Drill rod grabbing and placing method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for grabbing and placing drill rods, the method comprising: determining the target placement finger beam gap in response to a placement instruction; controlling a manipulator to grab the target drill rod to be placed and move it to a waiting position before extending into the target placement finger beam gap; obtaining the number of existing drill rods in the target placement finger beam gap, and obtaining the target length according to the number of existing drill rods; obtaining the target rotation angle that the central axis of the manipulator needs to rotate according to the target length; controlling the manipulator to push the target drill rod to be placed from the waiting position to the buffer position according to the preset initial speed of the manipulator; when the target drill rod to be placed reaches the buffer position, controlling the manipulator to execute a buffer push strategy until the manipulator pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle. The present application can reduce the impact of the drill rods reaching a tightly arranged position during the placement of the drill rods.

Description

Technical Field

[0001] The present application relates to the technical field of drilling equipment, and in particular to a method, device, equipment and storage medium for grabbing and placing a drill rod. Background Art

[0002] As a device for transporting drill pipes to designated locations for drilling and well repair operations, aerial manipulators are widely used due to their flexibility, efficiency, and safety. Aerial manipulators have the characteristics of high automation, high operating efficiency, and labor saving, and have high requirements for control reliability.

[0003] At present, in the process of automated drilling and maintenance operations, the aerial manipulator moves the drill rod to the specified position of the finger beam by grabbing and placing it to achieve a tight arrangement, and moves the tightly arranged drill rod out. Since the drill rods are tightly arranged, there is often a problem in the placement process that when the drill rod reaches the tightly arranged position, it may cause impact on other drill rods, which will affect the safety and stability of other drill rods and the current working platform. Summary of the invention

[0004] The present application aims to propose a drill rod grabbing and placing method, device, equipment and storage medium, which can reduce the impact of the drill rods reaching a densely arranged position during the drill rod placement process.

[0005] According to the first aspect of the present application, a drill rod grabbing and placing method includes:

[0006] In response to the placement instruction, determining a target placement finger beam gap;

[0007] Control the manipulator to grab the target drill rod to be placed and move it to a waiting position before extending into the target placement finger beam gap, wherein the waiting position corresponds to the target placement finger beam gap, and when there are multiple drill rods in the target placement finger beam gap, the multiple drill rods in the target placement finger beam gap are arranged closely in sequence;

[0008] Obtaining the number of existing drill rods in the target placement finger beam gap, and obtaining a target length according to the number of existing drill rods; wherein the target length is the length that the end of the manipulator needs to extend in the depth direction of the target placement finger beam gap in the process of pushing the target drill rod to be placed from the waiting position into the target placement position in the target placement finger beam gap;

[0009] According to the target length, obtaining a target rotation angle at which the central axis of the manipulator needs to rotate;

[0010] According to a preset initial speed of the manipulator, the manipulator is controlled to push the target drill rod to be placed from the waiting position to a buffer position, wherein the buffer position is a position corresponding to when the rotation angle of the central axis of the manipulator is a buffer rotation angle, and the buffer rotation angle is determined according to a preset buffer angle and the target rotation angle;

[0011] When the target drill rod to be placed reaches the buffer position, controlling the manipulator to execute a buffer push strategy until the manipulator pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle;

[0012] The buffer push strategy includes:

[0013] Obtaining the real-time rotation angle of the central axis of the manipulator;

[0014] According to the real-time rotation angle, the buffer speed of the manipulator at the current moment is obtained;

[0015] The propulsion speed of the end of the manipulator is adjusted according to the buffer speed.

[0016] According to some embodiments of the present application, the target length is constrained by the following mathematical expression:

[0017] ;

[0018] in, is the target length, is the length of the beam, is the number of existing drill pipes, is the body diameter of the drill pipe, is the coupling diameter of the drill pipe.

[0019] According to some embodiments of the present application, the target rotation angle is constrained by the following mathematical expression:

[0020] ;

[0021] in, is the target rotation angle, is the target length, is the first constant, is the second constant, is the third constant.

[0022] According to some embodiments of the present application, the buffer rotation angle is a difference between the target rotation angle and the preset buffer angle;

[0023] The buffer speed of the manipulator at the current moment is constrained by the following mathematical expression:

[0024] ;

[0025] in, is the buffer speed of the manipulator at the current moment, is the preset initial speed, is the target rotation angle, is the real-time rotation angle, is the preset buffer angle.

