Method, system, electronic device and storage medium for tilt control of a lanyard system

Abstract

The present application belongs to the technical field of oil and gas drilling equipment, and provides a tilt control method and system for a lifting ring system, an electronic device and a storage medium, wherein the method comprises: collecting real-time data of a top drive and storing the data; analyzing the real-time data and sending a control signal; based on the control signal, pushing the top drive forward, pulling the top drive backward and / or preventing the top drive from colliding until a preset target is reached. The method of the present application respectively executes different control methods according to the situations of pushing the top drive forward, pulling the top drive backward and preventing the top drive from colliding, and continuously collects real-time data of the top drive during the control process, thereby continuously optimizing the parameters of the tilt actuator, simplifying the control logic of the system and improving the working efficiency of the system.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of oil and gas drilling equipment, and particularly relates to a tilt control method and system for a hanger system, an electronic device, and a storage medium. BACKGROUND

[0002] A top drive, short for top drive drilling device, is composed of a power swivel and a pipe handling device, etc., can drive the drill string to rotate and has the function of tightening or loosening the drill string joint, can move up and down along the guide rail (also can move forward), complete the drilling operation (also can operate in a mouse hole), and is installed inside the derrick. The drilling device suspended by the traveling block can directly rotate the drill pipe from the upper space of the derrick and is sent down along the special guide rail. The device can significantly improve the capacity and efficiency of drilling operation and has become a standard product in the oil drilling industry.

[0003] The top drive pipe handling device is composed of a rotary head, a hanger, a back clamp hanging arm and a back clamp. It is mainly used for grabbing and releasing the drill pipe in the non-drilling state of the top drive, providing clamping force for tightening or loosening the connecting thread between the protection joint and the drill string joint, and can realize the functions of forward and backward tilting and rotation of the hanger. The hanger tilting system of the top drive pipe handling device is a main component of the top drive pipe handling mechanism, and its structure, efficiency and stability have important influence on the operation of the top drive. At present, the hanger tilting system of the top drive pipe handling device only controls the hydraulic action of the actuator (hydraulic cylinder) through the control valve group, and the power is provided by the ground or the hydraulic source of the top drive body. The hydraulic pipeline is long, the overall structure of the device is complex, and the control logic and system are lacking.

[0004] In the prior art, due to the harsh environment of some operation blocks of the top drive, such as high temperature, severe cold, large temperature difference, wind and sand, etc., the sealing elements of the top drive hydraulic mechanism may be damaged, causing hydraulic oil leakage and causing a large amount of pollution to the environment. The hydraulic system execution efficiency is greatly affected by temperature factors. In extreme high temperature or low temperature conditions, the flowability of the hydraulic oil will be limited, thereby affecting the working efficiency of the system. The hydraulic oil has high cleanliness requirements. Once impurities or particles are mixed into the hydraulic oil, the system components may be damaged, and in the use process, problems such as component synchronization difficulty and component position information difficult to accurately feedback may occur. The root cause lies in the relatively complex hydraulic system of the existing scheme, including hydraulic pipeline, hydraulic pump, hydraulic valve, cylinder, etc. In addition to the hydraulic energy supply of the hydraulic cylinder actuator, there is no mature scheme to realize the action of the hanger tilting system of the top drive pipe handling device. SUMMARY

[0005] In order to solve the problems in the background art, the present application proposes a tilt control method and system for a hanger system, an electronic device, and a storage medium.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0007] The inclination control method of the lifting ring system comprises the following steps:

[0008] Collecting real-time data of the top drive and storing the data;

[0009] Analyzing the real-time data and issuing a control signal;

[0010] Based on the control signal, the top drive is pushed forward, pulled backward, and / or prevented from colliding until the preset target is reached.

[0011] Further, the real-time data of the top drive includes:

[0012] The displacement distance information of the lifting ring inclination system of the electric top drive pipe handling device, the force information of the lifting ring inclination system, the distance between the drilling rig and the inclination actuator, and the height of the top drive.

