Anti-collision safety management method, system and device for catwalk system and storage medium

Abstract

The invention relates to a catwalk system anti-collision safety management method, system and device and a storage medium, and relates to the technical field of catwalk systems.The method comprises the steps that current tubular column specification information and current conveying state information are obtained; analyzing and processing the current conveying state information according to a preset conveying state control analysis method so as to form conveying state reference control information; analyzing and acquiring deviation information between the current tubular column specification information and preset previous tubular column specification information, and taking the deviation information as tubular column specification deviation information; analyzing and processing the tubular column specification deviation information according to a preset tubular column specification deviation adjustment analysis method to form a tubular column specification deviation influence value; and analyzing and processing the conveying state reference control information and the tubular column specification deviation influence value according to a preset conveying comprehensive control analysis method so as to form conveying comprehensive control information, and outputting the conveying comprehensive control information. The pipe column conveying device has the effect that pipe columns of different specifications are not prone to being damaged in the conveying process.

Description

Technical Field

[0001] The present application relates to the technical field of catwalk systems, and in particular to a method, system, device and storage medium for anti-collision safety management of catwalk systems. Background Art

[0002] The catwalk system is an automated device used to achieve mechanized transportation of drill pipes, casing and other pipes between the ground pipe rack and the drilling table during drilling operations. Since the catwalk system can improve operating efficiency, reduce labor intensity and improve working conditions, it has gradually replaced pneumatic winches and manual pushing and pulling and is used during drilling operations.

[0003] Reference Figure 1 In the related art, the catwalk system consists of a base, a support device, a conveying frame, a conveying clamping device, a hydraulic lifting device, a material hook, a material discharge plate and a guide bar. The support device is installed on the base and used to support the base. The conveying frame is located on the side of the base away from the ground. The hydraulic lifting device is installed between the base and the conveying frame and used to lift the conveying frame. The conveying clamping device is installed on the side of the conveying frame away from the base and used to clamp and transport pipes such as drill pipes and casings. The material hook is vertically rotatably installed on the side of the base close to the ground pipe rack. The guide bar is located on the side of the base close to the ground pipe rack. The material discharge plate can be rotatably installed on the conveying frame and used to push the pipe on the conveying frame onto the material hook. When the catwalk system is used to load and transport drill pipes, casings and other pipes, the base is fixed at a specified position by the support device, and the pipe moved to the guide bar is driven to the conveying frame by the rotation of the material hook. The angle of the conveying frame is adjusted to the specified conveying angle by the hydraulic lifting device, and then the pipe is pushed to the drilling table by the conveying clamping device. During material unloading and conveying, the pipe column on the drilling table is clamped by the conveying clamping device and moved to be completely located in the conveying frame, and then the angle of the conveying frame is adjusted to horizontal by the hydraulic lifting device. The pipe column is pushed out of the conveying frame by the unloading plate and rolled onto the feeding hook, and then the pipe column is transferred to the guide bar by the rotation of the feeding hook to complete the unloading.

[0004] With respect to the above-mentioned related technologies, the applicant has found the following defects: when the catwalk system is used to load and transport drill pipes, casings and other pipes, the drill pipes, casings and other pipes need to be transported back and forth between the guide bar and the conveying frame by rotating the material hook and pushing the material discharge plate. The rotation angle of the material hook and the pushing angle of the material discharge plate remain unchanged. When transporting pipes of different specifications, it is easy for the pipes to collide with the guide bar or the conveying frame and be damaged. Summary of the invention

[0005] In order to prevent pipes of different specifications from being damaged during transportation, the present application provides a catwalk system anti-collision safety management method, system, device and storage medium.

[0006] In a first aspect, the present application provides a catwalk system anti-collision safety management method, system, device and storage medium, which adopt the following technical solutions: A catwalk system anti-collision safety management method, comprising: Obtain current string specification information and current transportation status information; Analyze and process the current conveying state information according to the preset conveying state control analysis method to form conveying state reference control information; According to the current pipe string specification information and the preset previous pipe string specification information, the deviation information between the current pipe string specification information and the preset previous pipe string specification information is analyzed and obtained as the pipe string specification deviation information; According to the preset pipe string specification deviation adjustment analysis method, the pipe string specification deviation information is analyzed and processed to form a pipe string specification deviation impact value; According to the preset comprehensive transportation control analysis method, the transportation status reference control information and the pipe string specification deviation influence value are analyzed and processed to form comprehensive transportation control information, and the comprehensive transportation control information is output.

[0007] Optionally, analyzing and processing the current transport state information according to a preset transport state control analysis method to form transport state reference control information includes: Query and obtain the position of the guide bar and the initial position of the conveyor frame and use them as the low-position reference height value and the high-position reference height value respectively; According to the low-level benchmark height value and the high-level benchmark height value, the difference between the low-level benchmark height value and the high-level benchmark height value is analyzed and calculated and used as the benchmark height deviation value; According to the corresponding relationship between the reference height deviation value and the preset height deviation rotation angle value, analyzing and obtaining the height deviation rotation angle value corresponding to the reference height deviation value; Determine whether the current conveying state information is the preset feeding conveying state information; If yes, then according to the correspondence between the height deviation rotation angle value and the preset feeding rotation angle control information, the feeding rotation angle control information corresponding to the height deviation rotation angle value is analyzed and obtained, and the feeding rotation angle control information is used as the conveying state reference control information; If not, then according to the correspondence between the height deviation rotation angle value and the preset material blanking rotation angle control information, analyze and obtain the material blanking rotation angle control information corresponding to the height deviation rotation angle value; According to the correspondence between the material unloading rotation angle control information, the preset material unloading push control information and the preset material unloading comprehensive control information, the material unloading comprehensive control information corresponding to the material unloading rotation angle control information and the material unloading push control information is analyzed and obtained, and the material unloading comprehensive control information is used as the conveying state reference control information.

[0008] Optionally, analyzing and processing the tubing specification deviation information according to the preset tubing specification deviation adjustment analysis method to form the tubing specification deviation impact value includes: According to the pipe string specification deviation information, retrieve the pipe string diameter deviation value and the pipe string weight deviation value corresponding to the pipe string specification deviation information; According to the corresponding relationship between the pipe string weight deviation value and the preset weight deviation influence value, the weight deviation influence value corresponding to the pipe string weight deviation value is analyzed and obtained; According to the corresponding relationship between the pipe string diameter deviation value and the preset diameter deviation influence value, the diameter deviation influence value corresponding to the pipe string diameter deviation value is analyzed and obtained; Get the value of the pipe string usage time; According to the corresponding relationship between the pipe string usage time value and the preset usage time impact value, the usage time impact value corresponding to the pipe string usage time value is analyzed and obtained; According to the weight deviation impact value, diameter deviation impact value and usage time impact value, the sum of the weight deviation impact value, diameter deviation impact value and usage time impact value is analyzed and calculated and used as the comprehensive specification impact value, and the comprehensive specification impact value is used as the specification deviation impact value of the pipe string.