[0026] According to some embodiments of the present application, the manipulator includes a gripper, and a mechanical finger is provided on the gripper, and the mechanical finger grasps and releases the drill rod in the gripper through a rotation closing action and a rotation opening action, and the drill rod grasping and placing method further includes:

[0027] In response to the grabbing instruction, the gripper is controlled to move to a position corresponding to the target drill rod to be grabbed, the mechanical finger is controlled to perform the rotation closing action, and an anti-jamming strategy is implemented until the mechanical finger is closed in place;

[0028] The anti-stuck strategy includes:

[0029] Obtaining the rotational displacement of the mechanical finger;

[0030] When the rotational displacement indicates that the mechanical finger is stuck, the gripper is controlled to retract to a preset retraction degree, and the mechanical finger is controlled to perform the rotational closing action for a preset closing time.

[0031] According to some embodiments of the present application, obtaining the rotational displacement of the mechanical finger includes:

[0032] Obtaining the current periodic rotation angle of the robotic finger;

[0033] The rotation displacement of the mechanical finger is determined according to the current period rotation angle and the preset rotation angle.

[0034] According to some embodiments of the present application, controlling the manipulator to retract to a preset retraction degree includes:

[0035] The rotation angle of the central axis of the manipulator is controlled to reduce a preset retraction angle.

[0036] According to the second aspect of the present application, the drill rod grabbing and placing device includes:

[0037] A determination module, for determining a target placement finger beam gap in response to a placement instruction;

[0038] The first control module is used to control the manipulator to grab the target drill rod to be placed and move it to a waiting position before extending into the gap between the target placement finger beams, wherein the waiting position corresponds to the gap between the target placement finger beams, and when there are multiple drill rods in the gap between the target placement finger beams, the multiple drill rods in the gap between the target placement finger beams are arranged closely in sequence;

[0039] A first acquisition module is used to acquire the number of existing drill rods in the target placement finger beam gap, and acquire a target length according to the number of existing drill rods; wherein the target length is the length that the end of the manipulator needs to extend along the depth direction of the target placement finger beam gap in the process of pushing the target drill rod to be placed from the waiting position to the target placement position in the target placement finger beam gap;

[0040] A second acquisition module is used to acquire a target rotation angle of the central axis of the manipulator according to the target length;

[0041] A second control module is used to control the manipulator to push the target drill rod to be placed from the waiting position to a buffer position according to a preset initial speed of the manipulator, wherein the buffer position is a position corresponding to when the rotation angle of the central axis of the manipulator is a buffer rotation angle, and the buffer rotation angle is determined according to a preset buffer angle and the target rotation angle;

[0042] A third control module is used to control the manipulator to execute a buffer push strategy when the target drill rod to be placed reaches the buffer position, until the manipulator pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle;

[0043] The buffer push strategy includes:

[0044] Obtaining the real-time rotation angle of the central axis of the manipulator;

[0045] According to the real-time rotation angle, the buffer speed of the manipulator at the current moment is obtained;

[0046] The propulsion speed of the end of the manipulator is adjusted according to the buffer speed.

[0047] An electronic device according to an embodiment of the third aspect of the present application includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the drill rod grasping and placing method as described in any one of the embodiments of the second aspect are implemented.

[0048] According to the computer-readable storage medium of the fourth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the drill rod grabbing and placing method as described in the first aspect embodiment.

[0049] In the embodiment of the present application, in the process of using a manipulator to grasp and place the drill rods to achieve a close arrangement, the target placement position of the target drill rod to be placed is determined by the number of drill rods already in the gap between the finger beams, without relying on the traditional positioning method of position calibration, and positioning is achieved simply and efficiently; by obtaining the target length and target rotation angle corresponding to the movement of the manipulator, the manipulator is controlled to accurately move the target drill rod to be placed to the target placement position, thereby achieving precise and accurate control of the close arrangement of the manipulator; in addition, a buffering push strategy is added to adjust the propulsion speed of the end of the manipulator before reaching the target placement position to achieve buffering, reduce the impact of the drill rod reaching the close arrangement position, and reduce the impact on other drill rods and the safety and stability of the current working platform.

