Intelligent control distractor and control method thereof

Abstract

The present application relates to the technical field of well logging, in particular to an intelligent control tractor and a control method thereof. The intelligent control tractor comprises a computer, a ground control system, an intelligent power supply system, an operation selection system, a communication system, a power supply and an intelligent driving system. The output end of the computer is connected with the input end of the ground control system and the intelligent power supply system. The output end of the intelligent power supply system is connected with the power signal input end of the tractor. The output end of the ground control system is connected with the input end of the communication system. The output end of the communication system is connected with the input end of the operation selection system and the intelligent driving system. The output end of the operation selection system is connected with a well logging instrument or the tractor. The output end of the intelligent driving system is connected with the pushing part or the driving part of the tractor. The intelligent control tractor has high automation degree, can automatically adjust according to the working state of the tractor, saves manpower and improves work efficiency.

Description

Technical Field

[0001] This invention relates to the field of well logging technology, specifically to an intelligent control traction device and its control method. Background Technology

[0002] In horizontal well logging operations, the logging instruments cannot be lowered to the bottom of the well by their own weight. A device is needed to transport the instruments to the bottom for logging operations to proceed. A traction device is a powered instrument that moves the logging instruments horizontally, transporting them to the top of the well. Therefore, traction devices have been widely used in recent years as a tool for transporting logging instruments in horizontal wells. However, operating a traction device is relatively complex, requiring constant adjustments to its operating state to ensure successful transport. Otherwise, the traction device may fail to complete the operation, potentially damaging the instruments.

[0003] Chinese Patent CN105545280B discloses a system and device for integrated control of drilling operation procedures. This system mainly includes a valve island remote station, a main controller, a top drive controller, an instrument controller, and an automatic drill bit feed controller. It adopts a master driller mode selection as the primary mode and an assistant driller mode as the secondary mode, improving the communication and interlocking between the master and assistant drillers. The device specifies the sequential execution steps, reducing misoperation and improving equipment safety. However, the core of this system is not the control of the traction device's working status, and it cannot achieve intelligent traction device functionality.

[0004] Chinese patent CN116122789A discloses an intelligent control system and method for oil drilling rigs, including a drilling rig equipment layer, a drilling rig intelligent decision-making layer, a downhole data acquisition layer, and a standardized communication network. The intelligent control system can promptly correct the drilling rig's operating parameters and actions based on downhole operating information, the main equipment operating information, and the intelligent decision-making system, autonomously issuing commands to control the coordinated operation of equipment, achieving closed-loop control for unmanned or minimally manned drilling. However, the core of this system does not lie in the control of the traction device's working status and therefore does not realize intelligent traction device functionality.

[0005] The paper "Research Progress of Downhole Traction Devices" studies and introduces high-efficiency and high-reliability traction devices, but it does not provide feasible technologies for intelligent traction devices. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing an intelligent control traction device and its control method. This device has a high degree of automation, can automatically adjust according to the working status of the traction device, saves manpower, and improves work efficiency.

[0007] This invention discloses an intelligent control traction device, comprising a computer, a ground control system, an intelligent power supply system, a job selection system, a communication system, a power supply, and an intelligent drive system. The output terminal of the computer is connected to the input terminals of the ground control system and the intelligent power supply system. The output terminal of the intelligent power supply system is connected to the power signal input terminal of the traction device. The output terminal of the ground control system is connected to the input terminal of the communication system. The output terminal of the communication system is connected to the input terminals of the job selection system and the intelligent drive system. The output terminal of the job selection system is connected to a logging instrument or the traction device. The output terminal of the intelligent drive system is connected to the pushing part or the driving part of the traction device.

[0008] The computer is used to output a reference voltage control signal to the intelligent power supply system according to the working status of the traction device, and to send a work selection signal, a push signal or a drive signal to the ground control system.

[0009] The intelligent power supply system is used to output different power supply voltages to the traction device according to the reference voltage control signal;

[0010] The ground control system is used to encode the job selection signal, push signal or drive signal sent by the computer into an FSK signal and send it to the communication system;

[0011] The communication system is used to decode the FSK signal into a digital signal and send it to the job selection system or intelligent drive system.

[0012] The job selection system is used to connect to the traction device or logging instrument according to the job selection signal;

[0013] The intelligent drive system is used to drive the pushing part of the traction device to work according to the pushing signal or to drive the driving part of the traction device according to the driving signal.

[0014] Preferably, the intelligent power supply system includes a high-power switching power supply and a control circuit. The high-power switching power supply includes a first rectifier filter, a switching circuit, and a second rectifier filter. The switching circuit includes a transformer T1, a resistor R4, and a switching transistor Q5. One end of the first rectifier filter is connected to the mains power, and the other end is connected to one end of the primary coil of the transformer T1. The secondary coil of the transformer T1 is connected to the input terminal of the second rectifier filter. The output terminal of the second rectifier filter is connected to the power supply terminal of the traction device and the input terminal of the control circuit, respectively. The other end of the primary coil of the transformer T1 is connected to the source of the switching transistor Q5. The drain of the switching transistor Q5 is grounded. The gate of the switching transistor Q5 is connected to one end of the resistor R4, and the other end of the resistor R4 is connected to the output terminal of the control circuit.

[0015] Preferably, the control circuit includes a sampling circuit, a reference voltage control circuit, and a control circuit chip U5. The input terminal of the sampling circuit is connected to the output terminal of the second rectifier filter, the output terminal of the sampling circuit is connected to the sampling signal input terminal of the control circuit chip U5, the output terminal of the reference voltage control circuit is connected to the reference voltage signal input terminal of the control circuit chip U5, and the control signal output terminal of the control circuit chip U5 is connected to the other end of the resistor R4.

[0016] The reference voltage control circuit generates a reference voltage according to the reference voltage control signal issued by the computer and inputs it to the reference voltage signal input terminal of the control circuit chip U5;

[0017] If the traction device starts moving from rest or the load increases during the movement of the traction device, the reference voltage control signal increases;

[0018] When the voltage value of the sampled signal differs from the reference voltage, the control circuit chip U5 outputs a control signal to control the duty cycle of the switching transistor Q5.

[0019] When the voltage value of the sampled signal is lower than the reference voltage, the control circuit chip U5 increases the duty cycle of the switching transistor Q5;

[0020] When the voltage value of the sampled signal is higher than the reference voltage, the control circuit chip U5 reduces the duty cycle of the switching transistor Q5.

[0021] Preferably, the job selection system includes a processing chip U6, a driver chip U7, a first switching circuit for driving the traction device, and a second switching circuit for driving the logging tool. The processing chip U6 has a job selection command input terminal. The traction device drive control signal output terminal of the processing chip U6 is connected to the traction device drive control signal input terminal of the driver chip U7. The traction device drive control signal output terminal of the driver chip U7 is connected to the control terminal of the first switching circuit. The output terminal of the first switching circuit is connected to the traction device. The logging tool drive control signal output terminal of the processing chip U6 is connected to the logging tool drive control signal input terminal of the driver chip U7. The logging tool drive control signal output terminal of the driver chip U7 is connected to the control terminal of the second switching circuit. The output terminal of the second switching circuit is connected to the logging tool.

[0022] Preferably, the communication system includes a decoding circuit, an amplifier circuit, a demodulator, a second detection circuit, a second microprocessor, and a second controller. The input terminal of the decoding circuit is connected to the FSK signal output terminal of the ground control system. The output terminal of the decoding circuit is connected to the signal input terminal of the amplifier circuit. The signal output terminal of the amplifier circuit is connected to the signal input terminal of the demodulator. The digital signal output terminal of the demodulator is connected to the central processing unit of the traction device. The status feedback signal output terminal of the demodulator is connected to the input terminal of the second detection circuit. The output terminal of the second detection circuit is connected to the input terminal of the second microprocessor. The output terminal of the second microprocessor is connected to the input terminal of the second controller. The control signal output terminal of the second controller is connected to the control signal input terminal of the amplifier circuit.

[0023] Preferably, the amplification circuit includes amplifier U3, switching transistor Q4, resistors R23, R24, R28, and capacitor C14. The output terminal of the decoding circuit is connected to the drain of the switching transistor Q4 and one end of resistor R24. The other end of resistor R24 ​​is connected to the inverting input terminal of amplifier U3, the source of the switching transistor Q4, and one end of resistor R23. The source of the switching transistor Q4 is connected to the power supply. The non-inverting input terminal of amplifier U3 is connected to one end of resistor R28. The other end of resistor R28 is grounded. The output terminal of amplifier U3 is connected to capacitor C14 and the other end of resistor R23. The other end of capacitor C14 is connected to the input terminal of the demodulator. The gate of the switching transistor Q4 is connected to the control signal output terminal of the second controller.

[0024] Preferably, the intelligent drive system includes a push-and-pull motor for driving the traction arm to open, a first drive circuit for driving the push-and-pull motor to work, a drive motor for driving the traction wheel to rotate, and a drive motor drive circuit for driving the drive motor to work. The first drive circuit and the drive motor drive circuit are arranged in parallel, and the first drive circuit and the drive motor drive circuit have the same circuit structure.

