Positioning method of land node instrument and node recovery device

Abstract

The application discloses a positioning method of a land node instrument and a node recovery device. The positioning method comprises the following steps: guiding the node recovery device to move to the vicinity of the land node instrument according to node position information of the land node instrument to be recovered; determining the current position coordinates of the end of a mechanical arm on the node recovery device according to current position information of the node recovery device; determining target position coordinates that the end of the mechanical arm should reach according to the node position information; calculating the offset between the current position coordinates and the target position coordinates; and controlling the mechanical arm according to the offset. The application provides a node high-precision positioning technology in the node recovery process of the land node instrument, so that the node recovery device can quickly and accurately position the position of the node to be recovered when the node is used to collect seismic exploration information, and the efficient requirement of the node recovery is met.

Description

Technical Field

[0001] This invention relates to a high-precision node positioning method and node recovery device for onshore node instruments during the recovery process, belonging to the field of seismic exploration technology for oil, natural gas, etc. in the environmental resources field. Background Technology

[0002] In the field of oil and gas exploration, onshore node instruments (also known as nodes) have begun to be used on a large scale. After exploration is completed, onshore node instruments need to be retrieved. Currently, onshore node instruments are mostly retrieved manually, which has problems such as high labor intensity and harsh working conditions.

[0003] To address this, mechanized node recycling devices have emerged to replace manual labor in such tasks. However, existing node recycling devices cannot accurately determine the location of the node to be recycled during the recycling process, which affects the speed and efficiency of node recycling. Summary of the Invention

[0004] In view of the technical defects and drawbacks existing in the prior art, the embodiments of the present invention provide a method and apparatus for locating land node instruments that overcomes or at least partially solves the above problems.

[0005] One embodiment of the present invention provides a method for locating a land-based node instrument, comprising:

[0006] The node recovery device is guided to move to the vicinity of the land node instrument based on the node location information of the land node instrument to be recovered;

[0007] The current position coordinates of the end effector of the robotic arm on the node recovery device are determined based on the current position information of the node recovery device.

[0008] The target position coordinates that the end effector of the robotic arm should reach are determined based on the node position information;

[0009] Calculate the offset between the current position coordinates and the target position coordinates; and

[0010] The robotic arm is controlled based on the offset.

[0011] Another embodiment of the present invention provides a node retrieval device for a land-based node instrument, comprising: an on-board navigation system, a robotic arm, a controller, and a tilt sensor; the controller is used to control the robotic arm according to the offset determined by the above positioning method.

[0012] Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the above-described positioning method.

[0013] Another embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-described positioning method when executing the program.

[0014] Another embodiment of the present invention provides a positioning device for a land-based node instrument, comprising:

[0015] The navigation module is used to guide the node recovery device to move to the vicinity of the land node instrument based on the node location information of the land node instrument to be recovered;

[0016] The position determination module is used to determine the current position coordinates of the end effector of the robotic arm on the node recovery device based on the current position information of the node recovery device; and to determine the target position coordinates that the end effector of the robotic arm should reach based on the node position information.

[0017] An offset calculation module is used to calculate the offset between the current position coordinates and the target position coordinates; and

[0018] A robotic arm control module is used to control the robotic arm according to the offset.

[0019] Accordingly, a high-precision node positioning technology can be provided for the retrieval process of onshore node instruments, so that when using nodes to collect seismic exploration information, the node retrieval device can quickly and accurately locate the position of the node to be retrieved, meeting the high-efficiency requirements of node retrieval.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures described in the written description, claims, and drawings.

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 Define a graph for the relevant coordinate points within this system;

[0024] Figure 2 A flowchart illustrating the positioning method for land-based node instruments provided in an embodiment of the present invention;

[0025] Figure 3 for Figure 2 The detailed flowchart of step 200;

[0026] Figure 4 This is a schematic diagram of the positioning device for a land node instrument provided in an embodiment of the present invention. Detailed Implementation

[0027] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0029] This embodiment provides a node retrieval device for a land-based node instrument, including: a vehicle-mounted navigation system, a robotic arm, a controller, and a tilt sensor. Wherein:

[0030] The robotic arm is the main actuator for node retrieval. It is installed at the end of the node retrieval device and is used to grip nodes within the working range. The controller is used to control the movement of the robotic arm to the target position according to the determined offset and to control the robotic arm to complete the specified action.