[0050] 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 may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0052] Figure 1 This is a top view schematic diagram of the drill rod placement of an embodiment of the present application;

[0053] Figure 2 This is a schematic diagram of a manipulator grabbing a drill rod according to an embodiment of the present application;

[0054] Figure 3 It is a schematic flow chart of an embodiment of the drill rod grabbing and placing method of the present application;

[0055] Figure 4 This is a front view schematic diagram of the drill rod placement of an embodiment of the present application;

[0056] Figure 5 is a schematic top view of a gripper of a manipulator of an embodiment of the present application grabbing a drill rod;

[0057] Figure 6 is a top view schematic diagram of another manipulator gripping a drill rod in an embodiment of the present application;

[0058] Figure 7 It is a structural schematic diagram of an embodiment of a drill rod grabbing and placing device of the present application;

[0059] Figure 8 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0060] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0061] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0062] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0063] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0064] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0065] In order to facilitate the description of the drill rod grabbing and placing method of the present application, the process of grabbing and placing the drill rod 3 using the manipulator 5 is briefly described here. The rotation center and translation track of the aerial manipulator are installed below the working platform, and the aerial manipulator can rotate and extend along the rotation center and translate along the track. Figure 1 and Figure 2As shown, after the automated drilling and repair operation is completed, the used drill rod 3 needs to be placed back into the finger beam gap 2. Specifically, the bottom of the drill rod 3 is moved to the ground below the finger beam 1 in advance, and the upper end of the drill rod 3 is grabbed by the manipulator 5, and the drill rod 3 is moved from the outer area of ​​the finger beam 1 to the inner area of ​​the finger beam gap 2 along the trajectory a, and is pushed to a vertical posture to achieve a compact arrangement so that it can be used during the next operation; when the automated drilling and repair operation is about to be carried out, the drill rod 3 to be used needs to be taken out from the inner area of ​​the finger beam gap 2 and moved to the required position. Specifically, the bottom of the drill rod 3 is moved to the ground below the destination in advance, and the upper end of the drill rod 3 is grabbed by the manipulator 5, and the drill rod 3 is moved from the inner area of ​​the finger beam gap 2 to the outer area of ​​the finger beam 1 along the trajectory b, and is pushed to the operation destination.

[0066] Figure 3 This is a flow chart of an embodiment of the drill rod grabbing and placing method provided in the present application. Figure 3 , the embodiments of the present application are further described.

[0067] like Figure 3 As shown, the embodiment of the present application proposes a drill rod grabbing and placing method, which can be applied to the control module or control device of the manipulator 5. The embodiment of the present application describes the specific process of the process when the manipulator 5 needs to move the drill rod 3 from the outer area of ​​the finger beam 1 to the specified position in the finger beam gap 2. The drill rod grabbing and placing method includes:

[0068] Step 101, in response to a placement instruction, determining a target placement finger beam gap;

[0069] Step 102, control the manipulator 5 to grab the target drill rod to be placed and move it to a waiting position before extending into the target placement finger beam gap, wherein the waiting position corresponds to the target placement finger beam gap, and when there are multiple drill rods 3 in the target placement finger beam gap, the multiple drill rods 3 in the target placement finger beam gap are arranged closely in sequence;

[0070] Step 103, obtaining the number of existing drill rods 3 in the target placement finger beam gap, and obtaining the target length according to the number of existing drill rods 3; wherein the target length is the length that the end of the manipulator 5 needs to extend in the depth direction of the target placement finger beam gap in the process of pushing the target drill rod to be placed from the waiting position to the target placement position in the target placement finger beam gap;

[0071] Step 104: according to the target length, obtain the target rotation angle of the central axis of the manipulator 5;

[0072] Step 105, according to the preset initial speed of the manipulator 5, control the manipulator 5 to push the target drill rod to be placed from the waiting position to the buffer position, the buffer position is the position corresponding to when the rotation angle of the central axis of the manipulator 5 is the buffer rotation angle, and the buffer rotation angle is determined according to the preset buffer angle and the target rotation angle;

[0073] Step 106: When the target drill rod to be placed reaches the buffer position, control the manipulator 5 to execute the buffer push strategy until the manipulator 5 pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle;

[0074] Among them, the buffer push strategy includes:

[0075] Obtain the real-time rotation angle of the central axis of the manipulator 5;

[0076] According to the real-time rotation angle, the buffer speed of the manipulator 5 at the current moment is obtained;

[0077] The advancement speed of the end of the manipulator is adjusted according to the buffer speed.