[0013] Further, based on the control signal, the top drive is pushed forward until the preset target is reached, comprising the following steps:

[0014] Obtain the position of the top drive, determine the height and lifting speed at this time, detect whether the top drive reaches the preset height, and detect whether the top drive lifting is in a stationary state; after the top drive height meets the preset value and the lifting is in a stationary state, issue the top drive in-place information;

[0015] After the top drive is in place, the inclination actuator is pushed forward to the set distance at a predetermined movement speed; if the inclination actuator does not reach the set distance and the forward pushing force reaches the preset maximum pushing force, an alarm is issued to prompt the operator that the forward movement is blocked, and the operator is prompted to confirm whether to continue the preset action; if the inclination actuator reaches the set distance, an inclination actuator in-place signal is issued.

[0016] Further, based on the control signal, the top drive is pulled backward until the preset target is reached, comprising the following steps:

[0017] Obtain the position of the top drive, determine the height and lifting speed at this time, detect whether the top drive reaches the preset height, and detect whether the top drive lifting is in a stationary state; after the top drive height meets the preset value and the lifting is in a stationary state, issue the top drive in-place information;

[0018] After the top drive is in place, the inclination actuator is pulled backward to the set distance at a predetermined movement speed; if the inclination actuator does not reach the set distance and the backward pulling force reaches the preset maximum pulling force, an alarm is issued to prompt the operator that the backward movement is blocked, and the operator is prompted to confirm whether to continue the preset action; if the inclination actuator reaches the set distance, an inclination actuator in-place signal is issued.

[0019] Further, the top drive collision is prevented based on the control signal until the preset target is reached, including the following steps:

[0020] The top drive position is acquired to determine the height and the lifting speed at which the top drive is located;

[0021] If the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message is sent;

[0022] If the tilt system actuator is not at the floating position and the resistance exceeds the preset value, the tilt actuator automatically moves to the floating position until the force is less than the preset value.

[0023] A tilt control system of a hoist ring system, comprising:

[0024] A collection unit for collecting real-time data of the top drive;

[0025] A data storage unit connected to the collection unit for storing real-time data;

[0026] A central processing unit connected to the data storage unit for analyzing real-time data;

[0027] A human-computer interface connected to the central processing unit for sending control signals based on the analysis results;

[0028] A tilt actuator connected to the central processing unit for pushing the top drive forward, pulling the top drive backward and / or preventing the top drive from colliding based on the control signal until the preset target is reached.

[0029] Further, the collection unit comprises:

[0030] A top drive tilt system state signal input module for collecting information including the displacement distance of the hoist ring tilt system and the force of the hoist ring tilt system;

[0031] A drilling rig state signal input module for collecting information including the distance between the drilling rig and the tilt actuator and the height of the top drive.

[0032] Further, the central processing unit comprises:

[0033] A first processing module for acquiring the top drive position, determining the height and the lifting speed at which the top drive is located, detecting whether the top drive reaches the preset height, and detecting whether the top drive lifting is in a stationary state; after the top drive height meets the preset value and the lifting is in a stationary state, the top drive in-place information is generated;

[0034] The second processing module is used to determine whether the tilt actuator reaches the set distance when pushing forward and whether the forward pushing force reaches the maximum preset value. If the tilt actuator does not reach the set distance and the forward pushing force reaches the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated;

[0035] The third processing module is used to determine whether the tilt actuator reaches the set distance when pulled back and whether the pulling force reaches the maximum preset value. If the tilt actuator does not reach the set distance and the force on the front leg reaches the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated;

[0036] The fourth processing module is used to determine the height and lifting speed of the top drive at this time; if the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message is generated.

[0037] Furthermore, the human-machine interface includes:

[0038] A speed setting module is used to set the moving speed of the tilt actuator;

[0039] An execution confirmation module is used to determine whether to continue executing the preset action;

[0040] Display module, used to issue warning signals and position signals.

[0041] Furthermore, the tilt actuator includes:

[0042] The first execution module is used to move a set distance by pushing forward or pulling backward according to a preset action.

[0043] An electronic device comprising a processor and a memory;

[0044] Memory for storing computer programs;

[0045] The processor is configured to implement the above-mentioned method for controlling the tilt of the lifting ring system when executing the program stored in the memory.

[0046] A computer-readable storage medium stores a computer program, which implements the above-mentioned method for controlling the tilt of a lifting ring system when executed by a processor.

