Fitting Planning Method for the Multiple Power-raising Path of the Chemical Injection Robot Arm in Oilfields

Abstract

Method for fitting and planning the multi-power ascending path of the dosing robot arm in an oilfield, comprising the following steps: Step 1: A rectangular coordinate robotic arm with a liquid path hose; the movement of the hose is decomposed into two regional movements through a full guide wheel. The movement in the first region is three-dimensional rectangular coordinates, and the second region is the hose follow-up region that rotates with the full guide wheel; Step 2: The three-coordinate search enables the manipulator to reach the destination through segmented positioning of rough positioning - fine positioning. In rough positioning, a low-power curve path is used, and in fine positioning, according to external reference information, it can reach the destination through an ascending power curve. In this way, the liquid path hose travel of the robotic arm is shorter throughout the path, achieving the optimization of the liquid path hose path. The present invention combines linear acceleration, quadratic acceleration, cubic acceleration, uniform speed, and linear or quadratic deceleration through a comprehensive control strategy, and can provide a smoother acceleration and deceleration process, which is applicable to motion scenarios requiring precise control.

Description

Technical Field

[0001] The present invention belongs to the field of oilfield chemical dosing robots, and specifically relates to a method for fitting and planning the multi-power path of the oilfield chemical dosing robot arm. Background Art

[0002] Among various manual, semi-automatic, and intelligent chemical dosing treatment equipment in existing oilfields, due to the fixed nature of their interfaces, they can only solve the operation in fixed containers or pipelines. It is necessary to manually open the lid to add the drug material into the medicine tank, and it is impossible to flexibly obtain the drug material. Since there are many types of drugs and they are often toxic or corrosive to a certain extent, it causes great harm to the operators. Existing chemical dosing equipment cannot achieve full-process automation (for example, a uniform thickening reduction chemical dosing device for oilfields CN117739280A, an automatic chemical dosing device for oilfield development CN219194543U). Other various intelligent or non-intelligent chemical dosing in oilfields is similar to the patented technologies cited above, and the solved problem is the chemical dosing problem after entering the tank or pipeline, and the liquid path uses hard connections.

[0003] In production practice, due to the complexity of the input drugs and containers at the front end, it is impossible to achieve full-process automation with the above types of methods. If full-process automation is to be achieved in chemical dosing production, automation needs to be realized between the front-end bucket charging and the chemical dosing tank. This requires the use of a robotic arm equipped with a liquid adding / withdrawing hose to quickly realize various complex operations of finding the tank, opening the tank, and changing the liquid in a three-dimensional fixed area. However, the path planning in three-dimensional applications involves multiple nodes and multiple paths, which is relatively complex in terms of computing power or cost. Six constraint conditions need to be considered, namely the obstacle avoidance effect, energy consumption, path smoothness, movement range, operation stability of the manipulator, and the fineness of path planning, which is suitable for multi-joint complex paths (for example: a method for evaluating the result of robotic arm path planning CN113561186A), and the design difficulty is high. Summary of the Invention

[0004] In three-dimensional space, when using a hose (attached to the robotic arm) to perform chemical dosing and pumping operations on external common medicine buckets, although it is convenient for drug type replacement and equipment maintenance, it thus limits the length of the liquid path pipeline (it cannot be bent or twisted rigidly). Therefore, a simple multi-power path fitting and planning method is proposed to reduce the design difficulty and improve the implementation speed to solve the defects in the prior art.

[0005] The present invention is achieved through the following technical solutions:

[0006] A method for fitting and planning the multi-power path of the oilfield chemical dosing robot arm includes the following steps:

[0007] Step 1: The Cartesian robotic arm with a liquid path hose; through an all-directional guide wheel, the movement of the hose is decomposed into two regional movements. The first regional movement is three-dimensional Cartesian coordinates, and the second region is the hose follow-up region that rotates with the all-directional guide wheel. Since the second region does not need to be considered in the design calculation, a design that requires complex calculations in a three-dimensional space is transformed into a three-coordinate search under the control of a reference point;

[0008] Step 2: The three-coordinate search reaches the destination by means of segmented positioning of rough positioning - fine positioning. In rough positioning, a low-power curve path is used, and in fine positioning, according to external reference information, it can reach the destination through a rising-power curve. In this way, the liquid path hose travel of the robotic arm is shorter throughout the path, realizing the optimization of the liquid path hose path.