[0078] In the embodiment of the present application, in the process of using the manipulator 5 to grab and place the drill rods 3 to achieve a close arrangement of the drill rods 3, the target placement position of the target drill rod to be placed is determined by referring to the number of drill rods 3 already in the beam gap 2, without relying on the traditional position calibration positioning method, and positioning is achieved simply and efficiently; by obtaining the target length and target rotation angle corresponding to the movement of the manipulator 5, the manipulator 5 is controlled to accurately move the target drill rod to be placed to the target placement position, thereby achieving precise and accurate control of the close arrangement of the manipulator 5; in addition, a buffering pushing strategy is added to adjust the propulsion speed of the end of the manipulator before reaching the target placement position, thereby achieving buffering, reducing the impact of the drill rods 3 arriving at the close arrangement position, and reducing the impact on other drill rods 3 and the safety and stability of the current working platform.

[0079] The above-mentioned finger beam gaps 2 are all marked with serial numbers, and the above-mentioned target finger beam gaps can be determined by obtaining the corresponding finger beam gap serial numbers in advance.

[0080] The above buffering pushing strategy can be that as the target drill rod to be placed approaches the target placement position, the pushing speed of the manipulator end is gradually reduced to achieve a buffering effect.

[0081] like Figure 1 and Figure 4 As shown, the waiting position may correspond to the target finger beam gap. Specifically, the waiting position may be between the monkey path 4 of the working platform and the corresponding target finger beam gap, but may not enter the target finger beam gap.

[0082] In some implementations, the above-mentioned acquisition of the number of existing drill rods 3 in the target finger beam gap can be achieved by the following method for calculating the number of drill rods stored in the finger beam gap 2.

[0083] like Figure 4 As shown in the figure, when counting up, in the initial state, the number of drill rods in each row of finger beam gap 2 is 0, and the number of drill rods in the current row is represented by array S[n]=0, where n=the number of the current finger beam gap. When the manipulator 5 grabs the drill rod 3 from other positions and reaches the waiting position for extending forward into the finger beam gap 2, the initial extension length of the manipulator 5 is Then, the manipulator 5 pushes the drill rod 3 to the predetermined target position calibrated in advance, and it can be judged that when the drill rod 3 enters the finger beam gap 2, the corresponding extension length of the manipulator 5 is .by As the judgment threshold, when the robot 5 extends to a length greater than or equal to , the drill rod 3 has entered the finger beam gap 2, the manipulator 5 controls the manipulator 5 to open the gripper 6 of the manipulator 7, and continues to push the drill rod 3 to the target placement position. The manipulator 5 retracts. At this time, when the proximity switch in the gripper 6 detects that the drill rod 3 has left the gripper 6, the number of drill rods in the current row S[n]=S[n]+1, and so on, the counting is cyclic, and the number of drill rods 3 in the finger beam gap 2 is counted.

[0084] When counting down, if the current row of drill rods S[n]>0, the gripper 6 of the manipulator 5 extends forward without load into the finger beam gap 2 to grab the drill rod 3. After the proximity switch in the gripper 6 detects that the drill rod 3 enters the gripper 6, the manipulator finger 7 is controlled to close, and the manipulator 5 pulls out the drill rod 3 and retracts it. When the extended length of the manipulator 5 is When , the number of drill rods in the current row S[n]=S[n]-1, and so on, the counting is cyclical, and the number of drill rods 3 in the finger beam gap 2 is reduced.

[0085] In this embodiment, the drill rod 3 counting method based on the process flow gets rid of the counting process's dependence on external sensors and other means, and achieves accurate counting of the drill rods 3 existing in the finger beam gap 2 through comprehensive decision-making on the working path of the manipulator 5, the drill rod position status, and the opening and closing status of the manipulator fingers.

[0086] In some embodiments, the target length is constrained by the following mathematical expression:

[0087] ;

[0088] in, is the target length, is the length of the beam, is the number of existing drill pipes 3, is the body diameter of the drill pipe 3, is the coupling diameter of drill pipe 3.

