Braking system of traveling block, control method, storage medium and control device thereof

Abstract

The invention belongs to the field of drilling machine control, and discloses a brake system of a traveling block, a control method, a storage medium and a control device of the storage medium. The control method of the braking system of the traveling block comprises the steps that after position adjustment is started, the real-time height, the target height and the braking starting height of the traveling block are obtained; when the real-time height reaches the braking starting height, the traveling block is controlled to start deceleration braking according to a preset algorithm until the traveling block stops; after the traveling block is braked, the real parking height after the traveling block is braked is obtained; and according to the deviation value between the real parking height and the target height, parameters of a preset algorithm are adjusted, and an obtained new preset algorithm is used as a preset algorithm for next calculation. According to the control method provided by the invention, the parameters of the preset algorithm are adjusted according to the deviation value between the real parking height and the target height, and the obtained new preset algorithm is used as the preset algorithm for next calculation, so that the traveling block can be stably stopped at the target position after multiple times of operation.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling rig control, and in particular to a braking system, a control method, a storage medium and a control device of a traveling block. Background Art

[0002] In the oil drilling system, it is necessary to determine the position of the traveling block through calculation in order to achieve precise control of the traveling block position. In the existing scheme, the change in wire rope length is often calibrated through the rotation detection of the driving part, and then a corresponding relationship is generated between the change in height of the traveling block. The position of the traveling block can be easily and quickly controlled by feedback of the winch position through the winch encoder.

[0003] However, the use of winch encoders to measure the height of the traveling block ignores the elastic extension of the wire rope. After the suspension weight changes, the actual position of the traveling block will change. The measurement accuracy is low, and it is difficult to achieve precise control. In addition, due to the deceleration characteristics of the inverter speed control, it is necessary to decelerate to a relatively low speed in advance and then slowly move to the specified position, which increases the time of the overall operation process. In summary, it is difficult to achieve precise control of the traveling block position in the existing technology. Summary of the invention

[0004] The main purpose of the present invention is to provide a braking system, a control method, a storage medium and a control device of a traveling carriage, aiming to solve the position control problem of the traveling carriage.

[0005] To achieve the above object, the present invention provides a method for controlling a braking system of a traveling carriage, comprising:

[0006] After the position adjustment starts, the real-time height, target height and braking start height of the traveling carriage are obtained;

[0007] When the real-time height reaches the braking start height, the traveling carriage is controlled to start deceleration and braking according to a preset algorithm until the traveling carriage stops;

[0008] After the traveling carriage brakes, obtain the actual parking height of the traveling carriage after the traveling carriage brakes;

[0009] According to the deviation between the actual parking height and the target height, the parameters of the preset algorithm are adjusted, and a new preset algorithm is obtained as the preset algorithm for the next calculation.

[0010] In one embodiment, obtaining the braking start height of the traveling carriage includes:

[0011] Obtaining the real-time speed and braking speed of the traveling carriage;

[0012] Determine the braking distance of the traveling vehicle according to the real-time speed and the braking speed;

[0013] According to the braking distance and the cruising vehicle braking distance.

[0014] In one embodiment, the obtaining of the real-time speed and braking speed of the traveling vehicle includes:

[0015] Obtaining the load weight on the traveling block;

[0016] According to the load weight, the real-time speed and braking speed of the traveling carriage are obtained.

[0017] In one embodiment, after adjusting the parameters of the preset algorithm according to the deviation between the actual height and the target height and obtaining a new preset algorithm as the preset algorithm for the next calculation, the method further includes:

[0018] When the deviation is greater than a preset deviation, the traveling carriage is controlled to continue moving to the target height.

[0019] In one embodiment, the method for obtaining the real-time height of the traveling vehicle includes:

[0020] The real-time height of the traveling carriage is measured by a visual measuring device.

[0021] The present invention also provides a storage medium, on which a control program of a braking system of a traveling vehicle is stored. When the control program of the braking system of a traveling vehicle is executed by a processor, a control method of the braking system of a traveling vehicle as described in any one of the above is implemented.

[0022] The present invention also provides a controller, which includes a memory and a processor, and a control program for the braking system of a traveling vehicle stored in the memory and run on the processor, wherein the control program for the braking system of the traveling vehicle is configured to implement the steps of the method for controlling the braking system of a traveling vehicle as described in any one of the above-mentioned methods.