[0025] Preferably, the intelligent drive system further includes a first detection circuit, a first microprocessor, a first multiplexer for connecting the first microprocessor with the first drive circuit and the drive motor drive circuit, and a second multiplexer for connecting the first drive circuit with the push motor and the drive motor drive circuit with the drive motor. The first gating control signal output terminal of the first microprocessor is connected to the gating control signal input terminal of the first multiplexer, the second gating control signal output terminal of the first microprocessor is connected to the gating control signal input terminal of the second multiplexer, the input terminal of the first detection circuit is connected to the status signal output terminals of the first drive circuit and the drive motor drive circuit respectively, and the output terminal of the first detection circuit is connected to the status detection signal input terminal of the first microprocessor.

[0026] The present invention also provides a control method for an intelligent control traction device, comprising:

[0027] The computer outputs a job selection signal to the job selection system through the ground control system and communication system, and the job selection system connects to the tractor or logging tool according to the job selection signal.

[0028] When the traction device is connected, the computer outputs a reference voltage control signal to the intelligent power supply system according to the working status of the traction device, so that the voltage signal output by the intelligent power supply system is consistent with the reference voltage control signal.

[0029] The computer sequentially outputs push and drive commands;

[0030] After receiving the push command, the intelligent drive system drives the push part of the traction device to work, and after receiving the drive command, it drives the drive part of the traction device to work.

[0031] Preferably, the intelligent drive system activates the pushing part of the traction device after receiving the pushing command, and activates the driving part of the traction device after receiving the driving command, specifically including:

[0032] When the first microprocessor receives the push signal, it sends a gating control signal to the first multiplexer and the second multiplexer to control the first multiplexer to turn on the channel for turning on the first drive circuit, control the second multiplexer to turn on the channel for turning on the push motor, and control the remaining channels to turn off.

[0033] When the first microprocessor receives a drive signal, it sends a gating control signal to the first multiplexer and the second multiplexer to control the first multiplexer to turn on the channel used to turn on the drive motor drive circuit, control the second multiplexer to turn on the channel used to drive the motor, and control the remaining channels to turn off.

[0034] During the pushing and driving process, the working status of each driving circuit is detected in real time by the first detection circuit.

[0035] If any drive motor drive circuit fails, the first microprocessor resends a gating control signal to the first and second multiplexers to switch the failed drive motor drive circuit to the first drive circuit.

[0036] The more preferred options also include:

[0037] After the traction device starts working, the ground control system sends an FSK signal to the decoding circuit;

[0038] If the second detection circuit does not receive a digital signal within a specified time period, it feeds back an error signal to the second microprocessor.

[0039] The second microprocessor outputs control signals to the second controller;

[0040] The second controller outputs an adjustment signal to the amplifier circuit according to the control signal to adjust the amplification factor of the amplifier circuit until the second detection circuit can receive digital signals within a specified time period;

[0041] The method for adjusting the amplification factor k of the amplifier circuit is as follows:

[0042] Calculate R based on the set magnification factor k. Q4 Size;

[0043] By adjusting the frequency of the control signal output to the switching transistor Q4, R Q4 The size of R is changed to the required size. Q4 This is the resistance value between the source and drain of the switching transistor Q4.

[0044] The more preferred options also include:

[0045] When the computer detects that the current of the drive motor drive circuit is less than 25% of the normal value, the traction force is less than 20% of the normal value, and the distance traveled within a set time period is less than the preset distance, it determines that the traction wheel is slipping.

[0046] When the computer determines that the traction wheel is slipping, it issues a pressure boosting command to the hydraulic system of the push-back section until the slipping phenomenon no longer occurs.

[0047] The beneficial effects of this invention are as follows: This device includes a computer, a ground control system, an intelligent power supply system, a job selection system, a communication system, a power supply, and an intelligent drive system. The computer outputs a job selection signal to the job selection system through the ground control system and the communication system. The job selection system then connects to the traction device or logging tool based on the job selection signal. When the traction device is connected, the computer outputs a reference voltage control signal to the intelligent power supply system based on the traction device's operating status, ensuring that the voltage signal output by the intelligent power supply system is consistent with the reference voltage control signal. The computer sequentially outputs push and drive commands. Upon receiving the push command, the intelligent drive system drives the push part of the traction device to operate; upon receiving the drive command, it drives the drive part of the traction device to operate. This device has a high degree of automation, can automatically adjust according to the traction device's operating status, saves manpower, and improves work efficiency. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the system architecture of the present invention;

[0049] Figure 2 This is a schematic diagram of the control method of the present invention;

[0050] Figure 3 This is a schematic diagram of the circuit connection principle of the intelligent power supply system of the present invention;

[0051] Figure 4 This is a schematic diagram of the circuit connection principle of the job selection system of the present invention;

[0052] Figure 5 This is a schematic diagram illustrating the driving circuit setup principle of the intelligent driving system of the present invention;

[0053] Figure 6 This is a circuit connection diagram of the intelligent drive system of the present invention;

[0054] Figure 7 This is a schematic diagram of the circuit connection of the communication system of the present invention. Detailed Implementation

[0055] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0056] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0058] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0059] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0060] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0061] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0062] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0063] Example 1

[0064] Figure 1 A preferred embodiment of this application is shown. Figure 1 The diagram shows a connection principle diagram of an intelligent control traction device according to the first embodiment of this application. For ease of explanation, only the parts related to this embodiment are shown, and are described in detail below:

[0065] An intelligent control traction device includes a computer 4, a ground control system 5, an intelligent power supply system 6, a job selection system 7, a communication system 8, a power supply 9, and an intelligent drive system 10. The output terminal of the computer 4 is connected to the input terminals of the ground control system 5 and the intelligent power supply system 6. The output terminal of the intelligent power supply system 6 is connected to the power signal input terminal of the traction device. The output terminal of the ground control system 5 is connected to the input terminal of the communication system 8. The output terminal of the communication system 8 is connected to the input terminals of the job selection system 7 and the intelligent drive system 10. The output terminal of the job selection system 7 is connected to a logging instrument or the traction device. The output terminal of the intelligent drive system 10 is connected to the pushing part or the driving part of the traction device.

[0066] The computer 4 is used to output a reference voltage control signal to the intelligent power supply system 6 according to the working status of the traction device, and to send a work selection signal, a push signal or a drive signal to the ground control system 5.

[0067] The intelligent power supply system 6 is used to output different power supply voltages to the traction device according to the reference voltage control signal;

[0068] The ground control system 5 is used to encode the job selection signal, push signal or drive signal sent by the computer 4 into an FSK signal and send it to the communication system 8;

[0069] The communication system 8 is used to decode the FSK signal into a digital signal and send it to the job selection system 7 or the intelligent drive system 10.

[0070] The job selection system 7 is used to connect to the tractor or logging instrument according to the job selection signal;

[0071] The intelligent drive system 10 is used to drive the pushing part of the traction device to work according to the pushing signal or to drive the driving part of the traction device to work according to the driving signal.

[0072] The intelligent traction device of the present invention comprises two parts: ground equipment and traction device. The ground equipment includes a ground control system 5, a computer 4, and an intelligent power supply system 6. The traction device comprises a job selection system 7, a communication system 8, a power supply 9, and an intelligent drive system 10, wherein the intelligent drive system 10 includes a pushing part and a driving part.

[0073] The ground equipment's computer 4 is connected to the ground control system 5 and the intelligent power supply system 6.

[0074] The ground control system 5 and the intelligent power supply system 6 are connected to the cable, and then connected to the operation selection system 7, communication system 8, and power supply 9 of the traction device via the cable.

[0075] The traction device's communication system 8 is connected to the work selection system 7, the intelligent drive system 10, and the power supply 9.

[0076] The operation selection system 7 is connected to the pushing and driving parts of the traction device, and also to the logging instruments.

[0077] The intelligent drive system 10 is connected to the push-and-go section, the drive section, and the communication system 8.

[0078] Computer 4 issues traction device operation commands, which include various traction device operation control commands and power control commands.

[0079] The traction device operation control commands are transmitted to the ground control system 5 for encoding into FSK signals. The FSK signals are then transmitted via cable to the traction device communication system 8 for decoding, restoring the various operation control commands of the traction device, and correspondingly controlling the operation of various devices of the traction device.

[0080] The power control command is sent to the intelligent power supply system 6, which controls the intelligent power supply system 6 to output power of different voltages. This not only provides the working power of the power supply 9, enabling it to work normally, but also provides various power supplies for other equipment of the traction device, and can also provide working power that is compatible with the traction device under different working conditions.

[0081] The computer software offers two operating modes: intelligent selection and manual selection. In manual mode, the system operates according to engineer's requirements, meaning the traction device's various operating states are manually controlled. In intelligent mode, the computer itself determines the traction device's operating status based on its own assessments and issues various operating commands to enable the traction device to operate automatically.

[0082] like Figure 2 As shown, the intelligent working mode process of the traction device is as follows:

[0083] When computer 4 selects the intelligent working mode, it automatically sends power supply control signal and operation selection signal to the intelligent power supply system 6 and the ground control system 5, respectively.

[0084] Under the action of the power supply control signal, the output voltage of the intelligent power supply system 6 automatically and gradually increases, and automatically stops when the voltage value increases to the set voltage value.

[0085] The set voltage value is the normal operating voltage value of power supply 9, which is transmitted to power supply 9 via cable, enabling power supply 9 to start working normally. Power supply 9 converts the power transmitted from the ground into various working power supplies required by other circuits of the traction device, putting the traction device in a standby working state.