[0009] Optionally, analyzing and processing the transportation state reference control information and the pipe string specification deviation influence value according to the preset transportation comprehensive control analysis method to form the transportation comprehensive control information includes: According to the corresponding relationship between the pipe string specification deviation influence value and the preset rotation angle deviation adjustment value, the rotation angle deviation adjustment value corresponding to the pipe string specification deviation influence value is analyzed and obtained; Determining whether the rotation angle deviation adjustment value is within a preset rotation angle reference adjustment interval; If yes, then according to the judgment result of whether the conveying state reference control information is the feeding rotation angle control information, the rotation angle deviation adjustment direction information is analyzed and obtained; According to the correspondence between the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information, the conveying state reference control information and the preset angle deviation correction control information, the angle deviation correction control information corresponding to the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information and the conveying state reference control information is analyzed and acquired, and the angle deviation correction control information is used as the conveying comprehensive control information; If not, then according to the rotation angle deviation adjustment value and the rotation angle reference adjustment interval, the difference between the rotation angle deviation adjustment value and the rotation angle reference adjustment interval is analyzed and calculated and used as the angle adjustment deviation value; According to the preset angle adjustment deviation control analysis method, the angle adjustment deviation value and the conveying state reference control information are analyzed and processed to form angle adjustment deviation control information, and the angle adjustment deviation control information is used as the conveying comprehensive control information.

[0010] Optionally, analyzing and processing the angle adjustment deviation value and the conveying state reference control information according to a preset angle adjustment deviation control analysis method to form the angle adjustment deviation control information includes: Determine whether the angle adjustment deviation value is positive; If yes, then according to the correspondence between the rotation angle reference adjustment interval and the preset reference adjustment control information, analyze and obtain the reference adjustment control information corresponding to the rotation angle reference adjustment interval; According to the correspondence between the angle adjustment deviation value and the preset angle adjustment speed adjustment information, analyzing and acquiring the angle adjustment speed adjustment information corresponding to the angle adjustment deviation value; According to the correspondence between the reference adjustment control information, the angle adjustment speed adjustment information, the conveying state reference control information and the preset reference correction control information, the reference correction control information corresponding to the reference adjustment control information, the angle adjustment speed adjustment information and the conveying state reference control information is analyzed and acquired, and the reference correction control information is used as the angle adjustment deviation control information; If not, the transport state reference control information is directly used as the angle adjustment deviation control information.

[0011] Optionally, the method further includes a step after using the reference correction control information as the angle adjustment deviation control information, which is specifically as follows: According to the current pipe string specification information, retrieve the pipe string end weight detection value and the pipe string end movement position point corresponding to the current pipe string specification information; According to the weight detection value of the pipe string end, the difference between the weight detection values ​​of the two pipe string ends is analyzed and calculated and used as the pipe string moving weight deviation value; According to the corresponding relationship between the pipe string moving weight deviation value and the preset moving weight deviation influence value, analyzing and obtaining the moving weight deviation influence value corresponding to the pipe string moving weight deviation value; According to the moving position point of the pipe string end, the deviation distance between two moving position points of the pipe string end at the same time is analyzed and calculated and used as the moving deviation distance value of the pipe string end; According to the corresponding relationship between the moving deviation distance value of the pipe string end and the preset moving distance deviation influence value, the moving distance deviation influence value corresponding to the moving deviation distance value of the pipe string end is analyzed and obtained; According to the moving weight deviation influence value and the moving distance deviation influence value, the sum of the moving weight deviation influence value and the moving distance deviation influence value is analyzed and calculated and used as the moving comprehensive deviation influence value; Based on the judgment result of whether the mobile comprehensive deviation influence value is greater than the preset mobile comprehensive deviation reference influence value, the mobile comprehensive deviation adjustment information is analyzed and obtained, and the mobile comprehensive deviation adjustment information is added to the angle adjustment deviation control information to form new angle adjustment deviation control information.

[0012] Optionally, according to the judgment result of whether the mobile comprehensive deviation impact value is greater than the preset mobile comprehensive deviation reference impact value, analyzing and obtaining the mobile comprehensive deviation adjustment information includes: Determine whether the mobile comprehensive deviation impact value is greater than a preset mobile comprehensive deviation benchmark impact value; If yes, then according to the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value, the difference between the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value is analyzed and calculated and used as the mobile comprehensive deviation impact adjustment value; According to the correspondence between the movement comprehensive deviation influence adjustment value and the preset movement adjustment time value, analyzing and obtaining the movement adjustment time value corresponding to the movement comprehensive deviation influence adjustment value; Get current weather information; According to the corresponding relationship between the current weather condition information and the preset mobile weather impact time value, analyzing and obtaining the mobile weather impact time value corresponding to the current weather condition information; According to the movement adjustment time value and the movement weather impact time value, the sum of the movement adjustment time value and the movement weather impact time value is analyzed and calculated and used as the movement comprehensive impact time value; According to the correspondence between the mobile comprehensive impact time value and the preset mobile comprehensive impact time adjustment information, the mobile comprehensive impact time adjustment information corresponding to the mobile comprehensive impact time value is analyzed and obtained, and the mobile comprehensive impact time adjustment information is used as the weight mobile impact adjustment information; If not, the preset mobile comprehensive deviation benchmark adjustment information is output as the mobile comprehensive deviation adjustment information.

[0013] In a second aspect, the present application provides a catwalk system anti-collision safety management system, which adopts the following technical solution: A catwalk system anti-collision safety management system, comprising: The acquisition module is used to obtain the current string specification information, the current transportation status information, the low-level reference height value, the high-level reference height value, the string usage time value and the current weather condition information; A memory for storing a program of the catwalk system anti-collision safety management method as described in any one of the first aspects; The program in the processor and the memory can be loaded and executed by the processor to implement the catwalk system anti-collision safety management method as described in any one of the first aspects.

[0014] In a third aspect, the present application provides a catwalk system anti-collision safety management device, which adopts the following technical solution: A catwalk system anti-collision safety management device comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a catwalk system anti-collision safety management method as described in any one of the first aspects.

[0015] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is convenient for realizing that pipes of different specifications are not easily damaged during transportation, and adopts the following technical solution: A computer storage medium stores a computer program that can be loaded by a processor and executes the catwalk system anti-collision safety management method as described in any one of the first aspects.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: 1. When transporting pipes of different specifications, the rotation of the material hook and the push of the material discharge plate are adjusted, so that the pipes of different specifications are not easily damaged during the transportation process; 2. The obtained height deviation rotation angle value is analyzed for loading state or unloading state to form conveying state reference control information, thereby improving the accuracy of the obtained conveying state reference control information; 3. By analyzing and calculating the sum of the weight deviation impact value, the diameter deviation impact value and the usage time impact value and taking it as the comprehensive specification impact value, and taking the comprehensive specification impact value as the pipe string specification deviation impact value, the obtained comprehensive specification impact value is affected by the weight, diameter and usage time, thereby improving the accuracy of the obtained pipe string specification deviation impact value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the catwalk system of an embodiment of the present application.

[0018] Figure 2 It is a flow chart of the method for anti-collision safety management of the catwalk system according to an embodiment of the present application.

[0019] Figure 3 It is a flow chart of a method for analyzing and processing current transport state information according to a preset transport state control analysis method to form transport state reference control information in an embodiment of the present application.