[0023] The present invention also provides a braking system for a traveling carriage, comprising:

[0024] Tour car;

[0025] A motor, drivingly connected to the traveling carriage, for controlling the lifting of the traveling carriage;

[0026] A frequency converter, electrically connected to the motor, for controlling the rotation of the motor;

[0027] a measuring device for detecting the height of the traveling carriage; and

[0028] A controller, wherein the controller is the controller described above, and the controller is electrically connected to the motor, the inverter and the measuring device.

[0029] In one embodiment, the braking system of the traveling vehicle further includes a mobile terminal electrically connected to the controller.

[0030] In one embodiment, the measuring device comprises a visual measuring device, and the visual measuring device is a camera.

[0031] The present invention provides a control method for a braking system of a traveling carriage. In the present application, after position adjustment starts, the real-time height and target height of the traveling carriage are obtained to determine the braking start height of the traveling carriage. In the process of the traveling carriage moving toward the target height, the real-time height and the braking start height are compared in real time. Once the real-time height reaches the braking start height, the traveling carriage is controlled to start deceleration and braking according to a preset algorithm until the traveling carriage stops. At this time, the traveling carriage starts to gradually decelerate until it stops. After the braking of the traveling carriage is completed, the real parking height of the traveling carriage after braking is obtained. According to the deviation between the real parking height and the target height, the parameters of the preset algorithm are adjusted, and a new preset algorithm is obtained as the preset algorithm for the next calculation. By continuously evolving the algorithm, an adaptive algorithm is formed, so that each braking distance of the traveling carriage will be closer to the target height than the previous time. Instead of performing position judgment through an encoder, the position of the traveling carriage is directly detected, so that the position of the traveling carriage can be obtained more accurately. After multiple operations, the traveling carriage can be stably stopped at the target position without manual intervention in the parking process. The control is simple and the adaptability is wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural block diagram of a braking system of a traveling carriage provided by an embodiment of the present invention;

[0033] Figure 2 It is a flowchart of a method for controlling a braking system of a traveling carriage provided by an embodiment of the present invention.

[0034] Description of Figure Numbers:

[0035] 100. Braking system of traveling carriage; 1. Traveling carriage; 2. Motor; 3. Frequency converter; 4. Measuring device.

[0036] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] In the oil drilling system, it is necessary to determine the position of the traveling block through calculation in order to achieve precise control of the traveling block position. In the existing scheme, the change in wire rope length is often calibrated through the rotation detection of the driving part, and then a corresponding relationship is generated between the change in height of the traveling block. The position of the traveling block can be easily and quickly controlled by feedback of the winch position through the winch encoder.

[0041] However, the use of winch encoders to measure the height of the traveling block ignores the elastic extension of the wire rope. After the suspension weight changes, the actual position of the traveling block will change. The measurement accuracy is low, and it is difficult to achieve precise control. In addition, due to the deceleration characteristics of the inverter speed control, it is necessary to decelerate to a relatively low speed in advance and then slowly move to the specified position, which increases the time of the overall operation process. In summary, it is difficult to achieve precise control of the traveling block position in the existing technology.

[0042] See also Figure 1The present invention provides a braking system 100 for a traveling carriage, comprising a traveling carriage 1, a motor 2, a frequency converter 3, a measuring device 4 and a controller; the motor 2 is drivingly connected to the traveling carriage 1 to control the lifting of the traveling carriage 1; the frequency converter 3 is electrically connected to the motor 2 to control the rotation of the motor 2; the measuring device is used to detect the height of the traveling carriage 1; the controller is electrically connected to the motor, the frequency converter and the measuring device.

[0043] In the braking system 100 of the traveling carriage provided by the present invention, the position of the traveling carriage 1 is directly detected by the measuring device 4, so as to avoid the position error caused by position judgment by the encoder, and a more accurate traveling carriage position can be obtained. After the accurate traveling carriage position is obtained, the position of the traveling carriage 1 is adjusted. After the target is set, the traveling carriage 1 starts to move. After the position adjustment starts, the real-time height and the target height of the traveling carriage 1 are obtained to determine the braking starting height of the traveling carriage 1. In the process of the traveling carriage 1 moving toward the target height, the real-time height and the braking starting height are compared in real time. Once the real-time height reaches the braking starting height, the traveling carriage is controlled according to a preset algorithm. 1 starts to decelerate and brake until the traveling carriage 1 stops. At this time, the traveling carriage 1 starts to gradually decelerate until it stops. After the braking of the traveling carriage 1 is completed, the actual parking height of the traveling carriage 1 after braking is obtained. According to the deviation between the actual parking height and the target height, the parameters of the preset algorithm are adjusted, and the new preset algorithm is obtained as the preset algorithm for the next calculation. By continuously evolving the algorithm, an adaptive algorithm is formed, so that each braking distance of the traveling carriage 1 will be closer to the target height than the previous time. After multiple operations, the traveling carriage 1 can be stably stopped at the target position without manual intervention in the parking process, with simple control and a wider range of adaptability.