[0047] Beneficial effects of the present invention:

[0048] 1. The method of the present invention executes different control methods according to the situations of top drive forward pushing, top drive backward pulling and top drive collision prevention. In addition, the control process continuously collects real-time data of the front drive, and then continuously optimizes the parameters of the tilt actuator, thereby simplifying the control logic of the system and improving the working efficiency of the system.

[0049] 2、The device is safe and reliable, easy to install, uses a central processing unit, realizes positioning and accurate control of the tilting system by reasonably designing the tilting angle of the lifting ring, and solves the problems of the tilting mechanism of the top drive pipe handling device, such as inaccurate operation, slow response speed and complex structure;

[0050] 3、The application focuses on solving the technical problem of the control logic of the tilting mechanism of the electric top drive pipe handling device, fundamentally overcomes the problems of the traditional hydraulic cylinder actuator, such as being greatly affected by the environment and difficult to synchronize components, designs an installation mode according to the actual layout of the top drive, considers parameters such as the height of the top drive, the suspended load, the rotating speed, the torque, the distance between the tilting mechanism of the top drive lifting ring and other equipment of the drilling machine, the force of the tilting mechanism, the tilting angle of the tilting mechanism, designs the action logic control of the lifting ring tilting system from the perspective of safety and reliability, and forms a method and system for accurate control of the lifting ring tilting system of the top drive pipe handling device.

[0051] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and achieved by the structures particularly pointed out in the description and the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0053] Figure 1 A schematic diagram of the tilting control system of the lifting ring system of the electric top drive pipe handling device of the present application is shown;

[0054] Figure 2 A schematic diagram of the acquisition unit of the present application is shown;

[0055] Figure 3 A layout diagram of the tilting control system of the lifting ring system of the electric top drive pipe handling device of the present application is shown;

[0056] Figure 4 A flowchart of the tilting control method of the lifting ring system of the present application is shown.

[0057] In the figure: 1, acquisition unit; 101, top drive tilting system state signal input module; 102, drilling machine state signal input module; 2, data storage unit; 3, central processing unit; 4, human-computer operation interface; 5, tilting actuator; 6, top drive control signal output unit. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely explain the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0059] A tilt control system of a lifting ring system, as shown in Figure 1 , comprises a collection unit 1, a data storage unit 2, a central processing unit 3, a man-machine operation interface 4 and a tilt actuator 5. The collection unit 1 can collect real-time data of the top drive; the data storage unit 2 is connected with the collection unit 1 and can store the real-time data; the central processing unit 3 is connected with the data storage unit 2 and can analyze the real-time data; the man-machine operation interface 4 is connected with the central processing unit 3 and can send a control signal based on the analysis result; and the tilt actuator 5 is connected with the central processing unit 3 and can perform top drive forward pushing, top drive rear pulling and / or top drive collision prevention based on the control signal until a preset target is reached.

[0060] It should be noted that the tilt actuator 5 can also be connected with a top drive control signal output unit 6, which can receive the signal sent by the central processing unit 3 and then transmit it to the tilt actuator 5.

[0061] As shown in Figure 2 , the collection unit 1 comprises a top drive tilt system state signal input module 101 and a drilling rig state signal input module 102. The top drive tilt system state signal input module 101 can collect displacement distance information of the electric top drive pipe handling device lifting ring tilt system, force information of the lifting ring tilt system and the like. The drilling rig state signal input module 102 can collect the distance between the drilling rig and the tilt actuator 5, the height of the top drive and the like.

[0062] It should be noted that, in combination with Figure 1 and Figure 2 , after the collection unit 1 collects data, the obtained signal is stored in the data storage unit 2. After the central processing unit 3 reads the data, through the built-in algorithm, it identifies the current working condition of the top drive pipe handling device lifting ring tilt system, displays the recommended top drive operation on the man-machine operation interface 4, and after the driller confirms, outputs it by the top drive control signal output unit 6 to control the corresponding action of the tilt actuator 5. The system can simultaneously monitor multiple state information of the top drive to prevent the tilt actuator 5 from colliding with the drilling rig. In addition, the lifting ring tilt system and the tilt actuator 5 are part of the electric top drive pipe handling device.