[0020] Figure 4It is a flow chart of a method for analyzing and processing string specification deviation information to form a string specification deviation impact value according to a preset string specification deviation adjustment analysis method in an embodiment of the present application.

[0021] Figure 5 It is a flow chart of a method for analyzing and processing the transport state reference control information and the pipe string specification deviation influence value to form the transport comprehensive control information according to the preset transport comprehensive control analysis method in an embodiment of the present application.

[0022] Figure 6 It is a flow chart of a method for analyzing and processing the angle adjustment deviation value and the conveying state reference control information according to the preset angle adjustment deviation control analysis method in an embodiment of the present application to form angle adjustment deviation control information.

[0023] Figure 7 It is a method flow chart of the steps after using the reference correction control information as the angle adjustment deviation control information in an embodiment of the present application.

[0024] Figure 8 It is a flow chart of a method for analyzing and obtaining mobile comprehensive deviation adjustment information according to a judgment result of whether the mobile comprehensive deviation impact value is greater than a preset mobile comprehensive deviation reference impact value in an embodiment of the present application.

[0025] Explanation of the accompanying drawings: 1. base; 2. bracket device; 3. conveying frame; 4. conveying clamping device; 5. hydraulic lifting device; 6. material hook; 7. unloading plate; 8. guide strip. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 2-8 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0027] The embodiment of the present application discloses a catwalk system anti-collision safety management method.

[0028] Reference Figure 2 , a catwalk system anti-collision safety management method includes: Step S100: obtaining current string specification information and current delivery status information.

[0029] Among them, the current pipe string specification information refers to the specification information of the pipe string when the catway system is transporting at the current time. The current pipe string specification information is detected and obtained by a pipe string specification detection device preset on the catway system. The current transportation status information refers to the transportation status information when the catway system is transporting at the current time. The current transportation status information is obtained by connecting with the catway system.

[0030] Step S200: Analyze and process the current transport state information according to a preset transport state control analysis method to form transport state reference control information.

[0031] Among them, the transport state reference control information refers to the control information used to perform reference control based on the transport state of the catwalk system, the transport state control analysis method refers to the analysis method used to analyze the transport state reference control information, and the transport state control analysis method is obtained by querying from a database storing the transport state control analysis method.

[0032] The current transport state information is analyzed and processed by the transport state control analysis method, thereby forming transport state reference control information, which is convenient for subsequent use of the transport state reference control information.

[0033] Step S300: according to the current tubular string specification information and the preset last tubular string specification information, the deviation information between the current tubular string specification information and the preset last tubular string specification information is analyzed and obtained and used as the tubular string specification deviation information.

[0034] The previous pipe string specification information refers to the specification information of the pipe string when the catwalk system was transporting the pipe string in the previous unit time, and the previous pipe string specification information is obtained by querying the database storing the previous pipe string specification information. The pipe string specification deviation information refers to the deviation information between the pipe string specification at the current time and the pipe string specification at the previous unit time.

[0035] By comparing the current tubular string specification information with the preset previous tubular string specification information, the deviation information between the current tubular string specification information and the previous tubular string specification information is analyzed and obtained, and the deviation information between the current tubular string specification information and the previous tubular string specification information is used as the tubular string specification deviation information, thereby facilitating the subsequent use of the tubular string specification deviation information.

[0036] Step S400: Analyze and process the tubing specification deviation information according to the preset tubing specification deviation adjustment analysis method to form a tubing specification deviation impact value.

[0037] The tubing string specification deviation impact value refers to an impact value used to indicate the impact caused by the deviation of the tubing string specification, the tubing string specification deviation adjustment analysis method refers to an analysis method used to analyze the tubing string specification deviation impact value, and the tubing string specification deviation adjustment analysis method is obtained by querying from a database storing the tubing string specification deviation adjustment analysis method.

[0038] The tubing specification deviation information is analyzed and processed by the tubing specification deviation adjustment analysis method, thereby forming a tubing specification deviation impact value, which is convenient for subsequent use of the tubing specification deviation impact value.

[0039] Step S500: Analyze and process the transportation state reference control information and the pipe string specification deviation influence value according to the preset transportation comprehensive control analysis method to form transportation comprehensive control information, and output the transportation comprehensive control information.

[0040] Among them, the transportation comprehensive control information refers to the comprehensive control information used to control the catwalk system for pipe column transportation, the transportation comprehensive control analysis method refers to the analysis method used to analyze the transportation comprehensive control information, and the transportation comprehensive control analysis method is queried and obtained from a database storing the transportation comprehensive control analysis method.

[0041] The conveying comprehensive control analysis method is used to analyze and process the conveying status reference control information and the influence value of the pipe string specification deviation, thereby forming the conveying comprehensive control information, and outputting the conveying comprehensive control information. When conveying pipe strings of different specifications, the rotation of the material taking hook 6 and the pushing of the material discharge plate 7 are adjusted, so that the pipe strings of different specifications are not easily damaged during the conveying process.

[0042] exist Figure 2 In step S200, in order to further ensure the rationality of the transport state reference control information, it is necessary to further analyze and calculate the transport state reference control information separately. Figure 3 The steps shown are explained in detail.

[0043] Reference Figure 3 , analyzing and processing the current conveying state information according to the preset conveying state control analysis method to form conveying state reference control information includes the following steps: Step S210: query and obtain the position of the guide bar 8 and the initial position of the conveyor frame 3 and use them as the low reference height value and the high reference height value respectively.

[0044] Among them, the low-level reference height value refers to the reference height value used to indicate the position of the guide bar 8, and the low-level reference height value is detected and obtained by a position sensor preset on the guide bar 8. The high-level reference height value refers to the reference height value used to indicate the initial position of the conveying frame 3, and the high-level reference height value is detected and obtained by a position sensor preset on the conveying frame 3.

[0045] By querying and obtaining the low-level benchmark height value and the high-level benchmark height value, it is convenient to use the low-level benchmark height value and the high-level benchmark height value later.

[0046] Step S220: Analyze and calculate the difference between the low-level reference height value and the high-level reference height value according to the low-level reference height value and the high-level reference height value and use it as the reference height deviation value.

[0047] Among them, the reference height deviation value refers to the reference deviation value used to indicate the height between the position of the guide bar 8 and the initial position of the conveying frame 3. Through the low-level reference height value and the high-level reference height value, the difference between the low-level reference height value and the high-level reference height value is analyzed and calculated and used as the reference height deviation value, thereby facilitating the subsequent use of the reference height deviation value.

[0048] Step S230: Analyze and obtain the height deviation rotation angle value corresponding to the reference height deviation value according to the corresponding relationship between the reference height deviation value and the preset height deviation rotation angle value.

[0049] The height deviation rotation angle value refers to the angle value used to indicate that the material hook 6 needs to rotate according to the height deviation, and the height deviation rotation angle value is obtained by querying a database storing the height deviation rotation angle value.

[0050] The height deviation rotation angle value is obtained by analyzing the reference height deviation value, so as to facilitate the subsequent use of the height deviation rotation angle value.