[0086] The operation selection signal is modulated into an FSK signal by the ground control system 5. The generated FSK signal is superimposed on the cable and transmitted to the communication system 8 of the tractor for decoding. The operation selection signal is then restored and transmitted to the operation selection system 7 to select the tractor for operation. This connects the tractor's pushing and driving parts to the cable, making the entire tractor connected to the cable. At the same time, the logging instruments are disconnected and do not interfere with each other.

[0087] In intelligent operating mode, computer 4 continuously sends traction device connection commands. Once the cable is connected to the traction device, the operation selection system 7 sends the information to the communication system 8 for modulation, and then transmits the information to the ground control system 5 via cable for decoding. After receiving the information, computer 4 automatically issues the next operation command for the traction device.

[0088] Next, computer 4 automatically issues a push-in command. This command is transmitted via cable to the communication system 8 of the traction device for decoding, and then to the intelligent control system. The intelligent control system controls the push-in part to operate under the voltage provided by the cable, driving the hydraulic system of the push-in part to work. When the pressure of the hydraulic system gradually increases to the set value (usually 3 MPa initially set by computer 4), the push-in part stops working. The hydraulic system pressure and push-in stop information are transmitted from the intelligent drive system 10 to the communication system 8, and then via cable and ground control system 5 to computer 4.

[0089] After determining the working status, computer 4 automatically issues a drive command, which is decoded by communication system 8 and sent to intelligent drive system 10 to control the drive unit. Under the action of control signals and voltage provided by the cable, the drive unit begins to work, causing the traction device to move. This enables the traction device to automatically transport the logging instrument.

[0090] When the traction device begins conveying, the communication system 8 collects real-time operating information from the power supply 9, the work selection system 7, the intelligent drive system 10, the pushing and supporting parts, the drive parts, and other equipment. The computer 4 can automatically and promptly adjust the working status of the traction device based on the real-time operating information.

[0091] Computer 4 determines whether the traction wheel of the traction device is slipping or stuck based on real-time operating information of the traction device, such as the current of the drive part, the number of rotations of the traction wheel, the power supply voltage of the traction device, the hydraulic pressure of the push part, and the traction force output by the traction device. Computer 4 will then automatically issue corresponding solutions.

[0092] If the current is less than 25% of the normal value, the traction force is less than 20% of the normal value, and the displacement in 10 seconds is less than 0.2 meters, it can be determined that the traction wheel is slipping and the traction device cannot transport normally. Based on the traction device's operating status data, computer 4, after confirming slippage, automatically issues a command to increase the pressure of the hydraulic system in the pushing section. Each command increases the hydraulic system pressure by 0.5 MPa, with a maximum increase of 2 MPa. If increasing the hydraulic system pressure to the maximum value does not resolve the slippage, the command will stop and a stop traction operation command will be sent. After the traction device stops working, computer 4 automatically enters the manual selection mode, where the operating engineer will then make a judgment to perform other operations or stop the operation.

[0093] If the current in a drive circuit of a certain drive section increases by more than 50% of the normal operating current, and the corresponding traction wheel rotation speed is less than 50% of the normal speed, it can be determined that there is a problem with a certain drive circuit. Computer 4 will analyze the information of the drive circuit and, after confirmation, will first automatically issue a drive stop command to temporarily stop the traction device from driving, and then issue a drive circuit replacement signal. This disconnects the faulty drive circuit and replaces the faulty drive circuit with a working drive circuit. After the replacement is completed, Computer 4 will issue a drive command again, so that the drive section can rotate the traction wheel again, ensuring the traction device can deliver power normally. When the traction device completely stops working, all drive circuits automatically return to their initial connection state.

[0094] If logging operations are to commence, it can be accessed via manual selection mode, where the operation can be performed according to the procedures set by the operations engineer. If logging equipment is selected, multiple logging items can be chosen. The manual selection mode can also select the tractor; however, if the tractor is selected in manual mode, its operation cannot be automated and must be performed according to the steps outlined by the operations engineer.

[0095] Example 2

[0096] This embodiment provides a control method for an intelligent control traction device, including:

[0097] Computer 4 outputs a job selection signal to job selection system 7 through ground control system 5 and communication system 8. Job selection system 7 connects to traction device or logging instrument according to job selection signal.

[0098] When the traction device is connected, the computer 4 outputs a reference voltage control signal to the intelligent power supply system 6 according to the working status of the traction device, so that the voltage signal output by the intelligent power supply system 6 is consistent with the reference voltage control signal.

[0099] Computer 4 sequentially outputs push and drive commands;

[0100] After receiving the push command, the intelligent drive system 10 drives the push part of the traction device to work, and after receiving the drive command, it drives the drive part of the traction device to work.

[0101] When computer 4 detects that the current of the drive motor drive circuit is less than 25% of the normal value, the traction force is less than 20% of the normal value, and the moving distance within the set time period is less than the preset distance, it determines that the traction wheel is slipping.

[0102] When the computer 4 determines that the traction wheel is slipping, it issues a pressure boosting command to the hydraulic system of the push-back part until the slipping phenomenon no longer occurs.

[0103] Example 3

[0104] This embodiment provides a preferred structure for an intelligent power supply system 6.

[0105] like Figure 3 As shown, an intelligent power supply system 6 includes a high-power switching power supply 1 and a control circuit 2.

[0106] The high-power switching power supply 1 includes a first rectifier filter 101, a switching circuit 102, and a second rectifier filter 103. The switching circuit 102 includes a transformer T1, a resistor R4, and a switching transistor Q5. One end of the first rectifier filter 101 is connected to the mains power, and the other end is connected to one end of the primary coil of the transformer T1. The secondary coil of the transformer T1 is connected to the input terminal of the second rectifier filter 103. The output terminal of the second rectifier filter 103 is connected to the power supply terminal of the traction device and the input terminal of the control circuit 2 via cables. The other end of the primary coil of the transformer T1 is connected to the source of the switching transistor Q5. The drain of the switching transistor Q5 is grounded. The gate of the switching transistor Q5 is connected to one end of the resistor R4, and the other end of the resistor R4 is connected to the output terminal of the control circuit 2.

[0107] In one embodiment, the control circuit 2 includes a sampling circuit 201, a reference voltage control circuit 202, and a control circuit chip U5203. The input terminal of the sampling circuit 201 is connected to the output terminal of the second rectifier filter 103, and the output terminal of the sampling circuit 201 is connected to the sampling signal input terminal of the control circuit chip U5203. The output terminal of the reference voltage control circuit 202 is connected to the reference voltage signal input terminal of the control circuit chip U5203, and the control signal output terminal of the control circuit chip U5203 is connected to the other end of the resistor R4. The reference voltage control circuit 202 generates a reference voltage according to the reference voltage control signal issued by the computer 4 and inputs it to the reference voltage signal input terminal of the control circuit chip U5203. The ground control system 5 is connected to the traction device at one end via a cable, to the reference voltage control circuit 202 at the other end, and to the computer at the other end.

[0108] The traction device feeds back the working status information and sends it to the computer 4 after being decoded by the ground control system 5. The computer 4 then sends the reference voltage control signal to the reference voltage control circuit 202 through the ground control system 5 based on the working status information.

[0109] In one embodiment, the computer sends a reference voltage control signal based on operating status information, including:

[0110] If the traction device starts moving from a standstill or the load increases during the movement of the traction device, the reference voltage control signal will increase.

[0111] The working principle of this system is as follows:

[0112] The first rectifier filter 101 converts the mains power into low-voltage DC power. The low-voltage DC power causes the control chip U5 of the control circuit to work. The sampling signal from the sampling circuit is connected to the 15 terminal of the control chip and compared with the reference signal generated by the reference voltage control circuit at the 11 terminal. An adjustment signal is generated and output from the 5 terminal of the chip U5 to control the switching of the switching transistor Q5, so that a voltage pulse is generated at the primary terminal of the transformer T1, thereby generating a high-voltage pulse at the secondary terminal of the transformer. The second rectifier filter 103 performs rectification and filtering, and outputs high-voltage power from the C10 terminal.

[0113] Computer 4 transmits traction device operating status information via cable to ground control system 5 through the traction device operating status acquisition system. Ground control system 5 decodes the information and sends it back to computer 4. Computer 4 automatically issues power control commands required for traction device operation based on the traction device's operating status. The control commands are decoded by ground control system 5 and output as control signals. Under the action of the control signals, reference voltage control circuit 202 generates a reference signal. Sampling circuit 201 (composed of R1, R2, and R3) detects the power output from switching power supply 102 and obtains a sampled signal. Control chip U5 of control circuit 2 compares the reference signal and the sampled signal, generating an adjustment signal. The adjustment signal is output from terminal 5 of chip U5, controlling the duty cycle of switching transistor Q5, generating pulses at the secondary side of the transformer, and outputting DC power through second rectifier filter 103. The DC power is transmitted to the traction device via cable, providing the operating power required for various operating states of the traction device.

