrument motor and opening the legs 1 of the logging instrument. After the legs 1 of the logging instrument are opened, the logging instrument can be cleaned. The transformer unit can include a transformer that adjusts the AC voltage and outputs it, as well as a transformer that can convert AC power into DC power and output it.

[0055] The controller controls the transformer unit to output the push voltage to the logging instrument in two ways: the first is AC, which is output through the three cable cores of plug 4 (cable cores 1#, 3#, and 7#). Cable cores 1# and 7# rotate in the forward direction of the motor, while cables 3# and 7# rotate in the reverse direction. This is suitable for AC motors. The second is DC, which is output through two cable cores of plug 4 (cable cores 1# and 7#). Cable core 1# is the positive pole and cable core 7# is the negative pole. When the motor rotates in the forward direction, cable core 1# is the negative pole and cable core 7# is the positive pole. When the motor rotates in the reverse direction, cable core 1# is the negative pole and cable core 7# is the positive pole. This is suitable for DC motors.

[0056] In the present invention, the instrument identification device includes: an identification end and an instrument end; the instrument end is installed on the logging instrument, and the logging instrument type information is stored inside the instrument end; the identification end is fixed at one end of the transmission platform 5, the identification end is connected to the controller, and the identification end is used to obtain the logging instrument type information stored in the instrument end and transmit it to the controller.

[0057] In an embodiment of the present invention, the instrument end is installed on the logging instrument. When the logging instrument is on the transmission platform 5, the controller controls the identification end to start connecting with the instrument end, obtains the logging instrument type information stored in the instrument end installed on the logging instrument, and sends the obtained logging instrument type information to the controller.

[0058] In the present invention, the instrument end includes: a radio frequency card, and the identification end includes: a card reader 2; the radio frequency card is installed on the logging instrument, and the radio frequency card is used to store the logging instrument type information; the controller is connected to the card reader 2, and the card reader 2 is installed at one end of the transmission platform 5, and the card reader 2 is used to read the information on the radio frequency card and transmit it to the controller.

[0059] In this embodiment of the present invention, a radio frequency card, consisting of a chip and an inductive antenna, is installed within a hole in the well logging instrument housing. When the well logging instrument is placed on a transfer platform 5, a controller activates the card reader 2, which emits a radio frequency signal. Upon receiving the signal, the RF card utilizes the induced current to generate energy and transmit the logging instrument type information stored in the chip. The card reader 2 then reads and decodes the information and transmits it to the controller. The transmission of the logging instrument type information between the RF card and the card reader 2 is accomplished through the use of radio frequency identification (RFID), which offers advantages such as fast read and write speeds, immunity to external environmental influences, and low cost.

[0060] In the present invention, the instrument end includes: a first single-chip microcomputer, and the identification end includes: a second single-chip microcomputer; the first single-chip microcomputer and the second single-chip microcomputer are connected through a wireless transmission module; the first single-chip microcomputer is fixed on the logging instrument, and the first single-chip microcomputer stores the logging instrument type information inside; the second single-chip microcomputer is fixed at one end of the transmission platform 5, and the second single-chip microcomputer is connected to the controller; the second single-chip microcomputer is used to connect to the first single-chip microcomputer through the wireless transmission module, and obtain the logging instrument type information stored in the first single-chip microcomputer and transmit it to the controller.

[0061] In an embodiment of the present invention, the wireless transmission module may be a Bluetooth module, and the first and second single-chip microcomputers are connected via the Bluetooth module. When the well logging instrument is on the transmission platform 5, the controller controls the second single-chip microcomputer to start up. The second single-chip microcomputer controls the Bluetooth module to initiate a call and pair with the Bluetooth module of the first single-chip microcomputer. After the connection is established, the second single-chip microcomputer transmits a well logging instrument type acquisition signal to the first single-chip microcomputer via the Bluetooth module. After receiving the well logging instrument type acquisition signal, the first single-chip microcomputer transmits its internally stored well logging instrument type information via the Bluetooth module to the second single-chip microcomputer. The second single-chip microcomputer receives the well logging instrument type acquisition signal and transmits it to the controller.