[0044] Furthermore, the braking system 100 of the traveling vehicle further comprises a mobile terminal electrically connected to the controller. In this embodiment, the target height is sent out by the mobile terminal, which serves as the control terminal of the traveling vehicle for remote operation.

[0045] It should be noted that there are multiple implementations of the mobile terminal, as long as it can remotely control the measuring device, the inverter 3 and the motor 2, and can send and receive information through Bluetooth or communication cables. In this embodiment, the mobile terminal is a mobile tablet, which exchanges information with the measuring device, the inverter 3 and the motor 2, and no specific restrictions are made here.

[0046] It should be noted that the measuring device 4 has a variety of implementations, as long as it can detect the height of the traveling carriage in real time, for example, by using a transmitter and a receiver to determine the positional relationship between them, the height of the traveling carriage can be detected.

[0047] Specifically, in this embodiment, the measuring device includes a visual measuring device, and the visual measuring device is a camera. In this embodiment, the height of the traveling car is obtained by camera image detection, and the setting method is simple. It only needs to install the camera on the ground, and the height of the traveling car can be obtained by real-time monitoring. The visual ranging solution is used to directly measure the height of the traveling car in real time. This solution can eliminate the measurement error caused by wire rope deformation and hanging weight.

[0048] It should be noted that there are many ways to obtain the height through the image of the camera. In this embodiment, the image is subjected to image processing such as binarization and pixel analysis is performed with the ground. The height of the tourist car can be obtained by comparing it with the preset calibration data. The image processing method is not the focus of the invention of this application and will not be elaborated here.

[0049] In addition, it should be noted that the height of the traveling block generally refers to the height from the traveling block to the working ground; in addition, the braking of the traveling block is generally completed through an encoder, and as long as the deceleration braking of the traveling block can be achieved, no specific limitation is made here.

[0050] In addition, the controller includes a memory, a processor, and a control program of the braking system of the traveling vehicle stored in the memory, and the processor executes the control program of the braking system of the traveling vehicle to implement the following control method of the braking system of the traveling vehicle:

[0051] After the position adjustment starts, the real-time height and target height of the traveling carriage are obtained to determine the braking start height of the traveling carriage;

[0052] When the real-time height reaches the braking start height, the traveling carriage is controlled to start deceleration and braking according to a preset algorithm until the traveling carriage stops;

[0053] After the traveling carriage brakes, obtain the actual parking height of the traveling carriage after the traveling carriage brakes;

[0054] According to the deviation between the actual parking height and the target height, the parameters of the preset algorithm are adjusted, and a new preset algorithm is obtained as the preset algorithm for the next calculation.

[0055] In one embodiment, determining the braking start height of the traveling carriage includes:

[0056] Obtaining the braking speed of the traveling carriage;

[0057] The braking start height of the traveling vehicle is determined according to the real-time height, the braking speed and the target height.

[0058] In one embodiment, the method for obtaining the braking speed of the traveling carriage includes:

[0059] Obtaining the load weight on the traveling block;

[0060] The braking speed of the traveling carriage is determined according to the load weight.

[0061] In one embodiment, after adjusting the parameters of the preset algorithm according to the deviation between the actual height and the target height and obtaining a new preset algorithm as the preset algorithm for the next calculation, the method further includes:

[0062] When the deviation is greater than a preset deviation, the traveling carriage is controlled to continue moving at a first preset speed to the target height.

[0063] In one embodiment, the method for obtaining the real-time height of the traveling vehicle includes:

[0064] The real-time height of the traveling carriage is measured by a visual measuring device.

[0065] Based on the above-mentioned braking system of a traveling carriage, the present invention provides a control method of the braking system of a traveling carriage, comprising:

[0066] S10, after the position adjustment starts, obtaining the real-time height, target height and braking start height of the traveling carriage;

[0067] S20, when the real-time height reaches the braking start height, controlling the traveling carriage to start deceleration and braking according to a preset algorithm until the traveling carriage stops;

[0068] S30, after the traveling carriage brakes, obtaining the actual parking height of the traveling carriage after the braking;

[0069] S40, adjusting the parameters of the preset algorithm according to the deviation between the actual parking height and the target height, and obtaining a new preset algorithm as the preset algorithm for the next calculation.

