Manipulator control method, device, equipment and storage medium

Abstract

The application discloses a mechanical arm control method, device and equipment and a storage medium, and belongs to the technical field of intelligent petroleum equipment. The method comprises the following steps: acquiring a deflection angle of a lifting ring relative to a vertical direction, a lifting ring length of the lifting ring, ground position information of a drill rod, a preset distance between a grabbing point of a mechanical arm and a lifting clamp in the vertical direction, and an ascending height of a winch; based on the deflection angle, the lifting ring length, the ascending height, the ground position information and the preset distance, the spatial position information of the lifting clamp is determined through a spatial position relationship; based on the spatial position information of the lifting clamp and the preset distance, the grabbing point position information of the mechanical arm is determined; and based on the grabbing point position information, the mechanical arm is controlled to move, so that the mechanical arm is connected with the drill rod. The application can solve the technical problem of long production cycle of oil well drilling operation.

Description

Technical Field

[0001] This application relates to the field of intelligent petroleum equipment technology, and in particular to a robotic arm control method, device, equipment, and storage medium. Background Technology

[0002] Currently, in oil well drilling operations, in order to minimize direct human involvement, equipment such as two-tiered robotic arms are mainly used to remotely control oil well drilling operations.

[0003] However, during the operation of the robotic arm on the second-level drilling platform in oil drilling, the drill pipe is pulled up and lowered by pushing it. Therefore, the drill pipe is tilted at a certain angle to the vertical during these processes. This tilt causes a deflection angle between the gripping point and the chuck on the drill pipe. To achieve accurate docking between the robotic arm and the drill pipe, manual operation of the handle is required during the handover process, increasing the handover time and extending the operation cycle. Summary of the Invention

[0004] The main purpose of this application is to provide a robotic arm control method, device, equipment, and storage medium, which aims to solve the technical problem of long production cycles in oil well drilling operations.

[0005] To achieve the above objectives, this application provides a robotic arm control method, comprising:

[0006] The system acquires the sway angle of the lifting ring relative to the vertical direction, the length of the lifting ring, the ground contact position of the drill pipe, the preset vertical distance between the gripping point of the manipulator and the lifting clamp, and the lifting height of the winch. The top end of the lifting ring is connected to the winch, the bottom end of the lifting ring is connected to the lifting clamp, and the top end of the drill pipe is detachably connected to the lifting clamp. The ground contact end of the drill pipe is offset from the wellhead.

[0007] Based on the sway angle, the length of the lifting ring, the rising height, the ground contact position information, and the preset spacing, the spatial position information of the hanging card is determined through spatial positional relationships;

[0008] Based on the spatial location information of the hanging card and the preset distance, the gripping point position information of the robot arm is determined;

[0009] Based on the gripping point position information, the robot arm is controlled to move so that it docks with the drill pipe.

[0010] Optionally, determining the gripping point position information of the robotic arm based on the spatial position information of the hanging card includes:

[0011] In the spatial coordinate system of the second-floor platform, the hanging card is projected onto the plane of the second-floor platform to obtain the hanging card projection point corresponding to the hanging card;

[0012] Based on the spatial position information of the jack projection point and the ground contact position information, determine the deflection angle between the line connecting the jack projection point and the contact point of the drill rod and the preset reference axis.

[0013] Based on the deflection angle and the spatial position information of the hanging clamp, the gripping point position information of the robotic arm is determined.

[0014] Optionally, determining the gripping point position information of the robotic arm based on the deflection angle and the spatial position information of the hanging clamp includes:

[0015] In the spatial coordinate system of the second-level platform, based on the ground contact position information, the spatial position information of the hanging clamp, and the spatial position information of the projection point of the hanging clamp, the tilt angle of the drill rod relative to the vertical direction is determined;

[0016] Based on the tilt angle and the preset spacing, the first offset information of the gripping point of the robot arm on the second-floor plane relative to the projection point of the hanging card is determined;

[0017] Based on the first offset information, the deflection angle, and the spatial position information of the hanging card, the gripping point position information of the robot arm is determined.