[0031] Tilt sensors are used to detect the vehicle attitude tilt angle of the node recovery device.

[0032] The vehicle-mounted navigation system, installed on the node retrieval device, mainly includes: two satellite signal receiving antennas (also called positioning antennas), a GPS receiver, and a navigation host. Specifically: the navigation host is installed in the driver's cab of the node retrieval device, storing the node position information of the land-based node instrument to be retrieved. During node retrieval, it guides the node retrieval device to the vicinity of the land-based node instrument based on the node position information. The first positioning antenna is positioned directly above the origin of the coordinate system on the base of the robotic arm, used to detect the coordinates of that point. The second positioning antenna is installed above the driver's cab of the node retrieval device, also used to detect the coordinates of that point. The direction from the first positioning antenna to the second positioning antenna indicates the heading of the node retrieval device.

[0033] Based on the aforementioned node retrieval device, this embodiment also provides a method for locating land-based node instruments, referring to... Figure 1 First, the relevant coordinate points within this system are defined, and all coordinates are data in the WGS84 coordinate system. Point A1 coordinates are the coordinates of the first positioning antenna in the navigation system; point A2 coordinates are the coordinates of the second positioning antenna in the navigation system; point B coordinates are the coordinates of the origin of the robot arm's base, specifically the coordinates of the origin of the base's coordinate system, defined as the intersection of the horizontal plane containing the first and second axes of the robot arm; point C coordinates are the coordinates of the robot arm's end point, specifically the coordinates of the center point of the end face of the six-axis flange section located at the end point; point D coordinates are the coordinates of the location of the land node instrument to be recovered.

[0034] The robotic arm, for example, can be a six-axis industrial robot. Six servo motors directly drive the rotation of six joint axes through reducers, synchronous pulleys, etc. It typically has six degrees of freedom, including rotation (S-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis), and wrist flexion (T-axis). The six joints work together to achieve six degrees of freedom movements at the end effector. One axis can be the S-axis, and the other two axes can be the L-axis.

[0035] like Figure 2 As shown, the positioning method for land-based node instruments provided in this embodiment includes the following steps:

[0036] Step 100: The node recovery device moves to the vicinity of the land node instrument based on the node location information of the land node instrument to be recovered.

[0037] The node location information, specifically the coordinates of point D, can be pre-stored in the navigation host. The navigation host reads this information and uses it to guide the node retrieval device to move near the land node instrument to be retrieved. Specifically, when the node retrieval device reaches within a predetermined range around the land node instrument, it is considered to have moved near the land node instrument, and at this point, the movement stops.

[0038] Step 200: Determine the current position coordinates of the end effector of the robotic arm on the node recycling device based on the current position information of the node recycling device;

[0039] The current position of the robotic arm's end effector refers to its position after the node recovery device stops near the land-based node instrument to be recovered. Specifically, as shown... Figure 3 As shown, it can be obtained through the following steps:

[0040] Step 210: Obtain the coordinates of the first positioning antenna of the node recovery device.

[0041] The coordinates of the first positioning antenna are... Figure 1 The coordinates of point A1 can be obtained from the positioning signal received by the GPS receiver.

[0042] Step 220: Determine the coordinates of the base origin of the robotic arm based on the coordinates of the first positioning antenna, the vehicle's heading, tilt angle, and vertical distance of the node recovery device.

[0043] The vehicle's orientation can be the direction from the first positioning antenna A1 to the second positioning antenna A2; the vehicle tilt angle can be measured by a tilt sensor; the vertical distance refers to the distance between the first positioning antenna and the base origin of the robotic arm in a direction perpendicular to the ground surface, which can be determined based on the distance between the coordinates of the first positioning antenna (i.e., the coordinates of point A1) and the coordinates of the base origin (i.e., the coordinates of point B) and the vehicle tilt angle.