[0051] Step S240: Determine whether the current conveying state information is the preset feeding conveying state information. If yes, execute step S250; if no, execute step S260.

[0052] The material loading and conveying status information refers to status information for instructing the catwalk system to load and transport the pipe string, and the material loading and conveying status information is obtained by querying a database storing the material loading and conveying status information.

[0053] By judging whether the current conveying state information is the preset loading and conveying state information, it is judged whether the catwalk system is loading and transporting the pipe string at the current time.

[0054] Step S250: According to the correspondence between the height deviation rotation angle value and the preset feeding rotation angle control information, the feeding rotation angle control information corresponding to the height deviation rotation angle value is analyzed and obtained, and the feeding rotation angle control information is used as the conveying state reference control information.

[0055] The feeding rotation angle control information refers to the control information used to control the feeding rotation angle of the feeding hook 6, and the feeding rotation angle control information is obtained by querying from a database storing the feeding rotation angle control information.

[0056] If the current conveying status information is the preset loading and conveying status information, it means that the catwalk system is currently loading and transporting the pipe string. Therefore, the loading rotation angle control information is obtained through the height deviation rotation angle value analysis, and the loading rotation angle control information is used as the conveying status benchmark control information, thereby improving the accuracy of the obtained conveying status benchmark control information.

[0057] Step S260: according to the correspondence between the height deviation rotation angle value and the preset material blanking rotation angle control information, analyzing and acquiring the material blanking rotation angle control information corresponding to the height deviation rotation angle value.

[0058] The material unloading rotation angle control information refers to the control information used to control the material unloading rotation angle of the material taking hook 6, and the material unloading rotation angle control information is obtained by querying from a database storing the material unloading rotation angle control information.

[0059] If the current conveying status information is the preset loading conveying status information, it means that the catwalk system is currently loading and transporting the pipe string, so the unloading rotation angle control information is obtained through the height deviation rotation angle value analysis, so as to facilitate the subsequent use of the unloading rotation angle control information.

[0060] Step S270: According to the correspondence between the material unloading rotation angle control information, the preset material unloading push control information and the preset material unloading comprehensive control information, analyze and obtain the material unloading comprehensive control information corresponding to the material unloading rotation angle control information and the material unloading push control information, and use the material unloading comprehensive control information as the conveying state reference control information.

[0061] The material unloading and pushing control information refers to the control information used to control the unloading plate 7 to push the pipe column, and the material unloading and pushing control information is obtained by querying from a database storing the material unloading and pushing control information.

[0062] The comprehensive material unloading control information is obtained by analyzing the material unloading rotation angle control information and the material unloading push control information, and the comprehensive material unloading control information is used as the conveying state reference control information, thereby improving the accuracy of the obtained conveying state reference control information.

[0063] exist Figure 2 In step S400, in order to further ensure the rationality of the influence value of the pipe string specification deviation, it is necessary to further analyze and calculate the influence value of the pipe string specification deviation. Figure 4 The steps shown are explained in detail.

[0064] Reference Figure 4 According to the preset pipe string specification deviation adjustment analysis method, analyzing and processing the pipe string specification deviation information to form the pipe string specification deviation impact value includes the following steps: Step S410: according to the pipe string specification deviation information, retrieve the pipe string diameter deviation value and the pipe string weight deviation value corresponding to the pipe string specification deviation information.

[0065] The pipe string diameter deviation value refers to the deviation value used to indicate when there is a deviation in the diameter of the pipe string, and the pipe string diameter deviation value is obtained by querying from a database storing pipe string diameter deviation values. The pipe string weight deviation value refers to the deviation value used to indicate when there is a deviation in the weight of the pipe string, and the pipe string weight deviation value is obtained by querying from a database storing pipe string weight deviation values.

[0066] The pipe string diameter deviation value and the pipe string weight deviation value are retrieved through the pipe string specification deviation information, so as to facilitate the subsequent use of the pipe string diameter deviation value and the pipe string weight deviation value.

[0067] Step S420: Analyze and obtain the weight deviation influence value corresponding to the pipe string weight deviation value according to the corresponding relationship between the pipe string weight deviation value and the preset weight deviation influence value.

[0068] The weight deviation impact value refers to an impact value used to indicate the impact caused by the deviation of the weight of the pipe string. The weight deviation impact value is obtained by querying a database storing the weight deviation impact value.

[0069] The weight deviation impact value is obtained through the analysis of the pipe string weight deviation value, so as to facilitate the subsequent use of the weight deviation impact value.

[0070] Step S430: according to the correspondence between the pipe string diameter deviation value and the preset diameter deviation influence value, analyze and obtain the diameter deviation influence value corresponding to the pipe string diameter deviation value.

[0071] The diameter deviation impact value refers to an impact value used to indicate the impact degree caused by the deviation of the diameter of the pipe string, and the diameter deviation impact value is obtained by querying a database storing the diameter deviation impact value.

[0072] The diameter deviation impact value is obtained through the analysis of the pipe string diameter deviation value, so as to facilitate the subsequent use of the diameter deviation impact value.

[0073] Step S440: Obtain the usage time value of the pipe string.

[0074] The pipe string usage time value refers to the time value of the pipe string being transported at the current time being used, and the pipe string usage time value is obtained by scanning the number on the pipe string through a number detection device preset on the catwalk system.

[0075] Step S450: according to the correspondence between the string usage time value and the preset usage time influence value, analyzing and obtaining the usage time influence value corresponding to the string usage time value.

[0076] The use time impact value refers to a value indicating the degree of impact caused by the use time of the pipe string, and the use time impact value is obtained by querying a database storing the use time impact values.

[0077] The use time impact value is obtained by analyzing the use time value of the pipe string, so as to facilitate the subsequent use of the use time impact value.

[0078] Step S460: Analyze and calculate the sum of the weight deviation impact value, the diameter deviation impact value and the usage time impact value according to the weight deviation impact value, the diameter deviation impact value and the usage time impact value and use it as the comprehensive specification impact value, and use the comprehensive specification impact value as the string specification deviation impact value.

[0079] Among them, the comprehensive impact value of specifications refers to the comprehensive impact value generated when there is a deviation in the specifications of the indicating string. Through the weight deviation impact value, the diameter deviation impact value and the usage time impact value, the sum of the weight deviation impact value, the diameter deviation impact value and the usage time impact value is analyzed and calculated as the comprehensive impact value of specifications, and the comprehensive impact value of specifications is used as the string specification deviation impact value, so that the obtained string specification deviation impact value is affected by the weight, diameter and usage time, thereby improving the accuracy of the obtained string specification deviation impact value.

[0080] exist Figure 2 In step S500, in order to further ensure the rationality of the transmission of the comprehensive control information, it is necessary to further analyze and calculate the transmission of the comprehensive control information. Figure 5 The steps shown are explained in detail.

[0081] Reference Figure 5 According to the preset comprehensive transportation control analysis method, the transportation status reference control information and the influence value of the pipe string specification deviation are analyzed and processed to form the comprehensive transportation control information, which includes the following steps: Step S510: according to the correspondence between the pipe string specification deviation influence value and the preset rotation angle deviation adjustment value, analyzing and obtaining the rotation angle deviation adjustment value corresponding to the pipe string specification deviation influence value.