[0018] Optionally, determining the gripping point position information of the robotic arm based on the first offset position information, the deflection angle, and the spatial position information of the hanging clamp includes:

[0019] In the second-level platform spatial coordinate system, based on the first offset information and the deflection angle, the first offset distance of the manipulator's gripping point on the X-axis of the second-level platform spatial coordinate system and the second offset distance on the Y-axis of the second-level platform spatial coordinate system are determined.

[0020] Based on the first offset distance, the second offset distance, and the preset spacing, the second offset information of the gripping point of the robotic arm relative to the hanging card is determined;

[0021] Based on the second offset information and the spatial position information of the hanging card, the gripping point position information of the robot arm is determined.

[0022] Optionally, determining the gripping point position information of the robotic arm based on the offset position information and the hanging card spatial position information includes:

[0023] Based on the offset position information, the hanging card spatial position information, and Formula 1, the gripping point position information of the robotic arm is determined;

[0024] Formula one is as follows:

[0025]

[0026] in, A vector representation of the capture point location information. W represents the vector representation of the spatial location information of the hanging card. x W represents the first offset distance. y This represents the second offset distance, h represents the preset spacing, [W x -W y ,-h] T The vector representation of the second offset information.

[0027] Optionally, determining the deflection angle between the gripping point and the projection point of the hanging clamp based on the spatial position information of the hanging clamp projection point and the ground contact position information includes:

[0028] In the two-level platform spatial coordinate system, based on the spatial position information of the gantry projection point and the ground contact position information, the third offset distance of the drill rod contact point relative to the gantry projection point on the X-axis and the fourth offset distance on the Y-axis are determined.

[0029] The deflection angle is determined based on the third offset distance, the fourth offset distance, and Formula 2.

[0030] Formula 2 is as follows:

[0031]

[0032] Where β represents the deflection angle, P C P represents the spatial location information of the projection point of the hanging card. T This represents the ground contact location information, ||(P) C P T ) y || represents the fourth offset distance, ||(P) C P T ) x || represents the third offset distance.

[0033] Optionally, determining the vertical inclination angle of the drill rod in the second-level platform spatial coordinate system based on the ground contact position information, the hanging clamp spatial position information, and the spatial position information of the hanging clamp projection point includes:

[0034] In the spatial coordinate system of the second-level platform, based on the ground contact position information and the spatial position information of the auger projection point, a first distance between the auger projection point and the drill rod ground contact position is determined;

[0035] Based on the spatial location information of the hanging card and the spatial location information of the hanging card projection point, a second distance between the hanging card and the hanging card projection point is determined.

[0036] The tilt angle is determined based on the first distance, the second distance, and Formula 3;

[0037] Formula 3 is as follows:

[0038]

[0039] Where γ represents the tilt angle, P J This indicates the spatial location information of the hanging card, ||P T P C || represents the first distance, ||P J P C ||P J P C This represents the second distance.

[0040] Secondly, this application provides a robotic arm control device, the robotic arm control device comprising:

[0041] The acquisition module is used to acquire the sway angle of the lifting ring relative to the vertical direction, the length of the lifting ring, the ground contact position information of the drill pipe, the preset distance between the gripping point of the robot arm and the lifting clamp in the vertical direction, and the lifting height of the winch; wherein, the top end of the lifting ring is connected to the winch, the bottom end of the lifting ring is connected to the lifting clamp, and the top end of the drill pipe is detachably connected to the lifting clamp, and the ground contact end of the drill pipe is offset from the wellhead;

[0042] The first determining module is used to determine the spatial position information of the hanging card based on the sway angle, the length of the hanging ring, the rising height, the ground contact position information, and the preset spacing, through spatial position relationships.

[0043] The second determining module is used to determine the gripping point position information of the robot arm based on the spatial position information of the hanging card and the preset distance;

[0044] The control module is used to control the movement of the robotic arm based on the gripping point position information, so that the robotic arm docks with the drill pipe.

[0045] Thirdly, this application provides a robotic arm control device, including: a processor, a memory, and a robotic arm control program stored in the memory, wherein the robotic arm control program is executed by the processor to implement the steps of the robotic arm control method described above.