[0062] In the present invention, the instrument identification device includes: a camera; the camera is fixed above the transmission platform 5, the camera is connected to the controller, and the camera is used to capture images of the logging instrument on the transmission platform 5 and transmit them to the controller.

[0063] In this embodiment of the present invention, when a well logging instrument is on the transport platform 5, the controller controls the camera to capture an image of the well logging instrument on the transport platform 5 and transmit it to the controller. The controller internally presets the well logging instrument's appearance characteristics and corresponding well logging instrument type information. The controller extracts the well logging instrument image from the image captured by the camera and matches it with the preset well logging instrument appearance characteristics to find the well logging instrument type information corresponding to the matching preset well logging instrument appearance characteristics.

[0064] In the present invention, the sensing mechanism includes: a pressure sensing unit and a position sensing unit; the pressure sensing unit is installed on the transmission platform 5, the pressure sensing unit is connected to the controller, and the pressure sensing unit is used to detect the pressure value of the transmission platform 5 and transmit it to the controller; the position sensing unit is connected to the controller, and the position sensing unit is used to detect the position information of the logging instrument on the transmission platform 5.

[0065] In an embodiment of the present invention, the pressure sensing unit may be a first pressure sensor, which is mounted on a table at one end of the conveying platform 5. When a logging instrument is placed on one end of the conveying platform 5, the logging instrument is pressed against the pressure sensing unit. The pressure sensing unit detects the real-time pressure value exerted downward on the logging instrument due to its own gravity and transmits it to the controller. When no logging instrument is placed above the conveying platform 5, the real-time pressure value detected by the controller through the pressure sensing unit is zero. After the pressure sensing unit transmits the detected real-time pressure value to the controller, the controller will determine whether the real-time pressure value is greater than zero. If so, it indicates that the logging instrument is currently on the conveying platform 5. The controller will control the conveying platform 5 to start, and the conveying platform 5 will drive the logging instrument to move toward the clamping mechanism.

[0066] In an embodiment of the present invention, the position sensing unit can be a camera, which is set above the conveying platform 5 and connected to the controller. When detecting the position of the logging instrument, the controller controls the camera to start shooting the real-time image on the surface of the conveying platform 5 and transmits it to the controller. The processor inside the controller is loaded with a system program, which can identify the position of the logging instrument in the real-time image. During the movement of the logging instrument, the controller determines whether one end of the logging instrument in the image reaches the position corresponding to the manipulator 8. If the judgment result is yes, the controller controls the conveying platform 5 to stop.

[0067] In the present invention, the position sensing unit includes: a distance sensor; the distance sensor is installed on one side of the conveying platform 5, and its position corresponds to the clamping mechanism. The distance sensor is used to detect the distance between the logging instrument and the distance sensor and transmit it to the controller.

[0068] In this embodiment of the present invention, the distance sensor can be a laser rangefinder 6 connected to a controller. The distance sensor can be mounted on a side of the conveyor platform 5, slightly above the platform surface, using a bracket. Alternatively, the distance sensor can be directly fixed to the side wall of the manipulator 8 facing the conveyor platform 5. When detecting the position of the well logging instrument, the controller activates the laser rangefinder 6. The laser rangefinder 6 detects the distance between the object illuminated by its laser beam and the laser rangefinder 6 in real time and transmits this information to the controller.

[0069] When the logging instrument moves on the conveying platform 5 to the laser rangefinder 6, one end of the logging instrument facing the laser rangefinder 6 is irradiated by the laser emitted by the laser rangefinder 6. The laser is reflected by the surface of the logging instrument and received by the laser rangefinder 6. The laser rangefinder 6 will automatically calculate the real-time distance between it and the side wall of one end of the logging instrument and transmit it to the controller. The controller determines whether the real-time distance is less than the preset distance. If the judgment result is yes, the controller controls the conveying platform 5 to stop. The preset distance is the distance between the laser rangefinder 6 and the other side of the conveying platform 5. If the real-time distance detected by the laser rangefinder 6 is less than the preset distance, that is, less than the distance between the laser rangefinder 6 and the other side of the conveying platform 5, it means that the real-time distance detected by the laser sensor at this time is the distance between the logging instrument on the conveying platform 5, rather than the distance between the laser rangefinder 6 and other objects outside the conveying platform 5 that are irradiated. Using a laser rangefinder 6 for measurement has the advantages of low cost, small size, fast operation and high measurement accuracy.