[0009] For the method of multi-time rising-power path fitting and planning of the oilfield chemical dosing robotic arm as described above, the rough positioning uses a low-power curve path, i.e., linear acceleration.

[0010] For the method of multi-time rising-power path fitting and planning of the oilfield chemical dosing robotic arm as described above, in fine positioning, according to external reference information, it can reach the destination through a rising-power curve.

[0011] For the method of multi-time rising-power path fitting and planning of the oilfield chemical dosing robotic arm as described above, the segmented positioning path of rough positioning - fine positioning uses the multi-time rising-power path fitting method, and its method includes the following steps:

[0012] Step 1: Retrieve the video recognition result n as the target end point of this segment of rough positioning - fine positioning;

[0013] Step 2: Enter the rough positioning - fine positioning segmentation;

[0014] Step 3: Initial linear acceleration stage;

[0015] Step 4: Intermediate quadratic curve acceleration stage;

[0016] Step 5: Cubic curve acceleration stage and cubic curve constant speed stage;

[0017] Step 6: Linear to quadratic curve deceleration stage;

[0018] Step 7: Determine the end point of the visual target. If it is the final precise positioning target, execute the robotic arm operation. If it is not the final precise positioning target, perform transition point processing and coordinated control and then return to the first step to operate again.

[0019] For the method of multi-time rising-power path fitting and planning of the oilfield chemical dosing robotic arm as described above, in the initial linear acceleration stage, the speed increases linearly with time, and its calculation formula is: v(t) = a 1 ·t, where a 1is a constant of the initial acceleration, 0 ≤ t ≤ t 1 .

[0020] For the method of multi - power - path fitting planning of the oil - field chemical - adding robot arm as described above, in the intermediate quadratic - curve acceleration stage, the speed increases with time as a quadratic curve, and its calculation formula is:

[0021] where, v(t 1 ) = a 1 ·t 1 is the speed at the end of the linear acceleration stage, a 2 is the acceleration in the intermediate stage, t 1 ≤ t ≤ t 2 .

[0022] For the method of multi - power - path fitting planning of the oil - field chemical - adding robot arm as described above, in the cubic - curve acceleration stage, the speed changes with time as a cubic curve, and its calculation formula is: v(t) =

[0023] v(t 2 ) + b·(t - t 2 ), where: 3 is the speed at the end of the quadratic acceleration stage, b is the constant controlling the cubic acceleration, t 2 ≤ t ≤ t 3 .

[0024] For the method of multi - power - path fitting planning of the oil - field chemical - adding robot arm as described above, in the cubic - curve constant - speed stage, the speed remains constant, and its calculation formula is: v(t) = v max , where v max max is the maximum speed in the constant - speed stage, t 3 ≤ t ≤ t 4 .

[0025] For the method of multi - power - path fitting planning of the oil - field chemical - adding robot arm as described above, in the linear - to - quadratic - curve deceleration stage, the calculation formula for linear deceleration is: v(t) = v max - a 3 ·(t - t 4 ), where, a 3 is the constant of linear deceleration, t 4 ≤ t ≤ t f ; the calculation formula for quadratic - curve deceleration is where, a4 is the constant of quadratic - curve deceleration, t 4 ≤ t ≤ t f .

[0026] The method for fitting and planning the multi - power - ascending path of the oil - field chemical - adding robot arm as described above, the velocity equation can be integrated to obtain the position equation s(t), and the specific form is as follows: For each stage, the integral can be calculated separately to obtain the corresponding displacement equation.

[0027] The advantages of the present invention are as follows: By combining linear acceleration, quadratic acceleration, cubic acceleration, uniform speed, and linear or quadratic deceleration through a comprehensive control strategy, the present invention can provide a smoother acceleration and deceleration process, is applicable to motion scenarios requiring precise control, thereby reducing the design difficulty, improving the implementation speed, and facilitating popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 is the flow chart of the present invention;

[0030] Figure 2 is the schematic diagram of the motion decomposition of the present invention;

[0031] Figure 3 is the schematic diagram of the segmented positioning of rough positioning - fine positioning of the present invention;

[0032] Figure 4 is the schematic diagram of the rough - positioning path of the embodiment of the present invention;