[0046] Fourthly, this application provides a computer-readable storage medium storing a robotic arm control program, which, when executed by a processor, implements the robotic arm control method as described in any of the preceding claims.

[0047] The robotic arm control method proposed in this application, compared with the related technology that controls the docking of the robotic arm and the drill rod by manually operating the handle, calculates the gripping point position information of the robotic arm on the drill rod by using the length of the lifting ring, the ground contact position information of the drill rod, the preset spacing, and the lifting height of the winch. Based on the gripping point position information, the robotic arm is directly controlled to move to the corresponding position, realizing the automatic docking of the robotic arm and the drill rod. This reduces the operator's control operation of the robotic arm, thereby reducing the handover time and shortening the operation cycle. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the structure of the robotic arm control device of this application;

[0049] Figure 2 This is a flowchart illustrating the first embodiment of the robotic arm control method of this application;

[0050] Figure 3 A schematic diagram of the spatial coordinate system constructed for the drill pipe in the inclined state in this application;

[0051] Figure 4 This is a schematic diagram of the functional modules of the first embodiment of the robotic arm control device of this application.

[0052] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0053] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0054] In traditional oil well drilling operations, the tripping or running-in process requires oil workers to perform auxiliary work on the drill table and secondary platform to stack or retrieve drill pipes within a confined space. This stacking or retrieval often requires multiple workers coordinating simultaneously. Due to the extremely limited space and high workload at the work site, workers are constantly exposed to numerous safety hazards, including sudden well blowouts and overflows. Therefore, to reduce the direct involvement of oil workers in oil well drilling operations and ensure worker safety, remote control and automated intelligent production technologies are primarily used to perform oil well drilling operations. This aims to effectively reduce labor intensity, improve the working environment, reduce the occurrence of dangerous accidents, increase efficiency and profitability, and achieve cost reduction and efficiency improvement.

[0055] While reduced manpower and automation have become the main development trends in drilling and well workover operations, the development of China's oil drilling industry has been relatively slow, and the level of automation still needs to be improved. Furthermore, although some drilling teams have begun to equip themselves with automated equipment, such as second-level platform manipulators and drilling rig machinery, most of these can only achieve simple semi-automated operations. Some complex scenarios still require on-site confirmation and assistance from relevant personnel, such as using manipulators to push and guide the drill pipe for tripping and lowering.

[0056] Because the drill rod is raised and lowered using a robotic arm, it is tilted at an angle to the vertical during these processes. This tilt causes a deflection angle between the robotic arm's gripping point and the lifting chuck. To ensure accurate docking, manual operation of the handle is required during the handover process, increasing handover time and extending the production cycle.

[0057] This application provides a solution that, compared to related technologies where the docking of the robot arm and drill rod is controlled by a manual operating handle, the embodiment of this application calculates the gripping point position information of the robot arm on the drill rod by using the length of the lifting ring, the ground contact position information of the drill rod, the preset spacing, and the lifting height of the winch. Based on the gripping point position information, the robot arm is directly controlled to move to the corresponding position, realizing automatic docking of the robot arm and drill rod. This reduces the operator's control operation of the robot arm, thereby reducing handover time and shortening the operation cycle.

[0058] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the robotic arm control device in the hardware operating environment involved in the embodiments of this application.

[0059] like Figure 1As shown, the robotic arm control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0060] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the control device for the robotic arm, and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0061] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a robot control program.

[0062] exist Figure 1 In the robot control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the robot control device of this application can be set in the robot control device. The robot control device calls the robot control program stored in the memory 1005 through the processor 1001 and executes the robot control method provided in the embodiment of this application.

[0063] Based on, but not limited to, the hardware structure of the robotic arm control device described above, this application provides a first embodiment of a robotic arm control method. (Refer to...) Figure 2 , Figure 2 A flowchart illustrating the first embodiment of the robotic arm control method of this application is shown.

[0064] It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0065] In this embodiment, the robotic arm control method includes:

[0066] Step S10: Obtain the sway angle of the lifting ring relative to the vertical direction, the length of the lifting ring, the ground contact position information of the drill rod, the preset distance between the gripping point of the robot arm and the chuck in the vertical direction, and the lifting height of the winch.