[0070] When the controller first determines that the real-time distance is less than the preset distance and stops conveyor platform 5, the logging instrument's position on conveyor platform 5 is as follows: the position of one end of the logging instrument corresponds to the position of laser rangefinder 6 and manipulator 8 on one side of conveyor platform 5. Combined with the real-time distance measured by laser rangefinder 6 from one end of the logging instrument to the laser rangefinder 6, the coordinates of the logging instrument on conveyor platform 5, i.e., the logging instrument's position on conveyor platform 5, are determined. Based on this position information, the controller activates manipulator 8, which moves to one end of the logging instrument, accurately grasps protective cap 7 at one end of the logging instrument, and removes it.

[0071] In an embodiment of the present invention, the controller controls the connection of the plug 4 to the logging instrument via the manipulator 8, and controls the transformer unit to output the corresponding voltage and current type to open the legs 1 of the logging instrument. The controller then controls the manipulator 8 to move above the plug 4 and continue to move downward until the plug 4 is inside the two clamps 3 of the manipulator 8. The clamps 3 are then controlled to close together and clamp the plug 4. The manipulator 8 is then controlled to move away from the logging instrument, thereby removing the plug 4. The controller controls the manipulator 8 to move and place the plug 4 back to its original position, i.e., the position on the side of the transport platform 5 when not connected to the logging instrument. The controller then controls the manipulator 8 to move above the protective cap 7 on the transport platform 5, controls the manipulator 8 to clamp the protective cap 7, and moves the protective cap 7 to one end of the logging instrument. The manipulator 8 then continues to move toward the logging instrument until the protective cap 7 is re-covered on the one end of the logging instrument. After the protective cap 7 is re-installed, the logging instrument can be flushed. The leg retraction operation of the logging instrument has the same steps as the opening operation. The controller controls the manipulator 8 to move to the protective cap 7, controls the chuck 3 to clamp the protective cap 7, and unplugs the protective cap 7 again. Then, the manipulator 8 is controlled to move to the plug 4 to clamp the plug 4, and reconnect the plug 4 to the jack at one end of the logging instrument. The transformer unit is controlled to output the voltage and current type that meets the requirements of the leg opening and retraction of the logging instrument in reverse to the logging instrument, so that the leg 1 of the logging instrument is retracted. Finally, the manipulator 8 is controlled to unplug the plug 4 and reconnect the protective cap 7 to the logging instrument.

[0072] Figure 2 This is a flow chart of a method for controlling an automatic leg opening and closing system of a logging instrument according to an embodiment of the present invention. Figure 2The method for controlling an automatic leg opening and retraction system of a logging instrument is shown, including the automatic leg opening and retraction system of the logging instrument as described above, specifically comprising the following steps: Step 1: a controller controls a sensing mechanism to start detecting whether a logging instrument exists on a conveying platform; if so, the controller controls an instrument identification device to start identifying the type of the logging instrument and transmits the identified instrument type data to the controller; Step 2: the controller controls the conveying platform to start, causing the logging instrument to move toward the clamping mechanism, and at the same time, the controller detects the position information of the logging instrument on the conveying platform through the sensing mechanism; when one end of the logging instrument moves to a position corresponding to the clamping mechanism, the controller controls the conveying platform to stop. Step 3: The controller controls the clamping mechanism to start according to the position information, and connects the plug to the jack at one end of the logging instrument through the clamping mechanism; Step 4: The logging instrument type and its corresponding opening and closing leg voltage value and opening and closing leg current type are preset, and the controller matches the instrument type data with the preset logging instrument type to find the opening and closing leg voltage value and opening and closing leg current type corresponding to the preset logging instrument type; Step 5: The controller controls the transformer unit to start converting the power supply voltage value into the opening and closing leg voltage value and the power supply current type into the opening and closing leg current type, and then transmits them to the logging instrument through the plug, thereby controlling the opening or closing of the legs of the logging instrument. The above control method is used to realize how the above-mentioned logging instrument automatic opening and closing leg system automatically controls the opening and closing leg operation of the logging instrument.