[0044] Specifically, the offset of point B relative to point A1 can be obtained based on the vehicle's orientation, body tilt angle, and vertical distance. Then, based on this offset and the current GPS position, the latitude and longitude of point B can be obtained. That is, the coordinates of point B are obtained by superimposing this offset on the coordinates of point A1.

[0045] Step 230: Determine the current position coordinates of the end effector of the robotic arm based on the coordinates of the base origin, the vehicle's orientation, the vehicle's tilt angle, and the three-dimensional right-handed Cartesian coordinates of the robotic arm.

[0046] The current position coordinates of the end effector of the robotic arm can be represented as the coordinates of point C2. The three-dimensional right-handed Cartesian coordinates are the robot's RPY coordinates. Here, R is the roll angle, i.e., the angle of rotation around the x-axis; P is the pitch angle, i.e., the angle of rotation around the y-axis; and Y is the yaw angle, i.e., the angle of rotation around the z-axis.

[0047] Specifically, the offset of point C2 in the WGS84 coordinate system can be obtained based on the vehicle's orientation, body tilt angle, and RPY coordinates. Then, based on the current GPS coordinates, the projected distance values ​​of this offset in the longitude and latitude directions can be calculated. These values ​​can be superimposed with the coordinates of the base origin, i.e., the coordinates of point B, to obtain the GPS coordinates of point C2.

[0048] Step 300: Determine the target position coordinates that the end effector of the robotic arm should reach based on the node position information.

[0049] The target position that the robotic arm's end effector should reach refers to the position where the robotic arm can perform the retrieval operation on the land-based node instrument to be recovered. This target position can be denoted as C1. Since the mechanical structure of the robotic arm is fixed, the position at which it can perform the retrieval operation is also known. Therefore, the coordinates of point C1 can be derived from the coordinates of point D. Point C1 and point D differ only in altitude in the WGS84 coordinate system; their latitude and longitude do not need to be transformed.

[0050] Step 400: Calculate the offset between the current position coordinates and the target position coordinates.

[0051] Specifically, the offset between the current position C2 of the robotic arm's end effector and the target position C1 can be calculated using the following formula:

[0052]

[0053] Where s represents the offset; EARTHRADIUS represents the Earth's radius, approximately 6371.393 km; Lat1 and Lng1 represent the latitude and longitude of point C1, respectively; and Lat2 and Lng2 represent the latitude and longitude of point C2, respectively.

[0054] Step 500: Control the robotic arm according to the offset.

[0055] Specifically, the controller can move the robotic arm from point C2 to point C1 based on the offset, and then control the robotic arm to perform a retrieval action, thereby completing the retrieval of the node.

[0056] In this embodiment, the navigation system guides the recovery device to the vicinity of the node to be recovered based on the stored node position coordinates. Then, based on the stored node position coordinates, the measured attitude tilt angle of the recovery device, and the data from the two positioning antennas, it calculates the deviation of the robotic arm's end position relative to the node position. Based on this, it moves quickly and with high precision to directly above the node to be recovered, so that the robotic arm can recover the node after it is in place.

[0057] The high-precision node positioning method provided in this implementation for the land-based node instrument recovery process can calculate the required offset of the robotic arm end effector in real time based on different parking positions, thereby guiding it to reach the node to be recovered quickly and with high precision, effectively improving node recovery efficiency.

[0058] This invention analyzes the problems encountered in node construction during oil and gas exploration and specifically designs a high-precision node positioning method and corresponding node recovery device for the instrument recovery process at onshore nodes. This method and device can quickly and accurately guide a robotic arm to the node to be recovered, thereby improving node recovery efficiency.