[0067] The top end of the lifting ring is connected to the winch, the bottom end of the lifting ring is connected to the lifting clamp, and the top end of the drill pipe is detachably connected to the lifting clamp, with the ground-contacting end of the drill pipe offset from the wellhead.

[0068] It should be noted that the executing entity of the robotic arm control method is the robotic arm control device, which stores the robotic arm control program. When the robotic arm device executes the robotic arm control program, it implements the robotic arm control method of the embodiments of this application.

[0069] In this embodiment, the length of the lifting ring can be pre-stored locally on the robot control device or in the cloud. When step s10 is executed, the length of the lifting ring can be directly retrieved from the local or cloud location of the robot control device.

[0070] Understandably, during the handover process between the robotic arm and the lifting clamp, such as when placing the drill pipe from the wellhead into the standby box, the lifting clamp connects to the end of the drill pipe away from the ground. Under the action of the winch, the end of the drill pipe in contact with the ground is brought above the wellhead. After bringing the end of the drill pipe above the wellhead, the robotic arm connects to the end of the drill pipe in contact with the ground, moving that end into the standby box. During this movement, the sway angle of the lifting ring relative to the vertical direction also increases. After placing the end of the drill pipe in contact with the ground into the standby box, the robotic arm then connects to the end of the drill pipe away from the ground. This process constitutes the handover between the robotic arm and the lifting clamp. During the handover process, since the drill rod is tilted, the gripping point of the robot arm on the drill rod will also change accordingly. Therefore, in order to accurately calculate the gripping point position of the robot arm, the vertical distance between the gripping point of the robot arm and the chuck can be preset, i.e., the preset distance. The preset distance can be stored locally on the robot arm control device or in the cloud. When step S10 is executed, the preset distance can also be directly retrieved from the local area of ​​the robot arm control device or in the cloud.

[0071] Specifically, a wireless angle sensor can be installed on the lifting ring. When the lifting ring tilts, the wireless angle sensor can collect the tilt angle of the lifting ring relative to the vertical direction. An encoder can be installed on the winch. During the rise or fall of the winch, the encoder can collect the current height of the winch, i.e., the rising height. After collecting the tilt angle of the lifting ring and the rising height of the winch, the tilt angle and rising height can be transmitted to the robot control equipment via wireless communication technology.

[0072] Understandably, when not in use, the drill pipe is placed in an orderly manner in the stand box, which is an array of multiple placement positions for the ground contact end of the drill pipe. Therefore, when obtaining the ground contact position information of the drill pipe, the ground contact position information of the drill pipe can be determined based on the number of rows and columns of the ground contact end of the drill pipe in the array, as well as the position information of the end of the stand box closest to the winch relative to the winch and the position information of the winch.

[0073] Step S20: Based on the sway angle, the length of the lifting ring, the rising height, the ground contact position information, and the preset spacing, the spatial position information of the hanging card is determined through spatial position relationships.

[0074] Specifically, after obtaining the yaw angle, the length of the lifting ring, and the lifting height, the winch can be used as the origin, the lifting height direction of the winch as the Z-axis, the length direction of a single support box as the Y-axis, and the arrangement direction of multiple support boxes as the X-axis, to construct a structure as follows: Figure 3 The two-tiered platform space coordinate system shown is in which P... J (x, y, z) represents the spatial position information of the hanging clamp, θ represents the swing angle of the lifting ring, l represents the length of the lifting ring, and P T (x, y, z) represents the drill pipe's contact position information, P C (x, y, z) represents the spatial position information of the drill pipe projection point, γ represents the inclination angle of the drill pipe, h represents the preset spacing, β represents the deflection angle between the line connecting the projection point of the auger and the contact point of the drill pipe and the preset reference axis, and P Z (x, y, z) represents the gripping point position information of the robotic arm, P W (x, y, z) represents the spatial location information of the winch projection point, that is, the origin of the second-level platform spatial coordinate system.

