Intelligent driving device of tractor and control method thereof

Abstract

The present application relates to the technical field of well logging, in particular to a tractor intelligent driving device and a control method thereof. The device comprises a pushing motor for driving the opening of a traction arm, a first driving circuit for driving the pushing motor to work, a driving motor for driving the rotation of a traction wheel, and a driving motor driving circuit for driving the driving motor to work. The first driving circuit and the driving motor driving circuit are arranged in parallel, and have the same circuit structure. The pushing motor and the driving circuit of the device are independently driven, and each driving circuit has the same structure. The normal execution of the pushing and driving functions can be ensured by switching the driving circuit, and the reliability is greatly improved.

Description

Technical Field

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

[0002] The traction device's transport process begins with the hydraulic system of the pushing section opening the traction arm to ensure close contact between the traction wheel and the well wall. Then, the drive section controls the rotation of the traction wheel, completing the traction process. To improve efficiency, one pushing device controls multiple drive units; to maximize power, multiple traction units are connected in series. However, during prolonged high-power operation, the drive circuit of the traction unit is highly susceptible to failure. A single malfunction can render the entire drive unit inoperable.

[0003] US Patent US20160333653A1 discloses a downward traction device with redundant motor drive and independent circuit breaker. Each drive motor drives one or more drive devices, but it does not drive the push motor and drive motor separately, resulting in a high failure rate.

[0004] Chinese patent CN212258838U discloses a redundant drive circuit with a redundant selection circuit. This redundant selection circuit includes a comparator circuit and a gating circuit, enabling selective driving of multiple motors. However, it is not specifically designed for the traction device application scenario and cannot achieve separate driving of the push motor and the drive motor.

[0005] The paper "Research on Motor Drive of Horizontal Well Logging Tractor" written by Liao Yong studied the software and hardware circuit of the traction motor drive system. It uses a three-phase full-bridge drive circuit for motor drive, but the paper does not explain how the push motor and drive motor are driven independently. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing an intelligent drive device and control method for a traction device. The push motor and the drive motor no longer use the same drive circuit, but are driven independently. This prevents the entire traction device from failing due to a failure of one drive circuit. Furthermore, since all drive circuits have the same structure, the normal execution of the push and drive functions can be ensured by switching drive circuits, thus greatly improving reliability.

[0007] The present invention discloses an intelligent drive device for a traction device, comprising a push-pull motor for driving the traction arm to open, a first drive circuit for driving the push-pull motor to operate, a drive motor for driving the traction wheel to rotate, and a drive motor drive circuit for driving the drive motor to operate. 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.

[0008] More preferably, it further includes 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 selection control signal output terminal of the first microprocessor is connected to the selection control signal input terminal of the first multiplexer, and the second selection control signal output terminal of the first microprocessor is connected to the selection control signal input terminal of the second multiplexer.

[0009] More preferably, it further includes a first detection circuit, the input terminal of which is connected to the status signal output terminals of the first driving circuit and the driving motor driving circuit, respectively, and the output terminal of the first detection circuit is connected to the status detection signal input terminal of the first microprocessor.

[0010] Preferably, 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 a first multiplexer, and their output terminals are all connected to a second multiplexer.

[0011] Preferably, when the first microprocessor detects a fault in any one of the drive motor drive circuits through the first detection circuit, it outputs a gating control signal to the first multiplexer and the second multiplexer 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.

[0012] Preferably, there are n drive motors, and the drive motor drive circuit includes n paths corresponding one-to-one with the n drive motors, where n ≥ 2.

[0013] The present invention also provides a control method for an intelligent drive device for a traction device, comprising:

[0014] 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.

[0015] 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 drive the 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.

[0016] Preferably, when the push signal or the drive signal stops, all channels of the first multiplexer and the second multiplexer are disconnected.

[0017] The more preferred options also include:

[0018] During the pushing and driving process, the working status of each driving circuit is detected in real time by the first detection circuit.

[0019] 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.

[0020] Preferably, when the 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.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. 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. Moreover, the structure of each drive circuit is the same, and the normal execution of the push and drive functions can be ensured by switching the drive circuit, which greatly improves its reliability.

[0023] 2. The drive circuit is connected to the push / drive motor by using a first microprocessor in combination with a first multiplexer and a second multiplexer. The first microprocessor sends a gating control signal to switch the channels inside the first multiplexer and the second multiplexer, thereby realizing the automatic switching of the push / drive function.

[0024] 3. A first detection circuit is set up to detect the status of each drive circuit. When a drive circuit of a certain drive motor fails, the first microprocessor can resend the strobe control signal to switch the drive circuit of the faulty drive motor to the first drive circuit, thereby ensuring the normal drive of the traction device and further improving its reliability. Attached Figure Description

[0025] Figure 1This is a schematic diagram illustrating the principle of the driving circuit of the present invention;

[0026] Figure 2 This is a schematic diagram of the circuit connection of the present invention.

[0027] In the diagram: 14-First microprocessor, 15-First detection circuit, 16-First multiplexer, 17-Drive circuit, 1701-First drive circuit, 1702-Second drive circuit, 1703-Third drive circuit, 1704-Fourth drive circuit, 18-Second multiplexer, 19-Motor, 1901-Push motor, 1902-First drive motor, 1903-Second drive motor, 1903-Third drive motor, 1904-Fourth drive motor. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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]."

[0034] 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."

[0035] Example 1

[0036] Figure 1 , 2 A schematic diagram of a traction intelligent drive device according to a preferred embodiment of this application is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0037] A traction device with intelligent drive mechanism comprises a pushing section and a driving section. The 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 open all the traction arms of the driving section. The driving section consists of at least two sets of traction arms, each set having a traction wheel. The rotation of each traction wheel is controlled by its own driving circuit, thereby enabling the traction device to move horizontally.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Example 2

[0047] The present invention also provides a control method for an intelligent drive device for a traction device, comprising:

[0048] 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.

[0049] 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.

[0050] 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.

[0051] In one embodiment, it also includes:

[0052] During the pushing and driving process, the working status of each driving circuit is detected in real time by the first detection circuit 15.

[0053] 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.

[0054] 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.

[0055] The working process of this device is as follows:

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 5 1-5 Connectivity 29-1 10-14 M1 Connectivity 6 2-6 disconnect 28-2 11-15 M2 disconnect 7 7-3 disconnect 27-3 12-16 M3 disconnect 8 8-4 disconnect 26-4 13-17 M4 disconnect

[0060] All multiplexers are initially in the open state.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0067] 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.

[0068] 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.

[0069] 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."

[0070] 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. A traction device with intelligent drive mechanism, characterized in that: It 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. It also 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). It also includes a first detection circuit (15), 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). 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). 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).

2. The intelligent drive device for traction according to claim 1, characterized in that: There are n drive motors, and the drive motor drive circuit includes n paths corresponding one-to-one with each of the n drive motors, where n ≥ 2.

3. A control method for a traction intelligent drive device as described in claim 1 or 2, characterized in that, include: 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.

4. The control method as described in claim 3, characterized in that: When the push signal or the drive signal stops, all channels of the first multiplexer (16) and the second multiplexer (18) are disconnected.

5. The control method as described in claim 3, characterized in that, Also includes: 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).

6. The control method as described in claim 5, characterized in that: 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 resends the drive command to resume the drive of the traction device.

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