[0073] The controller may be a terminal device, a server, or other processing device, wherein the terminal device may be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, etc. In some possible implementations, the control method may be implemented by a processor within the controller calling computer-readable instructions stored in a memory.

[0074] Step 1: The controller controls the sensing mechanism to start detecting whether there is a logging instrument on the transmission platform. If there is, the controller controls the instrument identification device to start identifying the type of the logging instrument and transmit the identified instrument type data to the controller.

[0075] In an embodiment of the present invention, when performing a leg opening and closing operation, the controller controls the first pressure sensor of the sensing mechanism to activate and transmit the detected real-time pressure value to the controller. When the logging instrument to be opened and closed is placed on the table at one end of the conveyor platform 5, the logging instrument to be opened and closed is above the first pressure sensor. The first pressure sensor detects the real-time pressure value exerted on it by the logging instrument due to its own gravity and transmits it to the controller. The controller determines whether this real-time pressure value is greater than zero. If the judgment result is yes, it indicates that the logging instrument is currently on the conveyor platform 5. The controller then controls the card reader 2 of the instrument identification device to activate. The card reader 2 emits a radio frequency signal. After receiving the radio frequency signal, the radio frequency card installed on the logging instrument obtains energy by induced current and transmits the logging instrument type information stored in the chip. The card reader 2 then receives and reads the information, decodes it, and transmits it to the controller.

[0076] Step 2: The controller controls the conveyor platform to start, so that the logging instrument moves toward the clamping mechanism. At the same time, the controller detects the position information of the logging instrument on the conveyor platform through the sensing mechanism. When one end of the logging instrument moves to the position corresponding to the clamping mechanism, the controller controls the conveyor platform to stop.

[0077] In this embodiment of the present invention, after the transport platform 5 is activated, the controller activates the laser rangefinder 6 in the sensor mechanism, which detects the real-time distance between the object it illuminates and the laser rangefinder 6 and transmits the detected distance to the controller. When the logging instrument moves on the transport platform 5 to the laser rangefinder 6, the end of the logging instrument facing the laser rangefinder 6 is illuminated by the laser. The laser rangefinder 6 then detects the real-time distance between itself and the sidewall of the logging instrument and transmits the detected distance to the controller. The controller then determines whether the real-time distance is less than a preset distance, defined as the distance from the laser rangefinder 6 to the other side of the transport platform 5. If the preset distance is less than a preset distance, indicating that the real-time distance detected by the laser rangefinder 6 is the distance between the logging instrument and the transport platform 5, and because the laser rangefinder 6 is installed in a position corresponding to the clamping mechanism, indicating that the end of the logging instrument has reached the position corresponding to the clamping mechanism, the controller then stops the transport platform 5.

[0078] Step 3: The controller controls the clamping mechanism to start according to the position information, and connects the plug to the jack at one end of the logging instrument through the clamping mechanism.

[0079] In the present invention, a controller controls the clamping mechanism to start according to position information, and a method for connecting a plug to a socket at one end of a well logging instrument through the clamping mechanism includes: the controller controls the clamping mechanism to start and move to the protective cap at one end of the well logging instrument and clamp the protective cap according to the position information, and then controls the clamping mechanism to move away from the end of the well logging instrument until the protective cap is separated from the well logging instrument, and then controls the clamping mechanism to release the protective cap; the controller controls the clamping mechanism to move to the plug and clamp the plug, and then controls the clamping mechanism to move until the position of the plug is aligned with the end of the well logging instrument, and the controller controls the clamping mechanism to move toward the end of the well logging instrument until the plug is inserted into the socket at one end of the well logging instrument, thereby connecting the plug to the socket.

[0080] In the embodiment of the present invention, after the controller controls the conveyor platform 5 to stop, the position information of the logging instrument on the conveyor platform 5 at this time is: the position of one end of the logging instrument corresponds to the position of the laser rangefinder 6 and the manipulator 8 of the clamping mechanism. Then, based on the real-time distance to the side wall of one end of the logging instrument detected by the laser rangefinder 6, the position coordinates of the logging instrument on the conveyor platform 5 can be known, and these coordinates are the position information of the logging instrument.