[0059] This embodiment also provides a positioning device for a land-based node instrument, which can implement the above-mentioned positioning method, such as... Figure 4 As shown, the positioning device includes: a navigation module 10, a position determination module 20, an offset calculation module 30, and a robotic arm control module 40. Its working principle is as follows:

[0060] The navigation module 10 guides the node recovery device to move to the vicinity of the land node instrument based on the node position information of the land node instrument to be recovered; the position determination module 20 determines the current position coordinates of the end of the robotic arm on the node recovery device based on the current position information of the node recovery device; and determines the target position coordinates that the end of the robotic arm should reach based on the node position information; the offset calculation module 30 calculates the offset between the current position coordinates and the target position coordinates; and the robotic arm control module 40 controls the robotic arm based on the offset.

[0061] The specific functions and corresponding technical effects of each module in this device can be found in the relevant content of the above method embodiments, and will not be repeated here.

[0062] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0063] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating a land-based node instrument, characterized in that, include: The node recovery device is guided to move to the vicinity of the land node instrument based on the node location information of the land node instrument to be recovered; The current position coordinates of the end effector of the robotic arm on the node recovery device are determined based on the current position information of the node recovery device. The target position coordinates that the end effector of the robotic arm should reach are determined based on the node position information; Calculate the offset between the current position coordinates and the target position coordinates; as well as The robotic arm is controlled according to the offset; The node recovery device has a first positioning antenna directly above the origin of the robotic arm's base, and determines the current position coordinates of the robotic arm's end effector by: Obtain the coordinates of the first positioning antenna of the node recovery device; The coordinates of the base origin of the robotic arm are determined based on the coordinates of the first positioning antenna, the vehicle's heading, tilt angle, and vertical distance of the node recovery device. The current position coordinates of the end of the robotic arm are determined based on the coordinates of the origin of the base, the orientation of the vehicle head, the vehicle body tilt angle, and the three-dimensional right-handed Cartesian coordinates of the robotic arm. A second positioning antenna is also installed above the cab of the node recovery device, and the orientation of the vehicle front is determined based on the direction in which the first positioning antenna points to the second positioning antenna.

2. The method according to claim 1, characterized in that, Also includes: The vehicle tilt angle is determined based on the tilt sensor installed on the node recycling device.

3. The method according to claim 1, characterized in that, Also includes: The vertical distance is determined based on the distance between the coordinates of the first positioning antenna and the coordinates of the origin of the base, and the vehicle body tilt angle.

4. The method according to claim 1, characterized in that, The origin of the base of the robotic arm is the intersection of the horizontal plane containing the first axis and the second axis of the robotic arm.

5. The method according to any one of claims 1 to 4, characterized in that, The offset is calculated according to the following formula: Wherein, s represents the offset; EARTHRADIUS represents the Earth's radius; Lat1 and Lng1 represent the latitude and longitude values ​​in the target position coordinates of the end point, respectively; Lat2 and Lng2 represent the latitude and longitude values ​​in the current position coordinates of the end point, respectively.

6. A node recovery device for a land-based node instrument, characterized in that, include: In-vehicle navigation system, robotic arm, controller and tilt sensor; The controller is used to control the robotic arm by the offset determined by the method according to any one of claims 1 to 5.

7. The node recycling device according to claim 6, characterized in that, The in-vehicle navigation system includes: The navigation host stores the node location information of the land node instrument to be recovered, and guides the node recovery device to move to the vicinity of the land node instrument according to the node location information when the node recovery is in progress; The first positioning antenna is positioned directly above the origin of the coordinate system of the base of the robotic arm; and The second positioning antenna is located above the driver's cab of the node recovery device.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the positioning method as described in any one of claims 1 to 5.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the positioning method as described in any one of claims 1 to 5.

10. A positioning device for a land node instrument implementing the positioning method according to any one of claims 1 to 5, characterized in that, include: The navigation module is used to guide the node recovery device to move to the vicinity of the land node instrument based on the node location information of the land node instrument to be recovered; The position determination module is used to determine the current position coordinates of the end effector of the robotic arm on the node recovery device based on the current position information of the node recovery device; and to determine the target position coordinates that the end effector of the robotic arm should reach based on the node position information. The offset calculation module is used to calculate the offset between the current position coordinates and the target position coordinates; as well as A robotic arm control module is used to control the robotic arm according to the offset.

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