[0075] In the spatial coordinate system of the second-level platform, the spatial position information of the hanging clamp can be calculated based on the sway angle, the length of the lifting ring, the ground contact position information, and the preset spacing, through spatial positional relationships—that is, through vector representation and trigonometric function relationships. in in, Vector representation of the spatial coordinate information of the hanger. A vector representation of the spatial position information of the lifting ring when its yaw angle relative to the vertical direction is 0. This is a vector representation of the offset information between the spatial position information of the lifting ring when its yaw angle relative to the vertical direction is 0 and the spatial position information when its yaw angle relative to the vertical direction is not 0.

[0076] Step S30: Based on the spatial position information of the hanging card and the preset distance, determine the gripping point position information of the robot arm.

[0077] It should be noted that when the end of the drill pipe in contact with the ground is above the wellhead, the gripping point of the robot arm is directly above the wellhead. In this case, the robot arm can be controlled to dock with the drill pipe according to a preset distance. However, when one end of the drill pipe is connected to the lifting clamp and the other end is inside the stand box, the gripping point of the robot arm is not directly above the wellhead, but offset from it. This results in a certain deflection angle between the line connecting the projection point of the gripping point on the second-level platform plane and the projection point of the lifting clamp and the preset reference axis. To accurately calculate the gripping point position information of the robot arm in this situation, further, as an optional implementation method, step S20 specifically includes:

[0078] Step S201: In the second-floor platform spatial coordinate system, project the hanging card onto the second-floor platform plane to obtain the hanging card projection point corresponding to the hanging card.

[0079] Step S202: Based on the spatial position information of the jack projection point and the ground contact position information, determine the deflection angle between the line connecting the jack projection point and the contact point of the drill rod and the preset reference axis.

[0080] Specifically, after obtaining the spatial position information of the hanging clamp, the hanging clamp can be projected onto the second-floor platform to obtain the corresponding hanging clamp projection point. After obtaining the hanging clamp projection point, the deflection angle between the line connecting the hanging clamp projection point and the contact point of the drill rod and the preset reference axis can be determined based on the spatial position information of the hanging clamp projection point and the ground contact position information of the hanging clamp drill rod. It can be understood that since the drill rod is in an inclined state at this time, the contact point of the drill rod is offset from the hanging clamp projection point on both the X-axis and Y-axis in the second-floor platform. Therefore, when determining the deflection angle between the line connecting the hanging clamp projection point and the contact point of the drill rod and the preset reference axis based on the spatial position information of the hanging clamp projection point and the ground contact position information of the hanging clamp drill rod, further, as an optional implementation method, step S202 specifically includes:

[0081] Step S2021: In the second-level platform spatial coordinate system, based on the spatial position information of the jack projection point and the ground contact position information, determine the third offset distance of the drill rod contact point relative to the jack projection point on the X-axis and the fourth offset distance on the Y-axis.

[0082] Step S2022: Determine the deflection angle based on the third offset distance, the fourth offset distance, and Formula 2;

[0083] Formula 2 is as follows:

[0084]

[0085] Where β represents the deflection angle, P C P represents the spatial location information of the projection point of the hanging card. T This represents the ground contact location information, ||(P) C P T ) y || represents the fourth offset distance, ||(P) C P T ) x || represents the third offset distance.

[0086] Specifically, in the spatial coordinate system of the second-level platform, the third offset distance of the drill rod's contact point relative to the projection point of the chuck on the X-axis and the fourth offset distance of the drill rod's contact point relative to the projection point of the chuck on the Y-axis can be determined based on the spatial position information and the ground contact position information of the chuck projection point. Combined with Formula 2, the sway angle can be calculated.

[0087] S203. Based on the deflection angle and the spatial position information of the hanging card, determine the gripping point position information of the robot arm.

[0088] It should be noted that since the drill pipe is tilted in the current state, the gripping point position information of the robot arm will also change according to the tilt angle of the drill pipe. Therefore, in order to accurately determine the gripping point position information of the robot arm, further, as an optional implementation method, step S203 specifically includes:

[0089] Step S2031: In the second-level platform spatial coordinate system, based on the ground contact position information, the hanging card spatial position information, and the spatial position information of the hanging card projection point, determine the tilt angle of the drill rod relative to the vertical direction.