[0089] In the present embodiment, a coupling 8 is usually provided on the outer cover of the drill rod 3, and the coupling diameter of the drill rod 3 is larger than the main body diameter of the drill rod 3. Since multiple drill rods 3 are closely arranged in sequence in the finger beam gap 2, the couplings 8 provided on the multiple drill rods 3 are in direct contact without leaving any gaps. Therefore, the specific formula for calculating the target length given in the present embodiment can be used to utilize data such as the number of drill rods 3, the main body diameter and the coupling diameter to achieve the process of pushing the target drill rod to be placed from the waiting position into the target placement position in the target placement finger beam gap. The end of the manipulator 5 needs to accurately position the length extended in the depth direction of the target placement finger beam gap.

[0090] The position of the drill rod 3 to be closely arranged in a limited space is calculated, which solves the problem of the traditional positioning method relying on position calibration. In particular, when drill rods 3 of different sizes and specifications are used on site, the traditional method requires tedious and repeated calibration of the placement positions corresponding to different types of drill rods 3. This positioning method only requires the operator to select the type of drill rod 3 currently in use and obtain the size data of the corresponding type of drill rod 3. The target placement position can be automatically calculated, which greatly reduces the difficulty of operation and simplifies the operation process.

[0091] The drill rods 3 are closely arranged in the finger beam gap 2, as shown in FIG. Figure 4 As shown, the actual target length corresponding to pushing the drill rod 3 into the finger beam gap 2 is the finger beam length Subtract the distance occupied by the drill rod 3 , The diameter of the coupling of S[n]+1 drill pipe 3 is included , but the circle of the collar 8 protruding relative to the body is not included, that is ( ), so the following mathematical expression is obtained:

[0092] ;

[0093] ;

[0094] Therefore, the following mathematical expression is obtained:

[0095] ;

[0096] in, is the target length, is the length of the beam, is the number of existing drill pipes 3, is the body diameter of the drill pipe 3, is the coupling diameter of drill pipe 3.

[0097] In some embodiments, the target rotation angle is constrained by the following mathematical expression:

[0098] ;

[0099] in, is the target rotation angle, is the target length, is the first constant, is the second constant, is the third constant.

[0100] In this embodiment, since the extended length of the manipulator 5 and the rotation angle of the central axis are in a nonlinear relationship, the extended lengths of the manipulator 5 at multiple positions and the corresponding rotation angles of the central axis are measured, and the two values ​​are quadratically fitted to obtain the corresponding relationship between the two, and then the relationship between the target rotation angle and the target length can be obtained. This relationship can be used to calculate the required target rotation angle based on the target length.

[0101] The first constant, the second constant and the third constant can be determined according to the specific conditions such as the model of the manipulator 5. Specifically, in some cases, the target rotation angle can be constrained by the following mathematical expression:

[0102] ;

[0103] in, is the target rotation angle, is the target length.

[0104] In some embodiments, the buffer rotation angle is the difference between the target rotation angle and the preset buffer angle;

[0105] The buffer speed of robot 5 at the current moment is constrained by the following mathematical expression:

[0106] ;

[0107] in, is the buffer speed of robot 5 at the current moment, To preset the initial speed, is the target rotation angle, For real-time rotation angle, The preset buffer angle.

[0108] In this embodiment, in order to reduce the collision between the drill rods 3 when the drill rods 3 are pushed into a tightly arranged position, a ramp deceleration relationship is established based on the current speed being proportional to the distance difference between the current position and the target placement position. The closer the distance, the smaller the target speed is, until the speed drops to zero when the target placement position is reached. The extended length of the manipulator 5 is related to the rotation angle of the central axis. Therefore, a ramp deceleration relationship can be established based on the current speed being proportional to the angle difference between the current real-time rotation angle and the target rotation angle. This achieves a buffering effect, reduces the impact of the drill rods 3 reaching the tightly arranged position, and reduces the impact on other drill rods 3 and the safety and stability of the current working platform.