[0033] Figure 5 is the schematic diagram of the fine - positioning path of the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0035] As Figure 1 shown, the method for fitting and planning the multi - power - ascending path of the oil - field chemical - adding robot arm includes the following steps:

[0036] Step 1: The rectangular coordinate robotic arm with a liquid path hose; through an all-directional guide wheel, the movement of the hose is decomposed into two regional movements (see Figure 2 ), the movement of the first region is three-dimensional rectangular coordinates, and the second region is the hose follow-up region that rotates with the all-directional guide wheel. Since the second region does not need to be considered in the design calculation, a design that requires complex calculations in a three-dimensional space is transformed into a three-coordinate search under the control of a reference point;

[0037] Step 2: The three-coordinate search mentioned above enables the manipulator to reach the destination through segmented positioning of rough positioning - fine positioning (see Figure 3 ). In rough positioning, a low-power curve path is used, and in fine positioning, according to external reference information, it can reach the destination through a rising power curve. In this way, the liquid path hose travel of the robotic arm is shorter throughout the path, realizing the optimization of the liquid path hose path.

[0038] Preferably, in this embodiment, the rough positioning uses a low-power curve path, that is, linear acceleration.

[0039] Preferably, in this embodiment, the fine positioning can reach the destination through a rising power curve according to external reference information.

[0040] Preferably, the segmented positioning path of rough positioning - fine positioning in this embodiment uses a method of fitting multiple rising power paths, and its method includes the following steps:

[0041] Step 1: Retrieve the video recognition result n as the target end point of this segment of rough positioning - fine positioning;

[0042] Step 2: Enter the rough positioning - fine positioning segmentation;

[0043] Step 3: Initial linear acceleration stage;

[0044] Step 4: Intermediate quadratic curve acceleration stage;

[0045] Step 5: Cubic curve acceleration stage and cubic curve constant speed stage;

[0046] Step 6: Linear to quadratic curve deceleration stage;

[0047] Step 7: Determine the end point of the visual target. If it is the final precise positioning target, execute the manipulator operation. If it is not the final precise positioning target, perform transition point processing and coordinated control and then return to the first step to operate again.

[0048] Preferably, in the initial linear acceleration stage described in this embodiment, the speed increases linearly with time, and its calculation formula is: v(t) = a 1 ·t, where a 1 is a constant of the initial acceleration, 0 ≤ t ≤ t 1 .

[0049] Preferably, in the intermediate conic acceleration stage described in this embodiment, the speed increases as a quadratic curve with time, and its calculation formula is: where, v(t 1 ) = a 1 ·t 1 is the speed at the end of the linear acceleration stage, a 2 is the acceleration in the intermediate stage, t 1 ≤ t ≤ t 2 .

[0050] Preferably, in the cubic curve acceleration stage described in this embodiment, the speed changes as a cubic curve with time, and its calculation formula is: v(t) = v(t 2 ) + b·(t - t 2 ), 3 where: is the speed at the end of the quadratic acceleration stage, b is the constant controlling the cubic acceleration, t 2 ≤ t ≤ t 3 .

[0051] Preferably, in the cubic curve constant speed stage described in this embodiment, the speed remains constant, and its calculation formula is: v(t) = v max , where v max is the maximum speed in the constant speed stage, t 3 ≤ t ≤ t 4 .

[0052] Preferably, in the linear to quadratic curve deceleration stage described in this embodiment, the calculation formula for linear deceleration is: v(t) = v max - a 3 ·(t - t 4 ), where, a 3 is the constant of linear deceleration, t 4 ≤ t ≤ t f ; the calculation formula for quadratic curve deceleration is where, a4 is the constant of quadratic curve deceleration, t 4 ≤ t ≤ t f .

[0053] Preferably, the speed equation described in this embodiment can be integrated to obtain the position equation s(t), and the specific form is as follows: For each stage, the integral can be calculated separately to obtain the corresponding displacement equation.

[0054] Preferably, for the two segments of the rough - fine positioning points (or multiple rough - fine positioning segments, and the above comprehensive motion equations are used in each segment) described in this embodiment, according to the needs of actual engineering, the t nThe value is used to adjust the displacement of each power value, thereby adjusting the curvature, smoothness of the path curve, and the approaching rate of the manipulator. According to the requirements of specific oilfield scenarios, in the method we obtained, the sum of the acceleration and deceleration segments does not exceed one-third of the overall time period, and the other time periods are uniform speed segments.