[0114] In one embodiment, the first rectifier filter 101 includes a first full-wave rectifier circuit and a first filter circuit. The input terminal of the first full-wave rectifier circuit is connected to the mains power, and the output terminal is connected to the input terminal of the first filter circuit. The output terminal of the first filter circuit is connected to one end of the primary coil of transformer T1 and the power supply signal input terminal of control circuit chip U5203, respectively. The first full-wave rectifier circuit consists of four diodes D1, D2, D3, and D4 connected in series. The negative terminal of diode D1 is connected to the negative terminal of diode D3, the positive terminal of D3 is connected to the negative terminal of D2, the positive terminal of D2 is connected to the positive terminal of D4, and the negative terminal of D4 is connected to the positive terminal of D1. Terminal A of the mains power is connected to diodes D1 and D4, and terminal B of the mains power is connected to diodes D2 and D3. The rectifier circuit utilizes positive and negative AC power. When the positive half-cycle of the AC power is connected to the rectifier circuit, diodes D1 and D2 conduct; when the negative half-cycle is connected, diodes D3 and D4 conduct, converting the AC mains power into a pulsating DC power supply, which is output through the connection between D1 and D3. This pulsating DC power supply is connected to the first filter circuit. The first filter circuit includes capacitors C1, C2, C3, C4, and C5, and inductor L1. One end of capacitors C1, C2, and C3 is connected to one end of inductor L1, and one end of capacitors C4 and C5 is connected to the other end of inductor L1. The other ends of capacitors C1, C2, C3, C4, and C5 are grounded. C1, C2, and C4 are electrolytic capacitors with a capacitance greater than 1000μF, and C3 and C5 are non-polarized ceramic capacitors with a capacitance not less than 20μF. All capacitors have a voltage rating of at least 250 volts, ensuring that the pulsating DC power output from the rectifier circuit forms a smooth and pure DC power supply.

[0115] In one embodiment, the second rectifier filter 103 includes a second full-wave rectifier circuit and a second filter circuit. The input terminal of the second full-wave rectifier circuit is connected to the secondary coil of transformer T1, and the output terminal is connected to the input terminal of the second filter circuit. The output terminal of the second filter circuit is connected to the power supply terminal of the traction device and the sampling signal input terminal of the control circuit 2, respectively. The second filter circuit includes capacitors C6, C7, C8, C9, and C10 and an inductor L2. One end of capacitors C6, C7, and C8 is connected to one end of inductor L2, and one end of capacitors C9 and C10 is connected to the other end of inductor L2. The other ends of capacitors C6, C7, C8, C9, and C10 are grounded. The second rectifier filter 103 has the same structure and principle as the first rectifier filter 101, but the parameters and functions of the capacitors are different. The first rectifier filter 101 does not have frequency requirements for its capacitors; however, C1, C2, and C4 are electrolytic capacitors with a capacitance greater than 1000μF, and C3 and C5 are ceramic capacitors with a capacitance of not less than 20μF. All capacitors have a voltage rating of at least 250V, which effectively converts the mains power into a smooth, clean DC current. The second rectifier filter 103 uses high-frequency capacitors: C6, C7, and C9 are electrolytic capacitors with a capacitance greater than 100μF, and C8 and C10 are non-polarized ceramic capacitors with a capacitance of not less than 20μF. All capacitors have a voltage rating of at least 1000V, which better filters the high-frequency, high-voltage pulse width signal output from the transformer secondary winding, forming a high-voltage, clean DC current.

[0116] In one embodiment, the switching circuit consists of a transformer, a MOSFET, and a resistor R4. One end of the transformer's primary winding is connected to terminal C5 of the first rectifier filter 101, and the other end is connected to the source of the MOSFET. The drain of the MOSFET is connected to ground, and the gate of the MOSFET is connected to one end of resistor R4. The other end of resistor R4 is connected to terminal 5 of the control circuit U5 chip. One end of the transformer's secondary winding is connected to the connection between diodes D5 and D8 of the second rectifier filter 103, and the other end is connected to the connection between diodes D6 and D7. A high-frequency transformer with an operating frequency exceeding 10kHz is selected. The output voltage of the switching power supply is controlled by adjusting the on / off time ratio of the MOSFET Q5.

[0117] In one embodiment, the control signal is output from pin 5 of chip U5 and connected to the gate of the switching transistor via R4. Before the switching transistor is turned on, the primary winding of the transformer is at a DC voltage, equal to the output voltage of the first rectifier filter 101. When the control signal turns on the switching transistor Q5, connecting its source and drain, one end of the transformer's primary winding is connected to ground via Q5, causing the primary voltage to drop instantaneously to 0 volts. When the control signal turns off the switching transistor Q5, disconnecting its source and drain, the primary voltage instantly rises to the output voltage of the first rectifier filter 101, generating a pulse voltage at the primary winding. This pulse voltage is boosted by the transformer, forming another high-voltage pulse voltage at the secondary winding. The pulse voltage then passes through the second rectifier filter 103, outputting high-voltage DC from one end of C10.

[0118] In one embodiment, the sampling circuit 201 includes resistors R1 to R3. One end of resistor R3 is connected to the output terminal of the second rectifier filter 103, and the other end of resistor R3 is connected to one end of resistor R2. The other end of resistor R2 is connected to one end of resistor R1 and the sampling signal input terminal of the control circuit chip U5203. The other end of resistor R1 is grounded. The output power of the second rectifier filter 103 is output from one end of C10, and grounded through R3, R2, and R1. Under the voltage division of each resistor, the voltage value of resistor R1 is taken as the sampling voltage signal, and the sampling voltage signal is connected to terminal 15 of the control circuit chip U5.

[0119] The control circuit consists of a reference voltage control circuit and a control chip U5SI9120.

[0120] Chip 11 is connected to the reference voltage control circuit, chip 5 is connected to one end of R4 in the switching circuit, chip 7 is connected to the output terminal C5 of the first rectifier filter 101, and chip 15 is connected to one end of R4 in the switching transistor.

[0121] After the first rectifier filter 101 is working, it outputs a DC voltage at the C5 terminal. This DC voltage is connected to the chip's 7 terminal to provide power to the chip and enable it to start working.

[0122] The adjustment signal from the reference voltage control circuit is received at pin 11 of chip 11, and the sampling signal from the sampling circuit is received at pin 15 of chip 15. Based on the relationship between the two, a sinusoidal adjustment signal of a certain frequency is generated at pin 5. The adjustment signal is applied to the gate of the switching transistor Q5 through resistor R4, controlling the switching transistor to turn on and off.

[0123] When the output voltage of C10 is lower than the power supply requirement of the traction unit, the output voltage of C10 needs to be increased. The computer will issue a voltage boosting command, changing the reference voltage. The chip's terminal 5 will output a higher frequency sine wave, increasing the frequency of the pulse voltage output from the transformer secondary. This higher frequency voltage, after passing through the second rectifier filter 103, results in an increased DC output. Conversely, the DC output from the second rectifier filter 103 will decrease. This allows the adjustment signal generated by the reference voltage control circuit to change the frequency of the control signal output from terminal 5 of the control chip U5, thereby changing the duty cycle of the switching transistor and altering the voltage change frequency at the secondary side of the inverter. Ultimately, this regulates the magnitude of the DC output voltage from the second rectifier filter 103.

[0124] The second rectifier filter 103 has the same structure and principle as the first rectifier filter 101. However, the parameters and functions of the capacitors are different. The capacitors in the first rectifier filter 101 do not have frequency requirements; only C1, C2, and C4 are electrolytic capacitors with a capacitance greater than 1000μF, and C3 and C5 are ceramic capacitors with a capacitance not less than 20μF. All capacitors have a voltage rating of at least 250 volts, which effectively converts the mains power into a smooth, pure DC current. The capacitors used in the second rectifier filter 103 are high-frequency capacitors. C6, C7, and C10 are electrolytic capacitors with a capacitance greater than 100μF, and C8 and C9 are non-polarized ceramic capacitors with a capacitance not less than 20μF. All capacitors have a voltage rating of at least 1000 volts, which better filters the high-frequency, high-voltage pulse width signal output from the transformer secondary, forming a high-voltage, pure DC current.

[0125] When the traction device's operating state changes, its power supply needs to be adjusted to meet the requirements of its various operating states. The computer sends corresponding reference voltage control signals based on this operating state information. If the traction device's operating state changes, such as when it starts moving from a standstill or when the load increases during movement, the voltage of the power supply needs to be increased to ensure normal operation. The communication system within the traction device sends its operating state information via cable to the ground control system. The ground control system decodes this information and sends it to the computer. After analysis, the computer issues new power control commands, which change the output voltage of the high-power switching power supply until the traction device's transport requirements are met.

[0126] The first rectifier filter in this system converts mains power into low-voltage DC power. This low-voltage DC power enables the control circuit to operate. Simultaneously, the low-voltage DC power is output through the switching circuit and the second rectifier filter circuit to power the traction unit. The control signal output terminal of the control circuit is connected to the gate of the switching transistor in the switching circuit. By adjusting the control signal output, the duty cycle of the switching transistor Q5 can be controlled, generating pulses at the secondary side of transformer T1. These pulses are then output as DC power through the second rectifier filter. This DC power is transmitted to the traction unit via cable, providing the necessary operating power for various working states. This achieves the goal of automatically controlling the power output voltage through the control circuit, enabling automatic, timely, and precise power adjustment, preventing damage to the traction unit, and saving manpower.

[0127] This system uses a ground control system to decode the traction unit's feedback operating status information and send it to the computer. The computer then outputs different reference voltage control signals based on different traction unit states. The control circuit, through the reference voltage control circuit, outputs the corresponding reference voltage to the control circuit chip U5 and compares it with the sampled voltage, thereby controlling the duty cycle of Q5 and changing the output of the second rectifier and filter circuit. This achieves the goal of automatically adjusting the power output according to the traction unit's operating status. Its adjustment has a high degree of automation and flexibility, further preventing damage to the traction unit and ensuring its normal operation.

[0128] Example 4

[0129] This embodiment provides a preferred structure for a job selection system 7.