[0109] When the manipulator 5 pushes the target drill rod to be placed from the waiting position to the buffer position, the manipulator 5 moves at a preset initial speed. When the robot reaches the buffer position at a constant speed, the real-time rotation angle of the central axis of the robot 5 at this time is is the buffer rotation angle ( ), the buffer push strategy will be executed. In the process from the buffer position to the target placement position, the robot 5 will push the buffer speed according to the buffer speed. Propel, buffer speed According to the current real-time rotation angle Depends on the current real-time rotation angle Continuously approaching the target rotation angle , buffer speed It also gradually decreases until it reaches the target placement position. At this time, the corresponding real-time rotation angle Rotate the target angle , buffer speed is 0 to complete the entire deceleration process.

[0110] like Figure 2 As shown, in some embodiments, the manipulator 5 includes a gripper 6, on which a manipulator finger 7 is disposed, and the manipulator finger 7 grasps and releases the drill rod 3 in the gripper 6 by rotating to close and to open. Figure 5 As shown, the rotation opening action of the mechanical finger 7 is that the mechanical finger 7 rotates and retracts toward the inside of the gripper 6, so that the gripper 6 is opened, as shown in FIG. Figure 6 As shown, the rotation closing action of the mechanical finger 7 is that the originally retracted mechanical finger 7 rotates and extends until the gripper 6 is closed.

[0111] During the placement of the drill rod 3, after the manipulator 5 grabs the drill rod 3 from other positions, the drill rod 3 is located in the gripper 6. After the proximity switch in the gripper 6 detects the drill rod 3, the manipulator fingers 7 driven by the DC motors on both sides of the gripper 6 close the drill rod 3 in the gripper 6, and the manipulator 5 extends forward and moves the gripper 6 horizontally to push the drill rod 3 into the target placement position of the finger beam gap 2. During this process, it is necessary to ensure that the drill rod 3 can be pushed and supported by the manipulator 5 and is close to the existing drill rod 3 in the finger beam gap 2, and at the same time, there should be no large impact between the drill rods 3 when they are about to be placed in place.

[0112] During the process of grabbing the drill rod 3, the proximity switch in the gripper 6 of the manipulator 5 detects that the drill rod 3 enters the gripper 6, and the fingers are closed. Since the drill rods 3 are closely arranged with each other, the gap between the drill rod 3 entering the gripper 6 and the adjacent drill rod 3 is small, which will cause the manipulator fingers 7 to be stuck by the adjacent drill rod when performing the rotation closing action. The fingers cannot completely close the drill rod 3 entering the gripper 6, and the drill rod 3 cannot be pulled out. Therefore, when the manipulator 5 pulls out a single-column drill rod 3, it is necessary to add an anti-stuck strategy to improve the success rate of the gripper 6 in grabbing the drill rod 3.

[0113] The proximity switch may be a magnetic induction sensor, which may be used to sense the metal drill rod 3 entering or leaving the gripper 6 .

[0114] In some embodiments, the manipulator 5 includes a gripper 6, on which a mechanical finger 7 is disposed, and the mechanical finger 7 grasps and releases the drill rod 3 in the gripper 6 by rotating to close and to open, and the drill rod grasping and placing method further includes:

[0115] In response to the grabbing instruction, the gripper 6 is controlled to move to the position corresponding to the target drill rod to be grabbed, the mechanical finger 7 is controlled to perform a rotation closing action, and an anti-jamming strategy is implemented until the mechanical finger 7 is closed in place;

[0116] Among them, the anti-stuck strategy includes:

[0117] Obtaining the rotational displacement of the mechanical finger 7;

[0118] When the rotation displacement indicates that the mechanical finger 7 is stuck, the gripper 6 is controlled to retract to a preset retraction degree, and the mechanical finger 7 is controlled to perform a rotational closing action for a preset closing time.

[0119] In this embodiment, the anti-stuck strategy can achieve the situation that when the rotational displacement indicates that the mechanical finger 7 is stuck, the manipulator 5 is triggered to retract to increase the activity space for the finger closing to avoid jamming. At the same time, when the manipulator 5 retracts, the control finger performs a rotational closing action, which can effectively prevent the drill rod 3 from falling off and improve the success rate and safety of grabbing the drill rod 3.

[0120] The above-mentioned rotation displacement may be the rotation angle of the mechanical finger 7 during the process of performing the rotation closing action.