[0081] Based on the position information, the controller controls the arm movement of the manipulator 8 to drive the hand to move above the protective cap 7 at one end of the logging instrument. The controller controls the two fingers of the manipulator 8, i.e., the two chucks 3, to open, and controls the arm to move downward until the protective cap 7 is inside the two chucks 3. The controller then controls the chucks 3 to close together and clamp the protective cap 7. A second pressure sensor is provided on the inside of the two chucks 3, i.e., on the side close to the protective cap 7. The second pressure sensor is connected to the controller. When the chucks 3 clamp the protective cap 7, the second pressure sensor detects the pressure applied to the protective cap 7 by the clamping of the inner side of the chucks 3 and transmits it to the controller. The controller determines whether the pressure reaches the preset pressure. If it does, it means that the chucks 3 have clamped the protective cap 7. The controller then controls the arm of the manipulator 8 to move away from the logging instrument until the protective cap 7 is disengaged from the logging instrument, thereby removing the protective cap 7 at one end of the logging instrument.

[0082] After the protective cap 7 is removed, the controller controls the chuck 3 to open and place the protective cap 7 on the conveying platform 5. The controller controls the arm movement of the manipulator 8 to move the chuck 3 to above the plug 4. The controller controls the arm movement downward until the plug 4 is inside the chuck 3, and then controls the chuck 3 to retract and clamp the plug 4. The second pressure sensor detects the pressure value when the inside of the chuck 3 clamps the plug 4 and transmits it to the controller. The controller determines that when the clamping force reaches the preset clamping force, it controls the movement of the manipulator arm to drive the chuck 3 to the position of one end of the well logging instrument, so that the plug 4 corresponds to the position of the socket at one end of the well logging instrument. The controller controls the arm movement of the manipulator 8 to drive the chuck 3 to move closer to the well logging instrument until the pin on the plug 4 is inserted into the inside of the socket at one end of the well logging instrument, thereby completing the connection between the plug 4 and the socket at one end of the well logging instrument.

[0083] Step 4: Preset the logging instrument type and its corresponding open / close leg voltage value and open / close leg current type. Use the controller to match the instrument type data with the preset logging instrument type to find the open / close leg voltage value and open / close leg current type corresponding to the matching preset logging instrument type.

[0084] In this embodiment of the present invention, the controller is pre-programmed with the logging instrument type, the corresponding AC or DC power type required to control its opening and closing leg operation, and the voltage required to control the opening and closing leg operation. The controller uses the card reader 2 of the instrument identification device to receive and identify the logging instrument type information stored in the radio frequency card installed in the logging instrument. The controller then compares this logging instrument type information with the pre-programmed logging instrument types to identify the opening and closing leg voltage and current type corresponding to the pre-programmed logging instrument type that matches the logging instrument type information.

[0085] Step 5: The controller controls the transformer unit to start converting the power supply voltage value into the opening and closing leg voltage value and the power supply current type into the opening and closing leg current type, and then transmits it to the logging instrument through the plug, thereby controlling the opening or closing of the legs of the logging instrument.

[0086] In this embodiment of the present invention, if the instrument identification device detects that the logging instrument type is a compensated density logging instrument, the controller determines, based on the logging instrument type, that the current type required to control the leg opening and retraction operation is AC and 110V. The controller then activates the transformer unit, converting the power supply current to AC and adjusting the AC voltage to 110V. The controller then transmits the current in the forward direction to the logging instrument via the circuit and plug 4, thereby controlling the forward rotation of the logging instrument motor, causing the logging instrument leg 1 to open. Alternatively, the controller transmits the current in the reverse direction to the logging instrument, controlling the reverse rotation of the logging instrument motor, causing the logging instrument leg 1 to retract.