[0130] like Figure 4 As shown, a job selection system 7 includes a processing chip U6 701, a driver chip U7 702, a first switching circuit for driving the traction device 11, and a second switching circuit for driving the logging tool. The processing chip U6 701 has a job selection command input terminal. The traction device drive control signal output terminal of the processing chip U6 701 is connected to the traction device drive control signal input terminal of the driver chip U7 702. The traction device drive control signal output terminal of the driver chip U7 702 is connected to the control terminal of the first switching circuit. The output terminal of the first switching circuit is connected to the traction device 11. The logging tool drive control signal output terminal of the processing chip U6 701 is connected to the logging tool drive control signal input terminal of the driver chip U7 702. The logging tool drive control signal output terminal of the driver chip U7 702 is connected to the control terminal of the second switching circuit. The output terminal of the second switching circuit is connected to the logging tool.

[0131] In one embodiment, the logging instrument includes a first logging instrument 12 and a second logging instrument 13, and also includes a third switching tube circuit. The output terminal of the second switching tube circuit is connected to the first logging instrument 12, and the output terminal of the third switching tube circuit is connected to the second logging instrument 13.

[0132] In one embodiment, the first switching transistor circuit includes a switching transistor Q1 703, the traction drive control signal output terminal of the driver chip U7 702 is connected to the gate of the switching transistor Q1 703, the source of the switching transistor Q1 703 is connected to the power supply, and the drain is connected to the traction device 11.

[0133] In one embodiment, the second switching transistor circuit includes a switching transistor Q2 704. The output terminal of the first logging instrument 12 drive control signal of the driver chip U7 702 is connected to the gate of the switching transistor Q2 704. The source of the switching transistor Q2 704 is connected to the power supply, and the drain is connected to the first logging instrument 12.

[0134] In one embodiment, the third switching transistor circuit includes a switching transistor Q3 705. The output terminal of the second logging instrument 13 drive control signal of the driver chip U7 702 is connected to the gate of the switching transistor Q3 705. The source of the switching transistor Q3 705 is connected to the power supply, and the drain is connected to the second logging instrument 13.

[0135] In one embodiment, resistors R5 and R6 are also included. The drain of the switching transistor Q1 703 is connected to one end of resistor R5, and the other end of resistor R5 is connected to one end of resistor R6. The other end of resistor R6 is connected to ground and the first connection status feedback signal input terminal of the processing chip U6 701, respectively.

[0136] In one embodiment, resistors R7 and R8 are also included. The drain of the switching transistor Q2 704 is connected to one end of resistor R7, and the other end of resistor R7 is connected to one end of resistor R8. The other end of resistor R8 is connected to ground and the second connection status feedback signal input terminal of the processing chip U6 701, respectively.

[0137] In one embodiment, resistors R9 and R10 are also included. The drain of the switching transistor Q3 705 is connected to one end of resistor R9, and the other end of resistor R9 is connected to one end of resistor R10. The other end of resistor R10 is connected to ground and the third connection status feedback signal input terminal of the processing chip U6 701, respectively.

[0138] In one embodiment, the processing chip U6 701 is model ADU C831.

[0139] In one embodiment, the driver chip U7 702 is model IR2233.

[0140] The working process of this system is as follows:

[0141] One end of the processing chip U6 is connected to the communication system 8 of the traction device. Ends 31, 28, 36, 29, 37, and 30 of the processing chip U6 are connected to ends 22, 25, 23, 26, 24, and 27 of the drive chip U7, respectively. Ends 13, 16, and 19 of the drive chip U7 are connected to the gates of MOSFETs Q1, Q2, and Q3, respectively. The sources of MOSFETs Q1, Q2, and Q3 are connected to cables, and their drains are connected to the traction device 11, the first logging instrument 12, and the second logging instrument 13, respectively. The drains are also connected to one end of resistors R5, R7, and R9, respectively. The other ends of resistors R5, R7, and R9 are connected to one end of resistors R6, R8, and R10, respectively. The other ends of resistors R6, R8, and R10 are connected to ground. Resistors R5 and R6 are connected to terminal 2 of the processing chip U6; resistors R7 and R8 are connected to terminal 3 of the processing chip U6; and resistors R9 and R10 are connected to terminal 4 of the processing chip U6.

[0142] The computer issues a job selection command, which is modulated by the ground control system to form an FSK signal. The FSK signal is transmitted to the traction device communication system via cable for decoding and restoration of the job selection command. The restored job selection command is output from the traction device communication system to terminal 1 of U6, and analyzed and confirmed by U6. Control signals are output at terminals 31, 28, 36, 29, 37, and 30 of U6.

[0143] When the traction device is in operation, control signals are output from terminals 31 and 28. These control signals are converted into drive signals via U7 and output from terminal 13 of U7, turning on Q1. This connects the source and drain of tube Q1, thus connecting the cable to the traction device at the drain of tube Q1, enabling the traction device to operate. Other logging tools are disconnected from the cable. Similarly, the first logging tool can be connected to the cable, and the second logging tool can be connected to the cable, while other equipment is disconnected. If any one operation is selected, the others will not interfere with it.

[0144] Simultaneously, the drain voltage of Q1 is detected through resistors R5 and R6. The detected voltage is sent to terminal 2 of U6, while there is no voltage signal at terminals 3 and 4. This information is then sent from terminal 1 to the communication system of the traction device for modulation, and the connection information between the traction device and the cable is sent to the ground. The ground computer confirms that the traction device is connected to the cable, and other equipment is disconnected. The computer can then continue to issue the next operation command to the traction device.

[0145] Similarly, the drain voltage of Q2 is detected by resistors R7 and R8. The detected voltage is sent to terminal 3 of U6. At the same time, there is no voltage signal at terminals 2 and 4. This information is then sent from terminal 1 to the communication system of the tractor for modulation, and the connection information between the first logging instrument and the cable is sent to the ground. The ground computer makes a judgment. The first logging instrument is connected to the cable, and other equipment is disconnected. The computer can continue to issue the next operation command to the first logging instrument.

[0146] Similarly, the drain voltage of Q3 is detected by resistors R9 and R10. The detected voltage is sent to terminal 4 of U6. At the same time, there is no voltage signal at terminals 2 and 3. This information is then sent from terminal 1 to the communication system of the tractor for modulation, and the connection information between the second logging instrument and the cable is sent to the ground. The ground computer makes a judgment, and the second logging instrument is connected to the cable. Other equipment is disconnected, and the computer can continue to issue the next operation command to the second logging instrument.

[0147] This system abandons the traditional method of selecting the tractor and logging instrument by adjusting different voltages. Instead, it uses a processing chip U6, a driver chip U7, and a switching circuit to achieve the selection of the tractor and logging instrument. By inputting the operation selection command to the processing chip U6, the command is then transmitted through the driver chip U7 to connect the corresponding switching tubes via different ports, thereby enabling the corresponding tractor or logging instrument to be connected. Its control is flexible and highly precise, ensuring that the tractor meets different operational requirements.

[0148] This system feeds back the connection status of the connected devices (traction device / first logging tool / second logging tool) to the processing chip U6 by setting a series resistor at the drain of the switching tube. This allows the system to further feed back to the computer to determine whether the specific connected device matches the issued instructions, thus improving the reliability of device connection.

[0149] Example 5

[0150] This embodiment provides a preferred structure for an intelligent drive system 10.

[0151] like Figure 5 , 6 As shown, the intelligent drive system consists of a pushing section and a driving section. Motor 19 includes a pushing motor 1901 and a driving motor, wherein the driving motor includes 1902 to 2904 (i.e., M2 to M4). The driving circuits of the pushing section and the driving section are identical and interchangeable. The pushing section is controlled by a pushing motor 1901 (i.e., M1) to enable the full extension of the driving section's traction arms. The driving section consists of at least two sets of traction arms, each with a traction wheel. The rotation of each traction wheel is controlled by its own driving circuit, thereby enabling the traction device to move horizontally.

[0152] In this embodiment, the intelligent drive device for the traction device includes a push-and-pull motor 1901 for driving the traction arm to open, a first drive circuit 1701 for driving the push-and-pull motor 1901, drive motors 1902-2904 for driving the traction wheel to rotate, and drive motor drive circuits 1702-1704 for driving the drive motor. The first drive circuit 1701 and the drive motor drive circuit are connected in parallel, and the first drive circuit 1701 and the drive motor drive circuit have the same circuit structure.

[0153] In one embodiment, the system further includes a first microprocessor 14, a first multiplexer 16 for connecting the first microprocessor 14 with the first drive circuit 1701 and the drive motor drive circuit, and a second multiplexer 18 for connecting the first drive circuit 1701 with the push motor 1901, the drive motor drive circuit and the drive motor. The first gating control signal output terminal of the first microprocessor 14 is connected to the gating control signal input terminal of the first multiplexer 16, and the second gating control signal output terminal of the first microprocessor 14 is connected to the gating control signal input terminal of the second multiplexer 18.

[0154] In one embodiment, a first detection circuit 15 is further included. The input terminal of the first detection circuit 15 is connected to the status signal output terminal of the first drive circuit 1701 and the drive motor drive circuit, respectively, and the output terminal of the first detection circuit 15 is connected to the status detection signal input terminal of the first microprocessor 14.

[0155] In one embodiment, there are multiple drive motors, and the drive motor drive circuits are multiple channels corresponding to each drive motor. The multiple drive motor drive circuits are connected in parallel, and their input terminals are all connected to the first multiplexer 16, and their output terminals are all connected to the second multiplexer 18.