[0082] The rotation angle deviation adjustment value refers to an adjustment value used for performing deviation adjustment on the rotation angle, and the rotation angle deviation adjustment value is obtained by querying from a database storing the rotation angle deviation adjustment value.

[0083] The rotation angle deviation adjustment value is obtained by analyzing the influence value of the pipe string specification deviation, so as to facilitate the subsequent use of the rotation angle deviation adjustment value.

[0084] Step S520: Determine whether the rotation angle deviation adjustment value is within the preset rotation angle reference adjustment interval. If yes, execute step S530; if no, execute step S550.

[0085] The rotation angle reference adjustment interval refers to a reference adjustment interval that is used to indicate the tolerance when the rotation angle is adjusted for deviation, and the rotation angle reference adjustment interval is obtained by querying a database storing the rotation angle reference adjustment interval.

[0086] By judging whether the rotation angle deviation adjustment value is within a preset rotation angle reference adjustment interval, it is judged whether the rotation angle can be directly adjusted for deviation.

[0087] Step S530: Analyze and obtain the rotation angle deviation adjustment direction information according to the judgment result of whether the conveying state reference control information is the loading rotation angle control information.

[0088] The rotation angle deviation adjustment direction information refers to direction information for indicating the deviation adjustment of the rotation angle.

[0089] When the rotation angle deviation adjustment value is within the preset rotation angle reference adjustment range, it means that the rotation angle can be directly adjusted for deviation at this time. Therefore, the rotation angle deviation adjustment direction information is analyzed and obtained through the judgment result of whether the conveying state reference control information is the loading rotation angle control information, so as to facilitate the subsequent use of the rotation angle deviation adjustment direction information.

[0090] When the conveying state reference control information is the loading rotation angle control information, the preset rotation angle deviation loading adjustment direction information is used as the rotation angle deviation adjustment direction information; when the conveying state reference control information is not the loading rotation angle control information, the preset rotation angle deviation unloading adjustment direction information is used as the rotation angle deviation adjustment direction information.

[0091] Step S540: According to the correspondence between the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information, the conveying state reference control information and the preset angle deviation correction control information, analyze and obtain the angle deviation correction control information corresponding to the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information and the conveying state reference control information, and use the angle deviation correction control information as the conveying comprehensive control information.

[0092] The angle deviation correction control information refers to control information used to correct the angle deviation, and the angle deviation correction control information is obtained by querying from a database storing the angle deviation correction control information.

[0093] The angle deviation correction control information is obtained by analyzing the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information and the conveying state reference control information, and the angle deviation correction control information is used as the conveying comprehensive control information, thereby improving the accuracy of the obtained conveying comprehensive control information.

[0094] Step S550: According to the rotation angle deviation adjustment value and the rotation angle reference adjustment interval, a difference between the rotation angle deviation adjustment value and the rotation angle reference adjustment interval is analyzed and calculated and used as the angle adjustment deviation value.

[0095] The angle adjustment deviation value refers to a deviation value used to indicate that a deviation exists when performing deviation adjustment on the rotation angle.

[0096] When the rotation angle deviation adjustment value is not within the preset rotation angle reference adjustment interval, it means that the rotation angle cannot be directly adjusted for deviation at this time. Therefore, the difference between the rotation angle deviation adjustment value and the rotation angle reference adjustment interval is analyzed and calculated through the rotation angle deviation adjustment value and the rotation angle reference adjustment interval and used as the angle adjustment deviation value, thereby facilitating the subsequent use of the angle adjustment deviation value.

[0097] Step S560: Analyze and process the angle adjustment deviation value and the conveying state reference control information according to the preset angle adjustment deviation control analysis method to form angle adjustment deviation control information, and use the angle adjustment deviation control information as the conveying comprehensive control information.

[0098] Among them, the angle adjustment deviation control information refers to the control information used to control the deviation when the rotation angle is adjusted and adjusted, and the angle adjustment deviation control analysis method refers to the analysis method used to analyze the angle adjustment deviation control information. The angle adjustment deviation control analysis method is obtained by querying the database storing the angle adjustment deviation control analysis method.

[0099] The angle adjustment deviation value and the conveying state reference control information are analyzed and processed by the angle adjustment deviation control analysis method to form the angle adjustment deviation control information, and the angle adjustment deviation control information is used as the conveying comprehensive control information to improve the accuracy of the obtained conveying comprehensive control information.

[0100] exist Figure 5 In step S560, in order to further ensure the rationality of the angle adjustment deviation control information, it is necessary to further analyze and calculate the angle adjustment deviation control information separately. Figure 6 The steps shown are explained in detail.

[0101] Reference Figure 6 , analyzing and processing the angle adjustment deviation value and the conveying state reference control information according to the preset angle adjustment deviation control analysis method to form the angle adjustment deviation control information includes the following steps: Step S561: Determine whether the angle adjustment deviation value is a positive value. If yes, execute step S562; if no, execute step S565.

[0102] Here, by judging whether the angle adjustment deviation value is a positive value, it is judged whether it is necessary to adjust the speed when adjusting the angle.

[0103] Step S562: according to the correspondence between the rotation angle reference adjustment interval and the preset reference adjustment control information, analyzing and acquiring the reference adjustment control information corresponding to the rotation angle reference adjustment interval.

[0104] The reference adjustment control information refers to reference control information used to perform angle adjustment according to the reference adjustment interval of the rotation angle, and the reference adjustment control information is obtained by querying from a database storing the reference adjustment control information.

[0105] When the angle adjustment deviation value is a positive value, it indicates that the speed needs to be adjusted when the angle is adjusted. Therefore, the reference adjustment control information is obtained by analyzing the rotation angle reference adjustment interval, so as to facilitate the subsequent use of the reference adjustment control information.

[0106] Step S563: according to the correspondence between the angle adjustment deviation value and the preset angle adjustment speed adjustment information, analyze and obtain the angle adjustment speed adjustment information corresponding to the angle adjustment deviation value.

[0107] The angle adjustment speed adjustment information refers to control information used to adjust the speed during angle adjustment, and the angle adjustment speed adjustment information is obtained by querying from a database storing the angle adjustment speed adjustment information.

[0108] The angle adjustment speed adjustment information is obtained by analyzing the angle adjustment deviation value, so as to facilitate the subsequent use of the angle adjustment speed adjustment information.

[0109] Step S564: According to the correspondence between the benchmark adjustment control information, the angle adjustment speed adjustment information, the conveying status benchmark control information and the preset benchmark correction control information, analyze and obtain the benchmark correction control information corresponding to the benchmark adjustment control information, the angle adjustment speed adjustment information and the conveying status benchmark control information, and use the benchmark correction control information as the angle adjustment deviation control information.

[0110] The reference correction control information refers to control information for controlling reference deviation adjustment and correction of the rotation angle, and the reference correction control information is obtained by querying from a database storing the reference correction control information.

[0111] The benchmark correction control information is obtained by analyzing the benchmark adjustment control information, the angle adjustment speed adjustment information and the conveying state benchmark control information, and the benchmark correction control information is used as the angle adjustment deviation control information, thereby improving the accuracy of the obtained angle adjustment deviation control information.