[0087] The present invention is primarily used to automatically open and close the instrument legs during the cleaning process of well logging instruments, completely eliminating manual intervention and laying a solid foundation for unattended instrument maintenance and cleaning. The logging instrument type is identified by installing a radio frequency card containing instrument type information and a card reader 2 that identifies the card information, or by using a single-chip microcomputer connected via a Bluetooth module, or by capturing images from a camera. Based on the logging instrument type, the transformer unit is controlled to output the corresponding current and voltage required to open and close the legs. A manipulator 8 is controlled to remove or install the logging instrument's protective cap 7, as well as to disconnect or dock the logging instrument with a plug 4.

[0088] After many experiments, compared with the existing manual recognition of leg opening and retracting operations, the present invention has the advantages of saving manpower, improving work efficiency, and increasing the safety of leg opening and retracting operations, providing technical support for intelligent maintenance.

[0089] The above-described embodiments are merely embodiments of the present invention, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications, equivalent substitutions, and improvements without departing from the scope of the present invention, and these modifications fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the appended claims.

Claims

1. A well logging instrument automatic leg opening and closing system, characterized in that: include: A controller, a transfer platform (5), an instrument identification device, a gripping mechanism, a sensing mechanism, and a voltage conversion unit; The controller is connected to the sensing mechanism, and the controller is used to detect whether there is a well logging instrument on the transmission platform (5) and the position information of the well logging instrument on the transmission platform (5) through the sensing mechanism; The instrument identification device is connected to the controller and the logging instrument respectively, and the controller is used to identify the type of the logging instrument on the transmission platform (5) through the instrument identification device; The transformer unit is connected to the power supply and the controller respectively, and the transformer unit is connected to the plug (4) via a line; The controller is used to detect the position of the logging instrument on the conveying platform (5) through the sensing mechanism, thereby controlling the movement of the clamping mechanism to connect the plug (4) to the logging instrument; The clamping mechanism is a manipulator; the controller controls the manipulator's chuck to open and move downward until the protective cap is inside the two chucks, and controls the chucks to close together and clamp the protective cap; a second pressure sensor is provided on the inside of the two chucks. When the chucks clamp the protective cap, the second pressure sensor detects the pressure applied to the protective cap when the inner side of the chucks is clamped, and transmits the pressure to the controller. The controller determines whether the preset clamping force is reached. If so, the controller controls the manipulator arm to move away from the logging instrument to remove the protective cap at one end of the logging instrument; The controller controls the clamping mechanism to release the protective cap; the controller controls the clamping mechanism to move to the plug and clamp the plug, then controls the clamping mechanism to move until the plug is aligned with one end of the logging instrument, and the controller controls the clamping mechanism to move toward the end of the logging instrument until the plug is inserted into the socket at one end of the logging instrument, thereby connecting the plug to the socket; The controller controls the transformer unit to start, adjusts the current of the power supply to the current type and voltage value corresponding to the type of logging instrument, and then transmits the current in the forward direction to the logging instrument through the line and the plug, so that the legs of the logging instrument are opened; the controller controls the transformer unit to output voltage to the logging instrument in two ways: the first is AC, which is output through the three cable cores of the plug, cable core 1#, cable core 3#, and cable core 7#, wherein cable core 1# and cable core 7# are the forward rotation of the motor, and cable core 3# and cable core 7# are the reverse rotation of the motor, which is suitable for AC motors; the second is DC, which is output through the two cable cores of plug 4#, cable core 1# and cable core 7#, wherein cable core 1# is the positive pole and cable core 7# is the negative pole, the motor rotates forward, cable core 1# is the negative pole and cable core 7# is the positive pole, and the motor rotates reversely, which is suitable for DC motors.

2. The automatic leg opening and closing system of the logging instrument according to claim 1 is characterized in that: The instrument identification device includes: an identification end and an instrument end; The instrument end is installed on the well logging instrument, and the instrument end stores well logging instrument type information; The identification end is fixed to one end of the transmission platform (5), the identification end is connected to the controller, and the identification end is used to obtain the logging instrument type information stored in the instrument end and transmit it to the controller.

3. The automatic leg opening and closing system of the logging instrument according to claim 2, characterized in that: The instrument end includes: a radio frequency card, and the identification end includes: a card reader (2); The radio frequency card is installed on the well logging instrument, and the radio frequency card is used to store the type information of the well logging instrument; The controller is connected to the card reader (2), which is installed at one end of the transmission platform (5). The card reader (2) is used to read the information on the radio frequency card and transmit it to the controller.