[0156] In one embodiment, when the first microprocessor 14 detects a fault in any one of the drive motor drive circuits through the first detection circuit 15, it outputs a gating control signal to the first multiplexer 16 and the second multiplexer 18 through the first gating control signal output terminal and the second gating control signal output terminal, respectively, to switch the faulty drive motor drive circuit to the first drive circuit 1701.

[0157] In one embodiment, there are n drive motors, and the drive motor circuit includes n paths corresponding one-to-one with each of the n drive motors, where n ≥ 2. In the art, n is typically taken as 3, forming a group of four motors with the push motors. For example, in this embodiment, there are three drive motors, and the drive motor circuit includes three paths corresponding one-to-one with each of the three drive motors: a second drive circuit 1702, a third drive circuit 1703, and a fourth drive circuit 1704. In actual production applications, the number of motors can be expanded as needed.

[0158] The push-pull control circuit connects the first microprocessor 14 to the drive circuit via a first multiplexer. The first multiplexer, controlled by a gating control signal output from pin 1 of the first microprocessor 14, connects pin 5 of the first microprocessor 14 to pin 29 of the first drive circuit 1701. A second multiplexer 18 connects the drive circuit to the motor. The second multiplexer 18, controlled by a gating control signal from pin 2 of the microprocessor, connects pin 1 of the first drive circuit 1701 to pin 14 of the second multiplexer, thereby controlling the motor M1 and enabling the hydraulic system to open the traction arm of the traction device.

[0159] The drive section is controlled by the second drive circuit 1702, the third drive circuit 1703, and the fourth drive circuit 1704, which control motors M2, M3, and M4 respectively to realize the rotation of the traction wheels of each drive section.

[0160] When the first microprocessor 14 receives the push signal, it sends a gating control signal to the first multiplexer 16 and the second multiplexer 18, controlling the first multiplexer 16 to turn on the channel of the first drive circuit 1701, controlling the second multiplexer 18 to turn on the channel of the push motor 1901, and controlling the remaining channels to turn off.

[0161] When the first microprocessor 14 receives a drive signal, it sends a gating control signal to the first multiplexer 16 and the second multiplexer 18 to control the first multiplexer 16 to turn on the channel of the drive motor drive circuit, control the second multiplexer 18 to turn on the channel of the drive motor, and control the remaining channels to turn off.

[0162] In one embodiment, when the push signal or drive signal stops, all channels of the first multiplexer 16 and the second multiplexer 18 are disconnected.

[0163] During the pushing and driving process, the working status of each driving circuit is detected in real time by the first detection circuit 15.

[0164] If any drive motor drive circuit fails, the first microprocessor 14 sends a gating control signal to the first multiplexer 16 and the second multiplexer 18 to switch the failed drive motor drive circuit to the first drive circuit 1701.

[0165] In one embodiment, when the first microcontroller resends the strobe control signal, it first sends a drive stop command to pause the drive of the traction device. After the connection channel is switched, it then resends the drive command to resume the drive of the traction device.

[0166] The working process of this system is as follows:

[0167] The ground sends a push or drive operation command, which is modulated into an FKS signal by the ground control system and transmitted to the tractor's communication system for decoding. The push or drive operation signal is then restored and input to the 4th terminal of the first microprocessor 14.

[0168] After the traction power supply is working normally, the circuit of the intelligent drive system is put into a standby state. First, the first detection circuit 15 detects each drive circuit and sends the drive circuit status information to the first microprocessor 14. The microprocessor analyzes, judges, and confirms the information.

[0169] If the drive circuit 17 is operating normally, the first microprocessor 14 sends two gating control signals from terminals 1 and 2 to control the first multiplexer 16 and the second multiplexer 18, respectively. The connection relationship between them is shown in the table below.

[0170] 5 1-5 Connected 29-1 10-14 M1 Connected 6 2-6 Disconnected 28-2 11-15 M2 Disconnected 7 7-3 Disconnected 27-3 12-16 M3 Disconnected 8 8-4 Disconnected 26-4 13-17 M4 Disconnected

[0171] All multiplexers are initially in the open state.

[0172] When the push signal is sent to the first microprocessor 14, pins 1 and 2 of the first microprocessor 14 send selection control signals. The first multiplexer connects pins 1 and 5 of the first multiplexer, and pins 10 and 14 of the second multiplexer. Simultaneously, pin 5 of the first microprocessor 14 outputs a push control signal, controlling the first drive circuit to operate the motor M1, pressurizing the hydraulic system of the push section, and opening the traction arm. When the push signal stops, all multiplexers are in the open state.

[0173] When the drive signal is sent to the first microprocessor 14, terminals 1 and 2 of the first microprocessor 14 send selection control signals. Terminals 2 and 6, 7 and 3, and 8 and 4 of the first multiplexer are connected, and terminals 11 and 15, 12 and 16, and 13 and 17 of the second multiplexer are connected. At the same time, terminals 6, 7, and 8 of the first microprocessor output control signals to control the second, third, and fourth drive circuits to make motors M2, M3, and M4 work, thereby rotating the traction wheel and initiating the traction device's transport. When the drive signal stops, all multiplexers are in the open state.

[0174] During the pushing and pulling process, the first detection circuit 15 detects the working status of the drive circuit 17 in real time and transmits the information to the first microprocessor 14.

[0175] If a problem occurs in the drive circuit 17, the first microprocessor 14 analyzes and judges the problem, and after determining the cause, re-issues the gating control signal and reconnects the multiplexer.

[0176] If the second drive circuit malfunctions, motor M2 stops working. The first detection circuit detects the information and sends it to pin 3 of the first microprocessor. After analysis and judgment, the first microprocessor outputs a gating control signal 1 from pin 1, disconnecting pins 2 and 6 of the multiplexer and connecting pins 2 and 5, thus connecting pin 6 of the first microprocessor to pin 29 of the first drive circuit. Pin 2 of the first microprocessor also sends a gating control signal 2, disconnecting pins 11 and 15 of the second multiplexer and connecting pins 10 and 15. This changes the control of motor M2 from the second drive circuit to the first drive circuit, ensuring that motor M2 continues to operate.

[0177] The push motor and drive motor no longer use the same drive circuit, but are driven independently. The failure of one drive circuit will not cause the entire traction device to fail to deliver. Moreover, the structure of each drive circuit is the same, and the normal operation of the push and drive functions can be ensured by switching the drive circuit, which greatly improves its reliability.

[0178] The drive circuit connects to the push / drive motor by using a first microprocessor in conjunction with a first multiplexer and a second multiplexer. The first microprocessor sends a gating control signal to switch the channels inside the first and second multiplexers, thereby achieving automatic switching of the push / drive function.

[0179] The first detection circuit is set up to detect the status of each drive circuit. When a drive circuit fails, the first microprocessor can resend the strobe control signal to switch the faulty drive circuit to an adjacent normal drive circuit, thereby ensuring the normal drive of the traction device and further improving its reliability.

[0180] Example 6

[0181] This embodiment provides a preferred structure for a communication system 8.

[0182] like Figure 7As shown, the communication system includes a decoding circuit 20, an amplifier circuit 21, a demodulator 22, a second detection circuit 23, a second microprocessor 24, and a second controller 25. The input terminal of the decoding circuit 20 is connected to the FSK signal output terminal of the ground control system. The output terminal of the decoding circuit 20 is connected to the signal input terminal of the amplifier circuit 21. The signal output terminal of the amplifier circuit 21 is connected to the signal input terminal of the demodulator 22. The digital signal output terminal of the demodulator 22 is connected to the U6 of the traction device and the first microprocessor. The status feedback signal output terminal of the demodulator 22 is connected to the input terminal of the second detection circuit 23. The output terminal of the second detection circuit 23 is connected to the input terminal of the second microprocessor 24. The output terminal of the second microprocessor 24 is connected to the input terminal of the second controller 25. The control signal output terminal of the second controller 25 is connected to the control signal input terminal of the amplifier circuit 21.

[0183] In one embodiment, the amplifier circuit 21 includes an amplifier U3, a switching transistor Q4, resistors R23, R24, R28, and a capacitor C14. The output terminal of the decoding circuit 20 is connected to the drain of the switching transistor Q4 and one end of the resistor R24. The other end of the resistor R24 ​​is connected to the inverting input terminal of the amplifier U3, the source of the switching transistor Q4, and one end of the resistor R23. The source of the switching transistor Q4 is connected to the power supply. The non-inverting input terminal of the amplifier U3 is connected to one end of the resistor R28. The other end of the resistor R28 is grounded. The output terminal of the amplifier U3 is connected to the capacitor C14 and the other end of the resistor R23. The other end of the capacitor C14 is connected to the input terminal of the demodulator 22. The gate of the switching transistor Q4 is connected to the control signal output terminal of the second controller 25.

[0184] In one embodiment, the amplifier circuit 21 further includes resistors R25, R26, and R27. The source of the switching transistor Q4 is connected to one end of resistor R25, the other end of resistor R25 is connected to one end of resistors R26 and R27, the other end of resistor R26 is connected to the power supply, and the other end of resistor R27 is grounded.