[0112] Step S565: directly use the conveying state reference control information as the angle adjustment deviation control information.

[0113] Among them, when the angle adjustment deviation value is not a positive value, it means that there is no need to adjust the speed when adjusting the angle, so the conveying state reference control information is directly used as the angle adjustment deviation control information, thereby improving the accuracy of the acquired angle adjustment deviation control information.

[0114] exist Figure 6 After step S564, in order to further ensure the rationality of the angle adjustment deviation control information, it is necessary to further analyze and calculate the angle adjustment deviation control information separately. Figure 7 The steps shown are explained in detail.

[0115] Reference Figure 7 The steps after using the reference correction control information as the angle adjustment deviation control information include the following steps: Step S5641: according to the current pipe string specification information, retrieve the pipe string end weight detection value and the pipe string end movement position point corresponding to the current pipe string specification information.

[0116] Among them, the current pipe string specification information includes the pipe string end weight detection value and the pipe string end movement position point. The pipe string end weight detection value refers to the weight value used to indicate the weight detection of the pipe string end. The pipe string end weight detection value is obtained from a database storing the pipe string end weight detection value. The pipe string end weight detection value is detected by a pressure detection device preset on the guide bar 8, analyzed and stored. The pipe string end movement position point refers to a position point used to detect the position of the pipe string end when it moves. The pipe string end movement position point is obtained from a database storing the pipe string end movement position point. The pipe string end movement position point is detected by a pressure detection device preset on the guide bar 8, analyzed and stored.

[0117] The weight detection value of the end of the pipe string and the moving position point of the end of the pipe string are retrieved through the current pipe string specification information, so as to facilitate the subsequent use of the weight detection value of the end of the pipe string and the moving position point of the end of the pipe string.

[0118] Step S5642: Based on the pipe string end weight detection value, the difference between the two pipe string end weight detection values ​​is analyzed and calculated and used as the pipe string moving weight deviation value.

[0119] Among them, the pipe string moving weight deviation value refers to the deviation value used to indicate that there is a deviation between the weights of the two ends of the pipe string. Through the pipe string end weight detection value, the difference between the two pipe string end weight detection values ​​is analyzed and calculated and used as the pipe string moving weight deviation value, thereby facilitating the subsequent use of the pipe string moving weight deviation value.

[0120] Step S5643: According to the correspondence between the pipe string moving weight deviation value and the preset moving weight deviation influence value, the moving weight deviation influence value corresponding to the pipe string moving weight deviation value is analyzed and obtained.

[0121] The moving weight deviation impact value refers to an impact value used to indicate the impact caused by the deviation between the weights of the two ends of the pipe string. The moving weight deviation impact value is obtained by querying a database storing the moving weight deviation impact value.

[0122] The moving weight deviation impact value is obtained by analyzing the moving weight deviation value of the pipe string, so as to facilitate the subsequent use of the moving weight deviation impact value.

[0123] Step S5644: According to the pipe string end movement position point, the deviation distance between two pipe string end movement position points at the same time is analyzed and calculated and used as the pipe string end movement deviation distance value.

[0124] Among them, the pipe string end movement deviation distance value refers to the distance value used to indicate that there is a deviation in the positions of the two ends of the pipe string at the same time. Through the pipe string end movement position point, the deviation distance between the two pipe string end movement position points at the same time is analyzed and calculated and used as the pipe string end movement deviation distance value, thereby facilitating the subsequent use of the pipe string end movement deviation distance value.

[0125] Step S5645: according to the correspondence between the movement deviation distance value of the pipe string end and the preset movement distance deviation influence value, the movement distance deviation influence value corresponding to the movement deviation distance value of the pipe string end is analyzed and obtained.

[0126] The moving distance deviation impact value refers to the impact degree value caused by the deviation of the positions of the two ends of the pipe string at the same time, and the moving distance deviation impact value is obtained by querying a database storing the moving distance deviation impact value.

[0127] The moving distance deviation impact value is obtained by analyzing the moving deviation distance value of the pipe string end, so as to facilitate the subsequent use of the moving distance deviation impact value.

[0128] Step S5646: According to the moving weight deviation influence value and the moving distance deviation influence value, the sum of the moving weight deviation influence value and the moving distance deviation influence value is analyzed and calculated and used as the moving comprehensive deviation influence value.

[0129] Among them, the moving comprehensive deviation impact value refers to the comprehensive impact degree value used to indicate the impact on the movement of the pipe string. Through the moving weight deviation impact value and the moving distance deviation impact value, the sum of the moving weight deviation impact value and the moving distance deviation impact value is analyzed and calculated and used as the moving comprehensive deviation impact value, so as to facilitate the subsequent use of the moving comprehensive deviation impact value.

[0130] Step S5647: Based on the judgment result of whether the mobile comprehensive deviation influence value is greater than the preset mobile comprehensive deviation reference influence value, analyze and obtain the mobile comprehensive deviation adjustment information, and add the mobile comprehensive deviation adjustment information to the angle adjustment deviation control information to form new angle adjustment deviation control information.

[0131] The mobile comprehensive deviation reference impact value refers to the reference impact value that can be tolerated when the pipe string moves, and the mobile comprehensive deviation reference impact value is obtained by querying the database storing the mobile comprehensive deviation reference impact value. The mobile comprehensive deviation adjustment information refers to the adjustment information used to adjust the deviation impact generated when the pipe string moves.

[0132] The mobile comprehensive deviation adjustment information is analyzed and acquired by judging whether the mobile comprehensive deviation influence value is greater than the preset mobile comprehensive deviation benchmark influence value, and the mobile comprehensive deviation adjustment information is added to the angle adjustment deviation control information to form new angle adjustment deviation control information, thereby improving the accuracy of the acquired angle adjustment deviation control information.

[0133] exist Figure 7 In step S5647, in order to further ensure the rationality of the mobile comprehensive deviation adjustment information, it is necessary to further analyze and calculate the mobile comprehensive deviation adjustment information. Figure 8 The steps shown are explained in detail.

[0134] Reference Figure 8 According to the judgment result of whether the mobile comprehensive deviation impact value is greater than the preset mobile comprehensive deviation benchmark impact value, analyzing and obtaining the mobile comprehensive deviation adjustment information includes the following steps: Step S56471: Determine whether the mobile comprehensive deviation impact value is greater than the preset mobile comprehensive deviation reference impact value. If yes, execute step S56472; if no, execute step S56478.

[0135] Wherein, by judging whether the movement comprehensive deviation influence value is greater than the preset movement comprehensive deviation reference influence value, it is judged whether the movement time needs to be adjusted and controlled.

[0136] Step S56472: According to the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value, analyze and calculate the difference between the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value and use it as the mobile comprehensive deviation impact adjustment value.

[0137] The moving comprehensive deviation impact adjustment value refers to an adjustment value that needs to be adjusted when a deviation exists in the moving comprehensive deviation impact value.