[0055] Embodiment

[0056] When using a camera as the tracking device of the manipulator, when the shape of the tracked device is standard (for example, a round barrel, and the lid that needs to be operated on the barrel lid is also round), at this time, if a general-resolution camera is used for image recognition, the requirements for the camera and the recognition algorithm are reduced in terms of design, and the applicability is enhanced. The rough positioning - fine positioning path can be nested with multiple layers of fine and rough as needed, and the above acceleration method can be used in each layer to obtain a faster response than the uniform speed strategy (the speed varies with different powers, and the rising power is faster). As a controller for the step-by-step approximation method, according to the size of the object to be recognized, a zigzag motion path can be obtained by layering (the rough positioning path targets the barrel edge, and its path positioning process is as Figure 4 shown, and the precise positioning path targets the shape of the barrel lid edge, and its path positioning process is as Figure 5 shown).

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; the above zigzag path planning method that continuously approaches from rough to fine, and adjusts the response speed and design difficulty through rising and falling powers in each segment is a preferred embodiment of the present invention. However, the embodiments of the present invention are not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods, and shall not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multiple power-raising path fitting planning method for an oilfield dosing robot arm, characterized by: The steps include: Step 1: The rectangular coordinate robot arm with the fluid hose is decomposed into two regions through the omnidirectional guide wheel. The movement of the first region is the three-dimensional rectangular coordinate, and the second region is the hose follow-up region that rotates with the omnidirectional guide wheel. Since the second region does not need to be considered in the design calculation, a design that requires complex calculations in a three-dimensional space is turned into a three-coordinate search under reference point control. Step 2: The three-coordinate search is performed through segmented positioning of coarse positioning and fine positioning to enable the manipulator to reach the destination. In the coarse positioning, a low-power curve path is used. In the fine positioning, the destination can be reached through an ascending power curve according to external reference information. In this way, the liquid hose stroke of the manipulator is shortened on the entire path, thereby optimizing the liquid hose path. The coarse positioning uses a low power curve path, i.e., linear acceleration; The precise positioning can reach the destination through the rising power curve according to the external reference information; The segmented positioning path of the coarse positioning-fine positioning uses a multiple power-raising path fitting method, and the method includes the following steps: Step 1: Retrieve the video recognition result n as the coarse positioning-precise positioning target end point of this segment; Step 2: Enter the coarse positioning-fine positioning segment; Step 3: Initial linear acceleration phase; Step 4: Intermediate quadratic curve acceleration stage; Step 5: Cubic curve acceleration stage and cubic curve uniform speed stage; Step 6: Linear to quadratic curve deceleration stage; Step 7: Determine the end point of the visual target. If it is the final precise positioning target, execute the manipulator operation. If it is not the final precise positioning target, perform transition point processing and coordinated control and then return to the first step to re-operate; The velocity in the initial linear acceleration stage increases linearly with time, and the calculation formula is: v(t)=a1·t, where a1 is the constant of the initial acceleration, 0≤t≤t1; The speed in the intermediate quadratic acceleration stage increases quadratically with time, and the calculation formula is: Where v(t1)=a1·t1 is the velocity at the end of the linear acceleration phase, a2 is the acceleration in the middle phase, and t1≤t≤t2; In the cubic curve acceleration stage, the speed changes with time according to the cubic curve, and the calculation formula is: v(t) = v(t2) + b·(t-t2) 3 ,in: is the speed at the end of the secondary acceleration stage, b is the constant controlling the tertiary acceleration, t2≤t≤t3; The speed of the cubic curve is kept constant during the uniform speed stage, and the calculation formula is: v(t) = v max , where v max is the maximum speed in the uniform speed stage, t3≤t≤t4; The calculation formula of linear deceleration in the linear quadratic deceleration stage is: v(t) = v max -a3·(t-t4), where a3 is the constant of linear deceleration, t4≤t≤t f ; The calculation formula for quadratic curve deceleration is: Where a4 is the constant of quadratic deceleration, t4≤t≤t f ; The velocity equation can be integrated to obtain the position equation s(t), which is in the following form: s(t)=∫0 t For each stage, v(t′)dt′ can be integrated separately to obtain the corresponding displacement equation.

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