[0185] In one embodiment, the decoding circuit 20 includes a low-pass filter, an f1 frequency filter, an f2 frequency filter, and an emitter follower. The input of the low-pass filter is connected to the FSK signal output of the ground control system, and its output is connected to the input of the f1 frequency filter. The output of the f1 frequency filter is connected to the input of the f2 frequency filter, the output of the f2 frequency filter is connected to the input of the emitter follower, and the output of the emitter follower is connected to the signal input of the amplifier circuit 21.

[0186] In one embodiment, the low-pass filter includes resistors R12 and R13, capacitor C16, and amplifier U2B. The FSK signal output terminal of the ground control system is connected to one end of capacitor C15, the other end of capacitor C15 is connected to one end of resistor R11, the other end of resistor R11 is connected to the inverting input terminal of amplifier U2B, the inverting input terminal of amplifier U2B is connected to one end of capacitor C16 and resistor R12, the other end of capacitor C16 and resistor R12 is connected to the output terminal of amplifier U2B, the non-inverting input terminal of amplifier U2B is connected to one end of resistor R13, the other end of resistor R13 is grounded, the output terminal of amplifier U2B is connected to one end of resistor R14, and the other end of resistor R14 is connected to the input terminal of the f1 frequency filter.

[0187] In one embodiment, the f1 frequency filter includes resistors R15, R16, R17, R18, capacitor C9, and amplifier U1B. The inverting input terminal of amplifier U1B is connected to one end of capacitor C12 and resistor R17. The other end of capacitor C12 is connected to one end of capacitor C9 and resistor R15. The other end of resistor R15 is grounded. The other end of resistor R17 is connected to one end of resistor R18. The other end of resistor R18 is connected to the output terminal of amplifier U1B, the other end of capacitor C9, and one end of resistor R19. The non-inverting input terminal of amplifier U1B is connected to one end of resistor R16. The other end of resistor R16 is grounded. The other end of resistor R19 is connected to the input terminal of the f2 frequency filter.

[0188] In one embodiment, the f2 frequency filter includes resistors R21, R22, R20, capacitor C10, and amplifier U1A. The output terminal of the f1 frequency filter is connected to one end of resistors R19, C11, and C10. The other end of capacitor C11 is connected to one end of resistor R22 and the inverting input terminal of amplifier U1A. The non-inverting input terminal of amplifier U1A is connected to one end of resistor R21. The other end of resistor R21 is grounded. The other end of resistor R22 is connected to the input terminal of an emitter follower. The other end of capacitor C10 is connected to the output terminal of amplifier U1A. The other end of R22 is also connected to the output terminal of amplifier U1A.

[0189] In one embodiment, the demodulator 22 uses a chip model XR2211M.

[0190] After the traction device starts working, the ground control system sends an FSK signal to the decoding circuit 20;

[0191] If the second detection circuit 23 does not receive a digital signal within a specified time period, it will send an error signal back to the second microprocessor 24.

[0192] The second microprocessor 24 outputs control signals to the second controller 25;

[0193] The second controller 25 outputs an adjustment signal to the amplifier circuit 21 according to the control signal to adjust the amplification factor of the amplifier circuit 21 until the second detection circuit 23 receives the digital signal within a specified time period.

[0194] In one embodiment, the method for adjusting the amplification factor k of the amplifier circuit 21 is as follows:

[0195] Calculate R based on the set magnification factor k. Q4 Size;

[0196] By adjusting the frequency of the control signal output to the switching transistor Q4, R Q4 The size of R is changed to the required size. Q4 This is the resistance value between the source and drain of the switching transistor Q4.

[0197] In one embodiment, the magnification factor k and R Q4 The calculation formula is:

[0198]

[0199] in, For resistors R24 and R Q4 The parallel resistance value is R23, where R23 is the resistance value of resistor R23.

[0200] The working principle of this system is as follows:

[0201] The FSK signal transmitted from the ground is sent to terminal 6 of the decoding circuit U2B via cable, capacitor C15, and resistor R11. U2B and surrounding resistors and capacitors (R12, C16, R13) form a low-pass filter to eliminate high-frequency interference waves in the FSK signal, and output a clean FSK signal from terminal 7 of U2B.

[0202] The pure FSK signal is connected to terminal 6 of U1B via resistor R14 and capacitor C12. The f1 frequency filter is formed by U1B and the surrounding resistors and capacitors (R16, R17, R18, R15, C9) to extract the useful signal of the f1 frequency from the pure FSK signal.

[0203] The pure FSK signal is connected to terminals 2 of U1A via U1B, R19, C11, and then the useful signal at frequency f2 in the FSK is extracted by the f2 frequency filter composed of U1A and the surrounding resistors and capacitors (R21, R22, R20, C10).

[0204] The useful signals at frequencies f1 and f2 in the FSK enter the 3 terminal of the emitter follower U2A together. The power of the useful signals at frequencies f1 and f2 is increased by U2A and output from the 1 terminal of U2A.

[0205] The useful signal output from terminal 1 of U2A is connected to terminal 2 of amplifier U3 via R24. Amplified by U3, the useful signal meets the operating requirements of demodulator U4 and is output from terminal 6 of U3. The 12V power supply forms a loop with resistors R26 and R27, outputting a voltage value at one end of R25 to power the source of switching transistor Q4, enabling Q4 to operate when a signal is input to its gate.

[0206] The demodulator consists of U4. The useful signal output from pin 6 of U3 is connected to pin 2 of the demodulator via C14. After decoding by U4, a digital signal is output from pin 5 and sent to U6 of the traction device and the first microprocessor. Then, U6 and the first microprocessor process the signal and control the traction device to operate other devices. After decoding, pin 5 of U4 is connected to the second detection circuit. The other end of the second detection circuit is connected to the second microprocessor. The other end of the second microprocessor is connected to the second controller. The other end of the second controller is connected to the gate of MOSFET Q4.

[0207] Once the traction device starts operating, the ground will issue commands. If the demodulator cannot decode the useful signal, there will be no digital signal output from pin 5. After 15 seconds without receiving a digital signal, the second detection circuit will output an error signal. This error signal is sent to the second microprocessor, which outputs a control signal. This control signal is connected to the second controller, causing the second controller to output an adjustment signal. The adjustment signal is connected to the gate of the switching transistor and is a sine wave of a certain frequency. By changing the frequency of the sine wave, the resistance between the source and drain of the switching transistor can be changed, thereby changing the amplification factor of U3. The amplification factor of amplifier U3 is the ratio of the parallel resistance of resistor R23 to resistor R24 ​​and the resistance between the source and drain of Q4. The formula is as follows:

[0208]

[0209] It can be seen that by changing R Q4 The resistance can change the amplification factor of amplifier U3. This increases the amplitude of the applied signal and improves the decoding capability of the demodulator. Once the demodulator can decode normally, the central processing unit of the traction device does not receive the error signal from the detection circuit, stops sending control signals, and the controller will automatically stop adjusting the resistance between the source and drain of Q4.

[0210] This system includes an amplifier circuit, a second detection circuit, a second microprocessor, and a second controller. The second detection circuit detects the digital signal output. When no digital signal output is detected, decoding failure is promptly identified and fed back to the second microprocessor. The microprocessor then amplifies the signal by adjusting the amplifier's gain, ensuring effective decoding. This device avoids the problem of the demodulator being unable to demodulate FSK signals due to insufficient amplitude of the useful signal, thus ensuring communication stability.

[0211] The decoding circuit of this system is implemented by connecting a low-pass filter, an f1 frequency filter, an f2 frequency filter, and an emitter follower in sequence, which has a good anti-interference effect and ensures good communication quality.

[0212] This system, through the reasonable design of the amplifier circuit and the formula... The frequency k of the control signal output to the switching transistor Q4 can be calculated quickly and accurately to achieve amplification, which is highly flexible and effective.

[0213] In the above detailed description, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features of the single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, wherein each claim stands alone as a preferred embodiment of the invention.

[0214] The disclosed embodiments have been described above to enable any person skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit and scope of this disclosure. Therefore, this disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0215] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as it is used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

[0216] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 this application, and should all be included within the protection scope of this application.

Claims

1. An intelligent control traction device, characterized in that: It includes a computer (4), a ground control system (5), an intelligent power supply system (6), a job selection system (7), a communication system (8), a power supply (9), and an intelligent drive system (10). The output of the computer (4) is connected to the input of the ground control system (5) and the intelligent power supply system (6). The output of the intelligent power supply system (6) is connected to the power signal input of the traction device. The output of the ground control system (5) is connected to the input of the communication system (8). The output of the communication system (8) is connected to the input of the job selection system (7) and the intelligent drive system (10). The output of the job selection system (7) is connected to the logging instrument or the traction device. The output of the intelligent drive system (10) is connected to the pushing part or the driving part of the traction device. The computer (4) is used to output a reference voltage control signal to the intelligent power supply system (6) according to the working status of the traction device, and to send a work selection signal, a push signal or a drive signal to the ground control system (5). The intelligent power supply system (6) is used to output different power supply voltages to the traction device according to the reference voltage control signal; The ground control system (5) is used to encode the job selection signal, push signal or drive signal sent by the computer (4) into an FSK signal and send it to the communication system (8), and decode the modulation signal sent by the communication system (8) and send it to the computer (4). The communication system (8) is used to decode the FSK signal into a digital signal and send it to the job selection system (7) or the intelligent drive system (10), and encode the working status information of the job selection system (7) and the intelligent drive system (10) into a modulated signal and send it to the ground control system (5). The job selection system (7) is used to connect to the tractor or logging instrument according to the job selection signal; The intelligent drive system (10) is used to drive the pushing part of the traction device to work according to the pushing signal or to drive the driving part of the traction device to work according to the driving signal; The intelligent drive system includes a push-and-pull motor (1901) for driving the traction arm to open, a first drive circuit (1701) for driving the push-and-pull motor (1901) to work, a drive motor for driving the traction wheel to rotate, and a drive motor drive circuit for driving the drive motor to work. The first drive circuit (1701) and the drive motor drive circuit are arranged in parallel, and the first drive circuit (1701) and the drive motor drive circuit have the same circuit structure. The intelligent drive system further includes a first detection circuit (15), a first microprocessor (14), a first multiplexer (16) for connecting the first microprocessor (14) with the first drive circuit (1701) and the drive motor drive circuit, and a second multiplexer (18) for connecting the first drive circuit (1701) with the push motor (1901) and the drive motor drive circuit with the drive motor. The first gating control signal output terminal of the first microprocessor (14) is connected to the gating control signal input terminal of the first multiplexer (16), the second gating control signal output terminal of the first microprocessor (14) is connected to the gating control signal input terminal of the second multiplexer (18), the input terminal of the first detection circuit (15) is connected to the status signal output terminals of the first drive circuit (1701) and the drive motor drive circuit respectively, and the output terminal of the first detection circuit (15) is connected to the status detection signal input terminal of the first microprocessor (14).