[0070] The present invention provides a control method for a braking system of a traveling carriage. In the present application, after position adjustment starts, the real-time height and target height of the traveling carriage are obtained, and the braking start height of the traveling carriage is determined. In the process of the traveling carriage moving toward the target height, the real-time height and the braking start height are compared in real time. Once the real-time height reaches the braking start height, the traveling carriage is controlled to start deceleration and braking according to a preset algorithm until the traveling carriage stops. At this time, the traveling carriage starts to gradually decelerate until it stops. After the braking of the traveling carriage is completed, the real parking height of the traveling carriage after braking is obtained. According to the deviation between the real parking height and the target height, the parameters of the preset algorithm are adjusted, and a new preset algorithm is obtained as the preset algorithm for the next calculation. By continuously evolving the algorithm, an adaptive algorithm is formed, so that each braking distance of the traveling carriage will be closer to the target height than the previous time. Instead of performing position judgment through an encoder, the position of the traveling carriage is directly detected, so that the position of the traveling carriage can be obtained more accurately. After multiple operations, the traveling carriage can be stably stopped at the target position without manual intervention in the parking process. The control is simple and the adaptability is wider.

[0071] It should be noted that there are multiple ways to obtain the braking start height. The braking start height can be calibrated and matched to different types of heights of traveling vehicles and loads. The braking start height is directly related to the braking duration and smoothness of the traveling vehicle. Therefore, a certain appropriate value needs to be set for braking.

[0072] In addition, in the present embodiment, the traveling car starts to decelerate and brake according to a preset algorithm until it stops, wherein the preset algorithm of the traveling car, in addition to considering traditional control factors such as speed and distance, also needs to consider the speed ratio, deformation ratio and control error between the motor and the traveling car, therefore, it is necessary to preset a set of algorithms for weighting, removing impurities and other operations so that the preset algorithm can accurately control the deceleration of the traveling car, and the specific algorithm is not disclosed herein.

[0073] Furthermore, in the present application, step S10 includes:

[0074] S11, obtaining the real-time speed and braking speed of the traveling carriage;

[0075] Among them, the traveling car controls deceleration by adjusting the speed of the motor. After determining the real-time height and target height of the traveling car, it is necessary to determine the optimal activity speed of the traveling car according to the situation of the motor, that is, the real-time speed, and obtain the braking speed of the traveling car. Then, braking planning can be carried out according to the braking speed so that braking can be carried out within the optimal range, which can achieve smooth braking and reduce braking time.

[0076] S12, determining the braking distance of the traveling vehicle according to the real-time speed and the braking speed;

[0077] Among them, after obtaining the real-time speed and braking speed, the distance that the tourist vehicle decelerates until it stops can be obtained according to the speed-distance algorithm, so as to determine the position of the tourist vehicle. Different braking distances can be adaptively planned according to different speed conditions, which can adapt to different situations.

[0078] S13, determining a braking start height of the traveling vehicle according to the real-time height, the traveling vehicle braking distance and the target height.

[0079] In this embodiment, after determining the braking distance of the traveling vehicle, the real-time height and the target height are calculated to obtain the braking starting height of the traveling vehicle. When the traveling vehicle reaches this height, braking can be started to maximize the performance of the motor and achieve short-distance braking and short-time braking.

[0080] Furthermore, step S11 includes:

[0081] S111, obtaining the load weight on the traveling block;

[0082] Among them, for different load weights, the smooth operation and deceleration rate that the motor can provide during operation are different. In order to ensure the safe operation of the traveling carriage system, it is necessary to obtain the load weight on the traveling carriage so as to determine the speed according to different loads and ensure the safety of the traveling carriage system.

[0083] S112: Determine the real-time speed and braking speed of the traveling carriage according to the load weight.

[0084] In the present application, the real-time speed and braking speed of the traveling carriage are determined by the load weight on the traveling carriage, so as to adapt the motor operating power under different situations and loads, etc., to ensure that short-distance braking and short-time braking can be achieved.

[0085] In addition, after step S40, the method further includes:

[0086] S50: When the deviation is greater than a preset deviation, control the traveling carriage to continue moving at a first preset speed to the target height.