[0121] The preset retraction degree may be a preset appropriate degree of retraction of the gripper 6 when a jam occurs, specifically a preset retraction length of the manipulator 5, or a preset rotation angle of the central axis corresponding to a certain degree of retraction of the manipulator 5.

[0122] In some implementations, obtaining the rotational displacement of the mechanical finger 7 includes:

[0123] Get the current periodic rotation angle of the robot finger 7;

[0124] The rotation displacement of the robot finger 7 is determined according to the current period rotation angle and the preset rotation angle.

[0125] In this embodiment, the preset rotation angle can be pre-set according to the reference operation data of the robot finger 7 under normal working conditions. By obtaining the current cycle rotation angle, when the current cycle rotation angle is greater than or equal to the preset rotation angle, the rotational displacement situation indicates that the robot finger 7 works normally during the rotation closing action and there is no jamming. When the current cycle rotation angle is less than the preset rotation angle, the rotational displacement situation indicates that the robot finger 7 is jammed.

[0126] In some embodiments, when the gripper 6 moves to the position corresponding to the target drill rod to be grasped, the proximity switch in the gripper 6 detects that the drill rod 3 enters the gripper 6, and controls the mechanical finger 7 to perform the rotation closing action, and starts to periodically obtain the rotation displacement of the mechanical finger 7. The detection period of the rotation displacement corresponding to the finger rotation closing action can be set to , the preset rotation angle within the detection cycle when the mechanical finger 7 is normally closed is .

[0127] The angle of the robot finger 7 corresponding to the end of the current detection cycle is , the angle of the robot finger 7 corresponding to the end of the previous detection cycle is , then the current periodic rotation angle of the robot finger 7 is ( ), when the following relationship is detected:

[0128] ;

[0129] It is determined that the closing action of the fingers is stuck by the adjacent drill rods when grabbing the drill rods 3. At this time, the gap between the drill rods 3 needs to be increased to increase the activity space when the fingers are closed. Through this stuck state, the manipulator 5 is controlled to retract.

[0130] In some embodiments, when the gripper 6 moves to the position corresponding to the target drill rod to be grasped, the proximity switch in the gripper 6 detects that the drill rod 3 enters the gripper 6, and controls the mechanical finger 7 to perform a rotation closing action, and starts to periodically obtain the rotation displacement of the mechanical finger 7. The detection period of the rotation displacement corresponding to the finger rotation closing action can be set to , the preset rotation angle per unit time when the mechanical finger 7 is normally closed is .

[0131] The angle of the robot finger 7 corresponding to the end of the current detection cycle is , the angle of the robot finger 7 corresponding to the end of the previous detection cycle is , then the current periodic rotation angle of the robot finger 7 is ( ), when the following relationship is detected:

[0132] ;

[0133] It is determined that the closing action of the fingers is stuck by the adjacent drill rods when grabbing the drill rods 3. At this time, it is necessary to increase the gap between the drill rods 3 to increase the activity space when the fingers are closed. Through this stuck state, the manipulator 5 is controlled to retract.

[0134] In some embodiments, controlling the manipulator 5 to retract to a preset retraction degree includes:

[0135] The rotation angle of the central axis of the robot 5 is controlled to decrease the preset retraction angle.

[0136] In this embodiment, the manipulator 5 is controlled to retract to a preset retraction degree by controlling the rotation angle of the central axis of the manipulator 5 to reduce the preset retraction angle, so that accurate control of each retraction action can be achieved.

[0137] In some embodiments, in order to prevent the risk of the drill rod 3 falling off when the manipulator 5 is retracted and the fingers are not completely closed in place, during the retraction of the manipulator 5, the manipulator fingers 7 are controlled to intermittently and cyclically perform the closing action, that is, each time the manipulator 5 is retracted to a preset retraction angle, the fingers cooperate to perform a pulsed closing action, and the closing action stops after each preset closing time, and the above process is repeated until the manipulator fingers 7 are closed in place to completely pull out the drill rod 3. Setting a preset closing time for the closing action to last can prevent safety hazards caused by long-term stuck and long-term continuous operation of the device.

[0138] The drill rod grabbing and placing method provided in the embodiment of the present application can be performed by the drill rod grabbing and placing device 200. In the embodiment of the present application, the drill rod grabbing and placing device 200 performs the drill rod grabbing and placing method as an example to illustrate the drill rod grabbing and placing device 200 provided in the embodiment of the present application.