4. The automatic leg opening and closing system of the logging instrument according to claim 2, characterized in that: The instrument end includes: a first single chip microcomputer, and the identification end includes: a second single chip microcomputer; The first single-chip microcomputer and the second single-chip microcomputer are connected via a wireless transmission module; The first single-chip microcomputer is fixed on the well logging instrument, and the first single-chip microcomputer stores well logging instrument type information; The second single-chip microcomputer is fixed at one end of the transmission platform (5), and the second single-chip microcomputer is connected to the controller; The second single-chip microcomputer is used to connect to the first single-chip microcomputer through the wireless transmission module, and obtain the logging instrument type information stored in the first single-chip microcomputer and transmit it to the controller.

5. The automatic leg opening and closing system of the logging instrument according to claim 1 is characterized in that: The instrument identification device includes: a camera; The camera is fixed above the transmission platform (5), the camera is connected to the controller, and the camera is used to capture images of the logging instrument on the transmission platform (5) and transmit the images to the controller.

6. The automatic leg opening and closing system for a well logging instrument according to any one of claims 1 to 5, characterized in that: The sensing mechanism includes: a pressure sensing unit and a position sensing unit; The pressure sensing unit is installed on the conveying platform (5), the pressure sensing unit is connected to the controller, and the pressure sensing unit is used to detect the pressure value of the conveying platform (5) and transmit it to the controller; The position sensing unit is connected to the controller, and the position sensing unit is used to detect the position information of the logging instrument on the transmission platform (5).

7. The automatic leg opening and closing system of the logging instrument according to claim 6, characterized in that: The position sensing unit includes: a distance sensor; The distance sensor is installed on one side of the conveying platform (5) at a position corresponding to the clamping mechanism. The distance sensor is used to detect the distance between the logging instrument and the distance sensor and transmit the distance to the controller.

8. A method for controlling an automatic leg opening and retraction system of a well logging instrument, comprising the automatic leg opening and retraction system of a well logging instrument according to any one of claims 1 to 7, characterized in that: Including steps: The controller controls the sensing mechanism to start detecting whether there is a logging instrument on the transmission platform. If there is a logging instrument, the controller controls the instrument identification device to start identifying the type of the logging instrument and transmit the identified instrument type data to the controller. The controller controls the conveyor platform to start, causing the logging instrument to move toward the clamping mechanism. At the same time, the controller detects the position information of the logging instrument on the conveyor platform through the sensing mechanism. When one end of the logging instrument moves to the position corresponding to the clamping mechanism, the controller controls the conveyor platform to stop. The controller controls the clamping mechanism to start according to the position information, and connects the plug to the socket at one end of the logging instrument through the clamping mechanism; Preset the logging instrument type and its corresponding opening and closing leg voltage value and opening and closing leg current type, match the instrument type data with the preset logging instrument type through the controller, and find the opening and closing leg voltage value and the opening and closing leg current type corresponding to the matching preset logging instrument type; The controller controls the transformer unit to start converting the power supply voltage value into the opening and retracting leg voltage value and the power supply current type into the opening and retracting leg current type, and then transmits the converted data to the logging instrument through the plug, thereby controlling the opening or retracting of the legs of the logging instrument.

9. The method for controlling the automatic leg opening and closing system of a logging instrument according to claim 8, characterized in that: The controller controls the clamping mechanism to start according to the position information, and the method for connecting the plug to the socket at one end of the logging instrument through the clamping mechanism includes: The controller controls the clamping mechanism to start moving to the protective cap at one end of the logging instrument according to the position information and clamps the protective cap. The controller then controls the clamping mechanism to move away from the end of the logging instrument until the protective cap is separated from the logging instrument. The controller then controls the clamping mechanism to release the protective cap. The controller controls the clamping mechanism to move to the plug and clamp the plug, and then controls the clamping mechanism to move until the plug is aligned with one end of the logging instrument. The controller controls the clamping mechanism to move toward one end of the logging instrument until the plug is inserted into the socket at one end of the logging instrument, thereby connecting the plug to the socket.

Images