[0090] Specifically, in the two-tier platform spatial coordinate system, the vector representation between the contact point and the projection point can be obtained based on the ground contact position information and the spatial position information of the chuck projection point. The first distance between the chuck projection point and the drill pipe ground contact position is then determined based on this vector representation. Correspondingly, the vector representation between the chuck and its projection point can be determined based on the chuck's spatial position information and the spatial position information of its projection point. The second distance between the chuck and its projection point is then determined based on this vector representation. Finally, the tilt angle is determined based on the first distance, the second distance, and Formula 3, which is: Where γ represents the tilt angle, P J This indicates the spatial location information of the hanging card, ||P T P C || represents the first distance, ||P J P C ||P J P C This represents the second distance.

[0091] Step S2032: Based on the tilt angle and the preset spacing, determine the first offset information of the gripping point of the robot arm on the second-floor plane relative to the projection point of the hanging card.

[0092] Step S2033: Based on the first offset information, the deflection angle, and the spatial position information of the hanging card, determine the gripping point position information of the robot arm.

[0093] It should be noted that, due to the tilt of the drill pipe, the gripping point of the robotic arm will deviate from the lifting chuck. To accurately determine the offset information of the gripping point relative to the lifting chuck, i.e., the second offset information, further, as an optional implementation, step S2033 specifically includes:

[0094] Step A10: In the second-level platform spatial coordinate system, based on the first offset information and the deflection angle, determine the first offset distance of the manipulator's gripping point on the X-axis of the second-level platform spatial coordinate system and the second offset distance on the Y-axis of the second-level platform spatial coordinate system.

[0095] Step S20: Based on the first offset distance, the second offset distance, and the preset spacing, determine the second offset information of the gripping point of the robotic arm relative to the hanging card.

[0096] Step A30: Based on the second offset information and the spatial position information of the hanging card, determine the gripping point position information of the robot arm.

[0097] Specifically, after determining the first offset information of the gripper's gripping point on the second-floor plane relative to the projection point of the hanging card based on the tilt angle and preset spacing, the first offset distance of the gripper's gripping point on the X-axis of the second-floor platform spatial coordinate system, i.e., Wx = Wxy × sinβ, and the second offset distance on the Y-axis of the second-floor platform spatial coordinate system, i.e., Wy = Wxy × cosβ, can be determined based on the deflection scheduling.

[0098] After obtaining the first offset distance and the second offset distance, the first offset distance can be used as the offset of the gripping point relative to the hanger on the X-axis, the second offset distance can be used as the offset of the gripping point relative to the hanger on the Y-axis, and the preset spacing can be used as the offset of the gripping point relative to the hanger on the Z-axis. The first offset distance, the second offset distance, and the preset spacing are used as the second offset information for determining the gripping point of the robot arm relative to the hanger.

[0099] Finally, the gripping point position information of the robotic arm can be determined based on the second position offset position information, the hanging card space position information, and Formula 1. Formula 1 is as follows: in, A vector representation of the capture point location information. W represents the vector representation of the spatial location information of the hanging card. x W represents the first offset distance. y This represents the second offset distance, h represents the preset spacing, [W x -W y ,-h] T The vector representation of the second offset information.

[0100] Step S40: Based on the gripping point position information, control the movement of the robotic arm so that the robotic arm docks with the drill pipe.

[0101] After obtaining the gripping point position of the robot arm, the robot arm control equipment can control the movement of the robot arm according to the gripping point position information of the robot arm in the coordinate system of the second-level platform, thereby completing the docking of the robot arm with the drill pipe.

[0102] In this embodiment, compared to related technologies where the docking of the robot arm and the drill rod is controlled by a manual operating handle, this embodiment calculates the gripping point position information of the robot arm on the drill rod by using the length of the lifting ring, the ground contact position information of the drill rod, the preset spacing, and the rising height of the winch. Based on the gripping point position information, the robot arm is directly controlled to move to the corresponding position, realizing automatic docking of the robot arm and the drill rod. This reduces the operator's control operation of the robot arm, thereby reducing the handover time and shortening the operation cycle.