[0087] In the present embodiment, when the control method of the braking system of the traveling carriage is first run, the preset algorithm is weighted and compensated based on experience, which makes it impossible to accurately predict the control of the motor, so that the traveling carriage may not be able to accurately stop at the target height. When the deviation is greater than the preset deviation, it indicates that the error between the traveling carriage and the target height is too large. At this time, it should be controlled to continue to move at the first preset speed to the target height, so that the traveling carriage stops at the target height, ensuring that the correct shutdown can be achieved even for the first operation to avoid manual intervention.

[0088] It should be noted that the first preset speed can be set to the lowest speed within the allowable range of the motor, or according to different loads, the most suitable deceleration speed can be retrieved by detecting the corresponding table, so as to control the traveling carriage to decelerate until it stops at the target position. There are many control methods, and no specific restrictions are made here.

[0089] On the other hand, the method for obtaining the real-time height of the traveling vehicle comprises:

[0090] The real-time height of the traveling carriage is measured by a visual measuring device.

[0091] In this embodiment, the real-time height of the traveling car is detected by the visual measuring device, and the height of the traveling car is obtained by image processing. There is no need to set up multiple sensors, and the measurement can be performed by directly setting up the visual measuring device on the ground. The measurement method is simple and reliable, and can be directly installed on the existing traveling car system, which is convenient for adapting to different traveling car systems.

[0092] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling a braking system of a traveling carriage, characterized in that: include: After the position adjustment starts, the real-time height, target height and braking start height of the traveling carriage are obtained; When the real-time height reaches the braking start height, the traveling carriage is controlled to start deceleration and braking according to a preset algorithm until the traveling carriage stops; After the traveling carriage brakes, obtain the actual parking height of the traveling carriage after the traveling carriage brakes; According to the deviation between the actual parking height and the target height, the parameters of the preset algorithm are adjusted, and a new preset algorithm is obtained as the preset algorithm for the next calculation.

2. The method for controlling the braking system of a traveling vehicle according to claim 1, characterized in that: Obtaining the braking start height of the traveling carriage, including: Obtaining the real-time speed and braking speed of the traveling carriage; Determine the braking distance of the traveling vehicle according to the real-time speed and the braking speed; A braking start height of the traveling carriage is determined according to the braking distance and the traveling carriage braking distance.

3. The method for controlling the braking system of a traveling vehicle according to claim 2, characterized in that: The obtaining of the real-time speed and braking speed of the traveling vehicle comprises: Obtaining the load weight on the traveling block; The real-time speed and braking speed of the traveling carriage are determined according to the load weight.

4. The method for controlling the braking system of a traveling vehicle according to claim 1, characterized in that: After adjusting the parameters of the preset algorithm according to the deviation between the actual height and the target height and obtaining a new preset algorithm as the preset algorithm for the next calculation, the method further includes: When the deviation is greater than a preset deviation, the traveling carriage is controlled to continue moving at a first preset speed to the target height.

5. The method for controlling the braking system of a traveling carriage according to claim 1, characterized in that: The method for obtaining the real-time height of the traveling vehicle comprises: The real-time height of the traveling carriage is measured by a visual measuring device.

6. A storage medium, characterized in that: The storage medium stores a control program of the braking system of the traveling vehicle, and when the control program of the braking system of the traveling vehicle is executed by the processor, the control method of the braking system of the traveling vehicle according to any one of claims 1 to 5 is implemented.

7. A controller, characterized in that: The controller includes a memory and a processor, and a control program of the braking system of the traveling vehicle stored in the memory and runnable on the processor, wherein the control program of the braking system of the traveling vehicle is configured to implement the steps of the control method of the braking system of the traveling vehicle as described in any one of claims 1 to 5.

8. A braking system for a traveling block, characterized in that: include: Tour car; A motor, drivingly connected to the traveling carriage, for controlling the lifting of the traveling carriage; A frequency converter, electrically connected to the motor, for controlling the rotation of the motor; A measuring device for detecting the height of the traveling carriage; as well as, A controller, wherein the controller is the controller according to claim 7, and the controller is electrically connected to the motor, the inverter and the measuring device.

9. The braking system of the traveling carriage according to claim 8, characterized in that: The braking system of the traveling vehicle further comprises a mobile terminal electrically connected to the controller.

10. The braking system of the traveling carriage according to claim 8, characterized in that: The measuring device comprises a visual measuring device, and the visual measuring device is a camera.

Images