[0063] As Figure 3 shown, the central processing unit 3, the top drive tilt system state signal input module 101, and the data storage unit 2 are installed in the top drive control room, the top drive control signal output unit 6 and the human-computer operation interface 4 are installed on the top drive control console, the drilling rig state signal input module 102 is installed in the driller room, and the top drive tilt system actuator 7 is installed on the top drive body.

[0064] In some embodiments, the central processing unit 3 includes a first processing module, a second processing module, a third processing module, and a fourth processing module. The first processing module is used to obtain the position of the top drive, determine the height and the lifting speed of the top drive at this time, detect whether the top drive reaches the preset height, and detect whether the top drive lifting is in a stationary state; when the top drive height meets the preset value and the lifting is in the stationary state, the top drive in-place information is generated.

[0065] The second processing module is used to determine whether the tilt actuator 5 reaches the set distance when it is pushed forward and whether the forward pushing force reaches the maximum preset value; if the tilt actuator 5 does not reach the set distance and the forward pushing force is the maximum preset value, an alarm signal is sent; if the tilt actuator 5 reaches the set distance, an in-place signal is generated.

[0066] The third processing module is used to determine whether the tilt actuator 5 reaches the set distance when it is pulled backward and whether the backward pulling force reaches the maximum preset value; if the tilt actuator 5 does not reach the set distance and the forward pushing force is the maximum preset value, an alarm signal is sent; if the tilt actuator 5 reaches the set distance, an in-place signal is generated.

[0067] The fourth processing module is used to determine the height and the lifting speed of the top drive at this time; if the top drive is not at the preset height and the tilt actuator 5 is not at the preset floating position, an alarm signal is generated.

[0068] It should be noted that each module of the central processing unit 3 can generate a corresponding control signal based on the analyzed data, and then the operator can input a corresponding operation instruction according to the control information.

[0069] In some embodiments, the human-computer operation interface 4 includes a speed setting module, an execution confirmation module, and a display module. The speed setting module can set the moving speed of the tilt actuator 5; the execution confirmation module can determine whether to continue to execute the preset action; and the display module can send an alarm signal and an in-place signal.

[0070] In some embodiments, the tilt actuator 5 includes a first execution module, which can move a set distance by pushing forward or pulling backward according to the preset action.

[0071] It should be noted that, in general, the above system adopts a modular design, and controls the top drive in parallel with the human-computer operation interface 4. When in use, first, the driller confirms and obtains part of the control right, and the top drive pipe handling device hoist ring tilting system provides a pre-warning and anti-collision function; the driller can obtain the control right of the top drive pipe handling device hoist ring tilting system at any time, and cancels the control right, and the top drive console still controls the top drive. The system can be applied to various types of top drive systems, and different control objects are replaced with different top drive tilting actuators 5, top drive tilting system state signal input modules 101, top drive control signal output units 6 and drilling rig state signal input modules 102 according to different top drive types, so as to achieve the purpose of universality.

[0072] As shown in Figure 4 , the tilting control method of the hoist ring system is applied to the system of Figure 1 , and includes the following steps:

[0073] S1: Collecting real-time data of the top drive and storing the real-time data.

[0074] S2: Analyzing the real-time data and issuing a control signal.

[0075] S3: Based on the control signal, the top drive is pushed forward, the top drive is pulled backward and / or the top drive is prevented from colliding, until a preset target is reached.

[0076] It should be noted that Figure 4 , the control method has three cases in S3, and the following describes various cases in combination with the system of Figure 1 - Figure 3 , and the specific cases are as follows:

[0077] The first case is that the top drive is pushed forward based on the control signal until a preset target is reached, and includes the following steps:

[0078] Step one: position determination. Specifically: 1. After starting the function, the drilling rig top drive position from the drilling rig state signal input module 102 is received, and the height at which the top drive is located and the speed of lifting are determined; it is detected whether the top drive reaches a preset height, and it is detected whether the top drive lifting is in a stationary state; 2. After the top drive height meets the preset value and the lifting is in a stationary state, the top drive is informed that it is in place;

[0079] Step two: the tilting actuator 5 is pushed forward to a set distance at a predetermined movement speed (the movement speed and movement distance can be set through the human-computer operation interface 4);

[0080] Step three: When the tilt actuator 5 of the top drive does not reach the set distance, but the front pushing force reaches the preset maximum pushing force (which can be set through the human-computer operation interface 4), the human-computer operation interface 4 appears a pop-up window and sound and light alarm information, prompting the operator that the movement of the tilt actuator 5 of the top drive is blocked, and the operator needs to confirm whether to continue to execute the preset action through the human-computer operation interface 4.