[0138] When the mobile comprehensive deviation impact value is greater than the preset mobile comprehensive deviation benchmark impact value, it means that the movement time needs to be adjusted and controlled at this time. Therefore, the difference between the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value is analyzed and calculated through the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value and used as the mobile comprehensive deviation impact adjustment value, so as to facilitate the subsequent use of the mobile comprehensive deviation impact adjustment value.

[0139] Step S56473: According to the correspondence between the movement comprehensive deviation influence adjustment value and the preset movement adjustment time value, analyze and obtain the movement adjustment time value corresponding to the movement comprehensive deviation influence adjustment value.

[0140] The movement adjustment time value refers to a time value used to indicate that the time is adjusted according to the movement comprehensive deviation impact adjustment value, and the movement adjustment time value is obtained by querying a database storing movement adjustment time values.

[0141] Step S56474: Get current weather condition information.

[0142] The current weather condition information refers to information indicating the weather condition at the location of the catwalk system at the current time. The current weather condition information is obtained by querying a weather database at the current time.

[0143] Step S56475: According to the correspondence between the current weather condition information and the preset mobile weather impact time value, analyze and obtain the mobile weather impact time value corresponding to the current weather condition information.

[0144] The mobile weather impact time value refers to the time value of the weather conditions at the current time affecting the movement, and the mobile weather impact time value is obtained by querying the database storing the mobile weather impact time value. The mobile weather impact time value is obtained by analyzing the current weather condition information, so as to facilitate the subsequent use of the mobile weather impact time value.

[0145] Step S56476: According to the movement adjustment time value and the movement weather impact time value, the sum of the movement adjustment time value and the movement weather impact time value is analyzed and calculated and used as the movement comprehensive impact time value.

[0146] Among them, the comprehensive impact time value of movement refers to the comprehensive time value used to indicate the impact on movement. By taking the sum of the movement adjustment time value and the movement weather impact time value as the comprehensive impact time value of movement, it is convenient to use the comprehensive impact time value of movement later.

[0147] Step S56477: According to the correspondence between the comprehensive movement impact time value and the preset comprehensive movement impact time adjustment information, analyze and obtain the comprehensive movement impact time adjustment information corresponding to the comprehensive movement impact time value, and use the comprehensive movement impact time adjustment information as the weight movement impact adjustment information.

[0148] The mobile comprehensive impact time adjustment information refers to the adjustment information for indicating the time adjustment caused by the impact on the movement, and the mobile comprehensive impact time adjustment information is obtained by querying the database storing the mobile comprehensive impact time adjustment information. The mobile comprehensive impact time adjustment information is obtained by analyzing the mobile comprehensive impact time value, and the mobile comprehensive impact time adjustment information is used as the weight movement impact adjustment information, thereby improving the accuracy of the obtained weight movement impact adjustment information.

[0149] Step S56478: Output the preset mobile comprehensive deviation benchmark adjustment information and use it as the mobile comprehensive deviation adjustment information.

[0150] The moving comprehensive deviation reference adjustment information refers to adjustment information used for reference adjustment of deviation generated when the pipe string moves, and the moving comprehensive deviation reference adjustment information is obtained by querying from a database storing the moving comprehensive deviation reference adjustment information.

[0151] When the mobile comprehensive deviation impact value is not greater than the preset mobile comprehensive deviation benchmark impact value, it means that there is no need to adjust and control the movement time at this time, so the preset mobile comprehensive deviation benchmark adjustment information is output and used as the mobile comprehensive deviation adjustment information, thereby improving the accuracy of the obtained mobile comprehensive deviation adjustment information.

[0152] Based on the same inventive concept, an embodiment of the present invention provides a catwalk system anti-collision safety management system, including: The acquisition module is used to obtain the current string specification information, the current transportation status information, the low-level reference height value, the high-level reference height value, the string usage time value and the current weather condition information; Memory, used to store Figures 1 to 7 A procedure for a method for managing the safety of a catwalk system against collision as described in any one of the above; The program in the memory can be loaded and executed by the processor and realize the following Figures 1 to 7 The catwalk system anti-collision safety management method described in any one of the above.

[0153] Based on the same inventive concept, an embodiment of the present invention provides a catwalk system anti-collision safety management device, including a memory and a processor, the memory stores a program that can be loaded and executed by the processor. Figures 1 to 7 A computer program for the catwalk system anti-collision safety management method described in any one of the above.

[0154] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0155] An embodiment of the present invention provides a computer storage medium storing a computer program that can be loaded and executed by a processor. Figures 1 to 7 A computer program for the catwalk system anti-collision safety management method described in any one of the above.

[0156] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0157] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A catwalk system anti-collision safety management method, characterized in that: include: Obtain current string specification information and current transportation status information; Analyze and process the current conveying state information according to the preset conveying state control analysis method to form conveying state reference control information; According to the current pipe string specification information and the preset previous pipe string specification information, the deviation information between the current pipe string specification information and the preset previous pipe string specification information is analyzed and obtained as the pipe string specification deviation information; According to the preset pipe string specification deviation adjustment analysis method, the pipe string specification deviation information is analyzed and processed to form a pipe string specification deviation impact value; According to the preset comprehensive transportation control analysis method, the transportation status reference control information and the pipe string specification deviation influence value are analyzed and processed to form comprehensive transportation control information, and the comprehensive transportation control information is output.

2. The catwalk system anti-collision safety management method according to claim 1, characterized in that: Analyzing and processing the current conveying state information according to the preset conveying state control analysis method to form conveying state reference control information includes: Query and obtain the position of the guide bar (8) and the initial position of the conveyor frame (3) and use them as the low reference height value and the high reference height value respectively; According to the low-level benchmark height value and the high-level benchmark height value, the difference between the low-level benchmark height value and the high-level benchmark height value is analyzed and calculated and used as the benchmark height deviation value; According to the corresponding relationship between the reference height deviation value and the preset height deviation rotation angle value, analyzing and obtaining the height deviation rotation angle value corresponding to the reference height deviation value; Determine whether the current conveying state information is the preset feeding conveying state information; If yes, then according to the correspondence between the height deviation rotation angle value and the preset feeding rotation angle control information, the feeding rotation angle control information corresponding to the height deviation rotation angle value is analyzed and obtained, and the feeding rotation angle control information is used as the conveying state reference control information; If not, then according to the correspondence between the height deviation rotation angle value and the preset material blanking rotation angle control information, analyze and obtain the material blanking rotation angle control information corresponding to the height deviation rotation angle value; According to the correspondence between the material unloading rotation angle control information, the preset material unloading push control information and the preset material unloading comprehensive control information, the material unloading comprehensive control information corresponding to the material unloading rotation angle control information and the material unloading push control information is analyzed and obtained, and the material unloading comprehensive control information is used as the conveying state reference control information.