[0103] In addition, during the docking process between the robot arm and the drill pipe, the vertical sway angle of the lifting ring can be changed. Since the forward tilting motion of the lifting ring is not prohibited during the docking process, the path of the robot arm pushing the drill pipe can be shortened, thereby improving work efficiency.

[0104] Based on the same concept, this application proposes a robotic arm control device, referring to... Figure 4 Figure 4 is a schematic diagram of the functional modules of the robotic arm control device of this application.

[0105] The control device for this robotic arm includes:

[0106] The acquisition module is used to acquire the sway angle of the lifting ring relative to the vertical direction, the length of the lifting ring, the ground contact position information of the drill pipe, the preset distance between the gripping point of the robot arm and the lifting clamp in the vertical direction, and the lifting height of the winch; wherein, the top end of the lifting ring is connected to the winch, the bottom end of the lifting ring is connected to the lifting clamp, and the top end of the drill pipe is detachably connected to the lifting clamp, and the ground contact end of the drill pipe is offset from the wellhead;

[0107] The first determining module is used to determine the spatial position information of the hanging card based on the sway angle, the length of the hanging ring, the rising height, the ground contact position information, and the preset spacing, through spatial position relationships.

[0108] The second determining module is used to determine the gripping point position information of the robot arm based on the spatial position information of the hanging card and the preset distance;

[0109] The control module is used to control the movement of the robotic arm based on the gripping point position information, so that the robotic arm docks with the drill pipe.

[0110] It should be noted that the robotic arm control device can also be equipped with more modules. The various embodiments of the robotic arm control device in this embodiment and their achieved technical effects can be referred to the various implementation methods of the robotic arm control method in the foregoing embodiments, and will not be repeated here.

[0111] Furthermore, embodiments of this application also propose a computer storage medium storing a robotic arm control program. When executed by a processor, the robotic arm control program implements the steps of the robotic arm control method described above. Therefore, it will not be repeated here. Additionally, the beneficial effects of using the same method will not be repeated here either. For technical details not disclosed in the computer-readable storage medium embodiments of this application, please refer to the description of the method embodiments of this application. As an example, program instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0112] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0113] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided in this application, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0115] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling a robotic arm, characterized in that, The method includes: The system acquires the sway angle of the lifting ring relative to the vertical direction, the length of the lifting ring, the ground contact position of the drill pipe, the preset vertical distance between the gripping point of the manipulator and the lifting clamp, and the lifting height of the winch. The top end of the lifting ring is connected to the winch, the bottom end of the lifting ring is connected to the lifting clamp, and the top end of the drill pipe is detachably connected to the lifting clamp. The ground contact end of the drill pipe is offset from the wellhead. Based on the sway angle, the length of the lifting ring, the rising height, the ground contact position information, and the preset spacing, the spatial position information of the hanging card is determined through spatial positional relationships; Based on the spatial location information of the hanging card and the preset distance, the gripping point position information of the robot arm is determined; Based on the gripping point position information, the robot arm is controlled to move so that it docks with the drill pipe.

2. The robotic arm control method according to claim 1, characterized in that, The step of determining the gripping point position information of the robotic arm based on the spatial position information of the hanging card includes: In the spatial coordinate system of the second-floor platform, the hanging card is projected onto the plane of the second-floor platform to obtain the hanging card projection point corresponding to the hanging card; Based on the spatial position information of the jack projection point and the ground contact position information, determine the deflection angle between the line connecting the jack projection point and the contact point of the drill rod and the preset reference axis. Based on the deflection angle and the spatial position information of the hanging clamp, the gripping point position information of the robotic arm is determined.

3. The robotic arm control method according to claim 2, characterized in that, The determination of the gripping point position information of the robotic arm based on the deflection angle and the spatial position information of the hanging clamp includes: In the spatial coordinate system of the second-level platform, based on the ground contact position information, the spatial position information of the hanging clamp, and the spatial position information of the projection point of the hanging clamp, the tilt angle of the drill rod relative to the vertical direction is determined; Based on the tilt angle and the preset spacing, the first offset information of the gripping point of the robot arm on the second-floor plane relative to the projection point of the hanging card is determined; Based on the first offset information, the deflection angle, and the spatial position information of the hanging card, the gripping point position information of the robot arm is determined.