[0081] Step four: When the tilt actuator 5 of the top drive reaches the set distance, the human-computer operation interface 4 appears a signal that the tilt actuator 5 of the top drive is in place.

[0082] The second case is to pull the top drive based on the control signal until the preset target is reached, including the following steps:

[0083] Step one: position judgment. Specifically: 1. After starting the function, the position of the top drive from the drilling rig state signal input module 102 is received, and the height and lifting speed of the top drive at this time are judged. It is detected whether the top drive reaches the preset height, and whether the top drive lifting is in a stationary state; 2. After the top drive height meets the preset value and the lifting is in a stationary state, the top drive in-place information is sent;

[0084] Step two: the tilt actuator 5 is pulled back to the set distance according to the predetermined movement speed (the movement speed and distance can be set through the human-computer operation interface 4);

[0085] Step three: When the tilt actuator 5 of the top drive does not reach the set distance, but the back pulling force reaches the preset maximum pulling force (which can be set through the human-computer operation interface 4), the human-computer operation interface 4 appears a pop-up window and sound and light alarm information, prompting the operator that the movement of the tilt actuator 5 of the top drive is blocked, and the operator needs to confirm whether to continue to execute the preset action through the human-computer operation interface 4.

[0086] Step four: When the tilt actuator 5 of the top drive reaches the set distance, the human-computer operation interface 4 appears a signal that the tilt actuator 5 of the top drive is in place.

[0087] The third case is to prevent the top drive from colliding based on the control signal until the preset target is reached, including the following steps:

[0088] Step one: position judgment. After starting the function, the position of the top drive from the drilling rig state signal input module 102 is received, and the height and lifting speed of the top drive at this time are judged.

[0089] Step two: If the top drive is not at the preset height, and the tilt actuator 5 is not at the preset floating position (which is adjusted according to the force of the tilt mechanism during the initial use of the top drive, and the minimum force state is recorded), the human-computer operation interface 4 appears a warning information to remind the operator;

[0090] Step three: when the tilt actuator 5 of the top drive is not in the floating position, the tilt actuator 5 is subjected to a force exceeding a preset value, and then the tilt actuator 5 of the top drive is automatically moved to the floating position until the force is less than the preset value.

[0091] It should be noted that for the tilt actuator 5 of the top drive, the floating position is found by adjusting the force on the tilt actuator 5 during the initial use of the top drive, and finding a state with the smallest force, and recording the position or state. This position or state is considered to be the best position or state that the system can automatically adjust to cope with the influence of gravity (the state when naturally sagging) in normal operation.

[0092] An electronic device, comprising a processor and a memory, wherein:

[0093] The memory is used to store a computer program.

[0094] The processor is used to execute the program stored on the memory, and the tilt control method of the ring system is realized.

[0095] It should be noted that the memory can include random access memory (RAM) and non-volatile memory, such as at least one disk memory.

[0096] The processor described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0097] A computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to realize the tilt control method of the ring system described above.

[0098] It should be noted that the computer-readable storage medium can be included in the device / apparatus described in the above embodiments; or can exist separately and not be assembled into the device / apparatus. The computer-readable storage medium carries one or more programs, when the one or more programs are executed, the method for analyzing the drill string damping tool according to the embodiments of the present application is implemented.

[0099] According to the embodiments of the present application, the computer-readable storage medium can be a non-volatile computer-readable storage medium, for example, can include but is not limited to: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination thereof. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in connection with an instruction execution system, apparatus or device.