2. The intelligent control traction device according to claim 1, characterized in that: The intelligent power supply system includes a high-power switching power supply (1) and a control circuit (2). The high-power switching power supply (1) includes a first rectifier filter (101), a switching circuit (102), and a second rectifier filter (103). The switching circuit (102) includes a transformer T1, a resistor R4, and a switching transistor Q5. One end of the first rectifier filter (101) is connected to the mains power, and the other end is connected to one end of the primary coil of the transformer T1. The secondary coil of the transformer T1 is connected to the input end of the second rectifier filter (103). The output end of the second rectifier filter (103) is connected to the power supply end of the traction device and the sampling signal input end of the control circuit (2), respectively. The other end of the primary coil of the transformer T1 is connected to the source of the switching transistor Q5. The drain of the switching transistor Q5 is grounded. The gate of the switching transistor Q5 is connected to one end of the resistor R4. The other end of the resistor R4 is connected to the output end of the control circuit (2).

3. The intelligent control traction device according to claim 2, characterized in that: The control circuit (2) includes a sampling circuit (201), a reference voltage control circuit (202), and a control circuit chip U5 (203). The input terminal of the sampling circuit (201) is connected to the output terminal of the second rectifier filter (103). The output terminal of the sampling circuit (201) is connected to the sampling signal input terminal of the control circuit chip U5 (203). The output terminal of the reference voltage control circuit (202) is connected to the reference voltage signal input terminal of the control circuit chip U5 (203). The control signal output terminal of the control circuit chip U5 (203) is connected to the other end of the resistor R4. The reference voltage control circuit (202) generates a reference voltage according to the reference voltage control signal issued by the computer (4) and inputs it to the reference voltage signal input terminal of the control circuit chip U5 (203); If the traction device starts moving from rest or the load increases during the movement of the traction device, the reference voltage control signal increases; When the voltage value of the sampled signal differs from the reference voltage, the control circuit chip U5 outputs a control signal to control the duty cycle of the switching transistor Q5. When the voltage value of the sampled signal is lower than the reference voltage, the control circuit chip U5 (203) increases the duty cycle of the switching transistor Q5; When the voltage value of the sampled signal is higher than the reference voltage, the control circuit chip U5 (203) reduces the duty cycle of the switching transistor Q5.

4. The intelligent control traction device according to claim 1, characterized in that: The job selection system includes a processing chip U6 (701), a drive chip U7 (702), a first switching circuit for driving the traction device (11), and a second switching circuit for driving the logging tool. The processing chip U6 (701) is provided with a job selection command input terminal. The traction device drive control signal output terminal of the processing chip U6 (701) is connected to the traction device drive control signal input terminal of the drive chip U7 (702). The traction device drive control signal output terminal of the drive chip U7 (702) is connected to the control terminal of the first switching circuit. The output terminal of the first switching circuit is connected to the traction device (11). The logging tool drive control signal output terminal of the processing chip U6 (701) is connected to the logging tool drive control signal input terminal of the drive chip U7 (702). The logging tool drive control signal output terminal of the drive chip U7 (702) is connected to the control terminal of the second switching circuit. The output terminal of the second switching circuit is connected to the logging tool.

5. The intelligent control traction device according to claim 1, characterized in that: The communication system includes a decoding circuit (20), an amplifier circuit (21), a demodulator (22), a second detection circuit (23), a second microprocessor (24), and a second controller (25). The input terminal of the decoding circuit (20) is connected to the FSK signal output terminal of the ground control system (5). The output terminal of the decoding circuit (20) is connected to the signal input terminal of the amplifier circuit (21). The signal output terminal of the amplifier circuit (21) is connected to the signal input terminal of the demodulator (22). The digital signal output terminal of the demodulator (22) is connected to the central processing unit of the traction device. The status feedback signal output terminal of the demodulator (22) is connected to the input terminal of the second detection circuit (23). The output terminal of the second detection circuit (23) is connected to the input terminal of the second microprocessor (24). The output terminal of the second microprocessor (24) is connected to the input terminal of the second controller (25). The control signal output terminal of the second controller (25) is connected to the control signal input terminal of the amplifier circuit (21).

6. The intelligent control traction device according to claim 5, characterized in that: The amplifier circuit (21) includes amplifier U3, switch Q4, resistors R23, R24, R28, and capacitor C14. The output terminal of the decoding circuit (20) is connected to the drain of the switch Q4 and one end of resistor R24. The other end of resistor R24 ​​is connected to the inverting input terminal of amplifier U3, the source of switch Q4, and one end of resistor R23. The source of switch Q4 is connected to the power supply. The non-inverting input terminal of amplifier U3 is connected to one end of resistor R28. The other end of resistor R28 is grounded. The output terminal of amplifier U3 is connected to capacitor C14 and the other end of resistor R23. The other end of capacitor C14 is connected to the input terminal of demodulator (22). The gate of switch Q4 is connected to the control signal output terminal of the second controller (25).

7. A control method for an intelligent control traction device as described in any one of claims 1 to 6, characterized in that, The communication system of the intelligent control traction device includes a decoding circuit (20), an amplification circuit (21), a demodulator (22), a second detection circuit (23), a second microprocessor (24), and a second controller (25). The method includes: The computer (4) outputs a job selection signal to the job selection system (7) through the ground control system (5) and the communication system (8), and the job selection system (7) connects to the tractor or logging instrument according to the job selection signal; When the traction device is connected, the computer (4) outputs a reference voltage control signal to the intelligent power supply system (6) according to the working status of the traction device, so that the voltage signal output by the intelligent power supply system (6) is consistent with the reference voltage control signal; The computer (4) outputs push and drive instructions in sequence; After receiving the push command, the intelligent drive system (10) drives the push part of the traction device to work, and after receiving the drive command, drives the drive part of the traction device to work.

8. The control method according to claim 7, characterized in that, After receiving the push command, the intelligent drive system (10) drives the push part of the traction device to work, and after receiving the drive command, drives the drive part of the traction device to work, specifically including: When the first microprocessor (14) receives the push signal, it sends a gating control signal to the first multiplexer (16) and the second multiplexer (18), controlling the first multiplexer (16) to turn on the channel of the first drive circuit (1701), controlling the second multiplexer (18) to turn on the channel of the push motor (1901), and controlling the remaining channels to turn off. When the first microprocessor (14) receives the drive signal, it sends a gating control signal to the first multiplexer (16) and the second multiplexer (18), controlling the first multiplexer (16) to connect the channel of the drive motor drive circuit, controlling the second multiplexer (18) to connect the channel of the drive motor, and controlling the remaining channels to disconnect. During the pushing and driving process, the working status of each driving circuit is detected in real time by the first detection circuit (15); If any drive motor drive circuit fails, the first microprocessor (14) sends a gating control signal to the first multiplexer (16) and the second multiplexer (18) to switch the failed drive motor drive circuit to the first drive circuit (1701).

9. The control method according to claim 7, characterized in that, Also includes: After the traction device starts working, the ground control system (5) sends an FSK signal to the decoding circuit (20); If the second detection circuit (23) does not receive a digital signal within a specified time period, it feeds back an error signal to the second microprocessor (24); The second microprocessor (24) outputs control signals to the second controller (25); The second controller (25) outputs an adjustment signal to the amplifier circuit (21) according to the control signal to adjust the amplification factor of the amplifier circuit (21) until the second detection circuit (23) can receive digital signals within a specified time period; The method for adjusting the amplification factor k of the amplifier circuit (21) is as follows: Calculate based on the set magnification factor k Size; By adjusting the frequency of the control signal output to the switching transistor Q4, The size is changed to the required size, the This is the resistance value between the source and drain of the switching transistor Q4.

10. The control method according to claim 7, characterized in that, Also includes: When the computer (4) detects that the current of the drive motor drive circuit is less than 25% of the normal value, the traction force is less than 20% of the normal value, and the moving distance within the set time period is less than the preset distance, it judges that the traction wheel is slipping. When the computer (4) determines that the traction wheel is slipping, it issues a pressure boosting command to the hydraulic system of the push-back part until the slipping phenomenon no longer occurs.

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