4. The robotic arm control method according to claim 3, characterized in that, The step of determining the gripping point position information of the robotic arm based on the first offset information, the deflection angle, and the spatial position information of the hanging clamp includes: In the second-level platform spatial coordinate system, based on the first offset information and the deflection angle, the first offset distance of the manipulator's gripping point on the X-axis of the second-level platform spatial coordinate system and the second offset distance on the Y-axis of the second-level platform spatial coordinate system are determined. Based on the first offset distance, the second offset distance, and the preset spacing, the second offset information of the gripping point of the robotic arm relative to the hanging card is determined; Based on the second offset information and the spatial position information of the hanging card, the gripping point position information of the robot arm is determined.

5. The robotic arm control method according to claim 4, characterized in that, The step of determining the gripping point position information of the robotic arm based on the second offset information and the spatial position information of the hanging card includes: Based on the second offset information, the spatial position information of the hanging card, and Formula 1, the gripping point position information of the robotic arm is determined; Formula one is as follows: ， in, A vector representation of the capture point location information. A vector representation of the spatial location information of the hanging card. This represents the first offset distance. This represents the second offset distance, and h represents the preset spacing. The vector representation of the second offset information.

6. The robotic arm control method according to claim 2, characterized in that, The step of determining the deflection angle between the gripping point and the projection point of the hanging clamp based on the spatial position information of the hanging clamp projection point and the ground contact position information includes: In the two-level platform spatial coordinate system, based on the spatial position information of the gantry projection point and the ground contact position information, the third offset distance of the drill rod contact point relative to the gantry projection point on the X-axis and the fourth offset distance on the Y-axis are determined. The deflection angle is determined based on the third offset distance, the fourth offset distance, and Formula 2. Formula 2 is as follows: ， Where β represents the deflection angle. This indicates the spatial location information of the projection point of the hanging card. This indicates the contact location information. This represents the fourth offset distance. This indicates the third offset distance.

7. The robotic arm control method according to claim 3, characterized in that, In the second-level platform spatial coordinate system, based on the ground contact position information, the hanging chuck spatial position information, and the spatial position information of the hanging chuck projection point, determining the vertical inclination angle of the drill rod includes: In the spatial coordinate system of the second-level platform, based on the ground contact position information and the spatial position information of the auger projection point, a first distance between the auger projection point and the drill rod ground contact position is determined; Based on the spatial location information of the hanging card and the spatial location information of the hanging card projection point, a second distance between the hanging card and the hanging card projection point is determined. The tilt angle is determined based on the first distance, the second distance, and Formula 3; Formula 3 is as follows: ， in, Indicates the tilt angle, This indicates the spatial location information of the hanging card. Indicates the first distance. This represents the second distance.

8. A robotic arm control device, characterized in that, The robotic arm control device includes: The acquisition module is used to acquire the sway angle of the lifting ring relative to the vertical direction, the length of the lifting ring, the ground contact position information of the drill pipe, the preset distance between the gripping point of the robot arm and the lifting clamp in the vertical direction, and the lifting height of the winch; wherein, the top end of the lifting ring is connected to the winch, the bottom end of the lifting ring is connected to the lifting clamp, and the top end of the drill pipe is detachably connected to the lifting clamp, and the ground contact end of the drill pipe is offset from the wellhead; The first determining module is used to determine the spatial position information of the hanging card based on the sway angle, the length of the hanging ring, the rising height, the ground contact position information, and the preset spacing, through spatial position relationships. The second determining module is used to determine the gripping point position information of the robot arm based on the spatial position information of the hanging card and the preset distance; The control module is used to control the movement of the robotic arm based on the gripping point position information, so that the robotic arm docks with the drill pipe.

9. A robotic arm control device, characterized in that, include: A processor, a memory, and a robotic arm control program stored in the memory, wherein the robotic arm control program is executed by the processor to implement the steps of the robotic arm control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a robotic arm control program, which, when executed by a processor, implements the robotic arm control method as described in any one of claims 1 to 7.

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