[0100] Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling the tilt of a lifting ring system, characterized in that: The following steps are involved: Collect real-time data of top drive and store it; Analyze real-time data and issue control signals; Pushing the lifting ring forward, pulling the lifting ring backward, and / or preventing top drive collision based on the control signal until a preset target is reached; wherein pushing the lifting ring forward based on the control signal until a preset target is reached includes the following steps: Get the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached the preset height, and at the same time detect whether the top drive is in a stationary state; when the top drive height meets the preset value and the lifting is in a stationary state, send a top drive in-place information; After the top drive is in place, the tilt actuator is pushed forward to the set distance at the predetermined speed. If the tilt actuator has not reached the set distance and the forward force reaches the preset maximum thrust, an alarm will be issued to inform the operator that the forward movement is blocked and to confirm whether to continue the preset action. If the tilt actuator reaches the set distance, a tilt actuator in place signal will be issued. Pulling the lifting ring back based on the control signal until the preset target is reached includes the following steps: Get the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached the preset height, and at the same time detect whether the top drive is in a stationary state; when the top drive height meets the preset value and the lifting is in a stationary state, send a top drive in-place information; After the top drive is in place, the tilt actuator is pulled back to the set distance at the predetermined speed. If the tilt actuator does not reach the set distance and the pull-back force reaches the preset maximum force, an alarm is triggered to inform the operator that the pull-back movement is blocked and to confirm whether to continue the preset action. If the tilt actuator reaches the set distance, a tilt actuator in-position signal is issued. Preventing top drive collision based on control signals until the preset target is achieved includes the following steps: Get the top drive position and determine the top drive's current height and speed; If the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message will be issued; If the top drive tilt system actuator is not in the floating position and the resistance it receives exceeds the preset value, the tilt actuator will automatically move to the floating position until the force received is less than the preset value; Real-time data from the top drive includes: The displacement distance information of the lifting ring tilting system of the electric top drive pipe handling device, the force information of the lifting ring tilting system, the distance between the drill pipe and the tilting actuator of the drilling rig, and the height of the top drive.

2. A tilt control system for a lifting ring system, characterized in that: include: Acquisition unit, used to collect real-time data of top drive; A data storage unit, connected to the acquisition unit, for storing real-time data; A central processing unit connected to the data storage unit for analyzing real-time data; A human-machine interface, connected to the central processing unit, for issuing control signals based on the analysis results; A tilt actuator connected to the central processing unit is used to push the lifting ring forward, pull the lifting ring backward and / or prevent the top drive from collision based on the control signal until the preset target is reached; The acquisition unit includes: The top drive tilt system status signal input module is used to collect information including the displacement distance information and force information of the lifting ring tilt system of the electric top drive pipe handling device; The drilling rig status signal input module is used to collect information including the distance between the drill pipe and the tilt actuator, and the height of the top drive; The central processing unit comprises: The first processing module is used to obtain the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached a preset height, and detect whether the top drive is in a stationary state when it is lifted; if the top drive height meets the preset value and the lift is in a stationary state, the top drive is in position information is generated; The second processing module is used to determine whether the tilt actuator reaches the set distance when pushing forward and whether the forward pushing force reaches the maximum preset value. If the tilt actuator does not reach the set distance and the forward pushing force reaches the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated; The third processing module is used to determine whether the tilt actuator reaches the set distance when pulled back and whether the pull-back force reaches the maximum preset value. If the tilt actuator does not reach the set distance and the pull-back force reaches the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated; The fourth processing module is used to determine the height and lifting speed of the top drive at this time; if the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message is generated.

3. The tilt control system of a lifting ring system according to claim 2, characterized in that: The human-machine operation interface includes: A speed setting module is used to set the moving speed of the tilt actuator; An execution confirmation module is used to determine whether to continue executing the preset action; Display module, used to issue warning signals and position signals.

4. A tilt control system for a lifting ring system according to any one of claims 2 to 3, characterized in that: The tilt actuator comprises: The first execution module is used to move a set distance by pushing forward or pulling backward according to a preset action.

5. An electronic device, characterized in that: including processor and memory; Memory for storing computer programs; The processor is configured to implement the tilt control method of the lifting ring system according to claim 1 when executing the program stored in the memory.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the tilt control method of the lifting ring system according to claim 1 is implemented.

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