3. The catwalk system anti-collision safety management method according to claim 1, characterized in that: According to the preset pipe string specification deviation adjustment analysis method, the pipe string specification deviation information is analyzed and processed to form the pipe string specification deviation impact value, including: According to the pipe string specification deviation information, retrieve the pipe string diameter deviation value and the pipe string weight deviation value corresponding to the pipe string specification deviation information; According to the corresponding relationship between the pipe string weight deviation value and the preset weight deviation influence value, the weight deviation influence value corresponding to the pipe string weight deviation value is analyzed and obtained; According to the corresponding relationship between the pipe string diameter deviation value and the preset diameter deviation influence value, the diameter deviation influence value corresponding to the pipe string diameter deviation value is analyzed and obtained; Get the value of the pipe string usage time; According to the corresponding relationship between the pipe string usage time value and the preset usage time impact value, the usage time impact value corresponding to the pipe string usage time value is analyzed and obtained; According to the weight deviation impact value, diameter deviation impact value and usage time impact value, the sum of the weight deviation impact value, diameter deviation impact value and usage time impact value is analyzed and calculated and used as the comprehensive specification impact value, and the comprehensive specification impact value is used as the specification deviation impact value of the pipe string.

4. The catwalk system anti-collision safety management method according to claim 2, characterized in that: According to the preset comprehensive transportation control analysis method, the transportation status benchmark control information and the influence value of the pipe string specification deviation are analyzed and processed to form the comprehensive transportation control information including: According to the corresponding relationship between the pipe string specification deviation influence value and the preset rotation angle deviation adjustment value, the rotation angle deviation adjustment value corresponding to the pipe string specification deviation influence value is analyzed and obtained; Determining whether the rotation angle deviation adjustment value is within a preset rotation angle reference adjustment interval; If yes, then according to the judgment result of whether the conveying state reference control information is the feeding rotation angle control information, the rotation angle deviation adjustment direction information is analyzed and obtained; According to the correspondence between the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information, the conveying state reference control information and the preset angle deviation correction control information, the angle deviation correction control information corresponding to the rotation angle deviation adjustment value, the rotation angle deviation adjustment direction information and the conveying state reference control information is analyzed and acquired, and the angle deviation correction control information is used as the conveying comprehensive control information; If not, then according to the rotation angle deviation adjustment value and the rotation angle reference adjustment interval, the difference between the rotation angle deviation adjustment value and the rotation angle reference adjustment interval is analyzed and calculated and used as the angle adjustment deviation value; According to the preset angle adjustment deviation control analysis method, the angle adjustment deviation value and the conveying state reference control information are analyzed and processed to form angle adjustment deviation control information, and the angle adjustment deviation control information is used as the conveying comprehensive control information.

5. The catwalk system anti-collision safety management method according to claim 4, characterized in that: According to the preset angle adjustment deviation control analysis method, the angle adjustment deviation value and the conveying state reference control information are analyzed and processed to form the angle adjustment deviation control information, including: Determine whether the angle adjustment deviation value is positive; If yes, then according to the correspondence between the rotation angle reference adjustment interval and the preset reference adjustment control information, analyze and obtain the reference adjustment control information corresponding to the rotation angle reference adjustment interval; According to the correspondence between the angle adjustment deviation value and the preset angle adjustment speed adjustment information, analyzing and acquiring the angle adjustment speed adjustment information corresponding to the angle adjustment deviation value; According to the correspondence between the reference adjustment control information, the angle adjustment speed adjustment information, the conveying state reference control information and the preset reference correction control information, the reference correction control information corresponding to the reference adjustment control information, the angle adjustment speed adjustment information and the conveying state reference control information is analyzed and acquired, and the reference correction control information is used as the angle adjustment deviation control information; If not, the transport state reference control information is directly used as the angle adjustment deviation control information.

6. The catwalk system anti-collision safety management method according to claim 5, characterized in that: The method further includes the following steps after using the reference correction control information as the angle adjustment deviation control information: According to the current pipe string specification information, retrieve the pipe string end weight detection value and the pipe string end movement position point corresponding to the current pipe string specification information; According to the weight detection value of the pipe string end, the difference between the weight detection values ​​of the two pipe string ends is analyzed and calculated and used as the pipe string moving weight deviation value; According to the corresponding relationship between the pipe string moving weight deviation value and the preset moving weight deviation influence value, analyzing and obtaining the moving weight deviation influence value corresponding to the pipe string moving weight deviation value; According to the moving position point of the pipe string end, the deviation distance between two moving position points of the pipe string end at the same time is analyzed and calculated and used as the moving deviation distance value of the pipe string end; According to the corresponding relationship between the moving deviation distance value of the pipe string end and the preset moving distance deviation influence value, the moving distance deviation influence value corresponding to the moving deviation distance value of the pipe string end is analyzed and obtained; According to the moving weight deviation influence value and the moving distance deviation influence value, the sum of the moving weight deviation influence value and the moving distance deviation influence value is analyzed and calculated and used as the moving comprehensive deviation influence value; Based on the judgment result of whether the mobile comprehensive deviation influence value is greater than the preset mobile comprehensive deviation reference influence value, the mobile comprehensive deviation adjustment information is analyzed and obtained, and the mobile comprehensive deviation adjustment information is added to the angle adjustment deviation control information to form new angle adjustment deviation control information.

7. The catwalk system anti-collision safety management method according to claim 6, characterized in that: According to the judgment result of whether the mobile comprehensive deviation impact value is greater than the preset mobile comprehensive deviation benchmark impact value, the mobile comprehensive deviation adjustment information is analyzed and obtained, including: Determine whether the mobile comprehensive deviation impact value is greater than a preset mobile comprehensive deviation benchmark impact value; If yes, then according to the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value, the difference between the mobile comprehensive deviation impact value and the mobile comprehensive deviation benchmark impact value is analyzed and calculated and used as the mobile comprehensive deviation impact adjustment value; According to the correspondence between the movement comprehensive deviation influence adjustment value and the preset movement adjustment time value, analyzing and obtaining the movement adjustment time value corresponding to the movement comprehensive deviation influence adjustment value; Get current weather information; According to the corresponding relationship between the current weather condition information and the preset mobile weather impact time value, analyzing and obtaining the mobile weather impact time value corresponding to the current weather condition information; According to the movement adjustment time value and the movement weather impact time value, the sum of the movement adjustment time value and the movement weather impact time value is analyzed and calculated and used as the movement comprehensive impact time value; According to the correspondence between the mobile comprehensive impact time value and the preset mobile comprehensive impact time adjustment information, the mobile comprehensive impact time adjustment information corresponding to the mobile comprehensive impact time value is analyzed and obtained, and the mobile comprehensive impact time adjustment information is used as the weight mobile impact adjustment information; If not, the preset mobile comprehensive deviation benchmark adjustment information is output as the mobile comprehensive deviation adjustment information.

8. A catwalk system anti-collision safety management system, characterized in that: include: The acquisition module is used to obtain the current string specification information, the current transportation status information, the low-level reference height value, the high-level reference height value, the string usage time value and the current weather condition information; A memory for storing a program of the catwalk system anti-collision safety management method according to any one of claims 1 to 7; The program in the processor and the memory can be loaded and executed by the processor to implement the catwalk system anti-collision safety management method as described in any one of claims 1 to 7.

9. A catwalk system anti-collision safety management device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the catwalk system anti-collision safety management method as claimed in any one of claims 1 to 7.

10. A computer storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the catwalk system anti-collision safety management method according to any one of claims 1 to 7.

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