[0139] See also Figure 7 , is a schematic diagram of the structure of a drill rod grabbing and placing device 200 provided in an embodiment of the present application. Figure 7 As shown, the drill rod grabbing and placing device 200 includes:

[0140] A determination module 201 is used to determine the target placement finger beam gap in response to the placement instruction;

[0141] The first control module 202 is used to control the manipulator 5 to grab the target drill rod to be placed and move it to a waiting position before extending into the target placement finger beam gap, wherein the waiting position corresponds to the target placement finger beam gap, and when there are multiple drill rods 3 in the target placement finger beam gap, the multiple drill rods 3 in the target placement finger beam gap are arranged closely in sequence;

[0142] The first acquisition module 203 is used to acquire the number of existing drill rods 3 in the target placement finger beam gap, and acquire the target length according to the number of existing drill rods 3; wherein the target length is the length that the end of the manipulator 5 needs to extend along the depth direction of the target placement finger beam gap in the process of pushing the target drill rod to be placed from the waiting position to the target placement position in the target placement finger beam gap;

[0143] The second acquisition module 204 is used to acquire the target rotation angle of the central axis of the manipulator 5 according to the target length;

[0144] The second control module 205 is used to control the manipulator 5 to push the target drill rod to be placed from the waiting position to the buffer position according to the preset initial speed of the manipulator 5, and the buffer position is the position corresponding to when the rotation angle of the central axis of the manipulator 5 is the buffer rotation angle, and the buffer rotation angle is determined according to the preset buffer angle and the target rotation angle;

[0145] The third control module 206 is used to control the manipulator 5 to execute the buffer push strategy when the target drill rod to be placed reaches the buffer position, until the manipulator 5 pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle;

[0146] Among them, the buffer push strategy includes:

[0147] Obtain the real-time rotation angle of the central axis of the manipulator 5;

[0148] According to the real-time rotation angle, the buffer speed of the manipulator 5 at the current moment is obtained;

[0149] The advancement speed of the end of the manipulator is adjusted according to the buffer speed.

[0150] In some implementations, the first acquisition module 203 may be used to acquire a target length, constrained by the following mathematical expression:

[0151] ;

[0152] in, is the target length, is the length of the beam, is the number of existing drill pipes 3, is the body diameter of the drill pipe 3, is the coupling diameter of drill pipe 3.

[0153] In some implementations, the second acquisition module 204 may be used to acquire a target rotation angle, which is constrained by the following mathematical expression:

[0154] ;

[0155] in, is the target rotation angle, is the target length, is the first constant, is the second constant, is the third constant.

[0156] In some embodiments, the buffer rotation angle is the difference between the target rotation angle and the preset buffer angle; the third control module 206 can be used to obtain the buffer speed of the manipulator 5 at the current moment, which is constrained by the following mathematical expression:

[0157] ;

[0158] in, is the buffer speed of robot 5 at the current moment, To preset the initial speed, is the target rotation angle, For real-time rotation angle, The preset buffer angle.

[0159] In some embodiments, the manipulator 5 includes a gripper 6, on which a mechanical finger 7 is provided, and the mechanical finger 7 grasps and releases the drill rod 3 in the gripper 6 by rotating to close and to open, and the drill rod grasping and placing device further includes an anti-jamming module, which can be used for:

[0160] In response to the grabbing instruction, the gripper 6 is controlled to move to the position corresponding to the target drill rod to be grabbed, the mechanical finger 7 is controlled to perform a rotation closing action, and an anti-jamming strategy is implemented until the mechanical finger 7 is closed in place;

[0161] Among them, the anti-stuck strategy includes:

[0162] Obtaining the rotational displacement of the mechanical finger 7;

[0163] When the rotation displacement indicates that the mechanical finger 7 is stuck, the gripper 6 is controlled to retract to a preset retraction degree, and the mechanical finger 7 is controlled to perform a rotational closing action for a preset closing time.

[0164] In some embodiments, the anti-jamming module can be used to:

[0165] Get the current periodic rotation angle of the robot finger 7;

[0166] The rotation displacement of the robot finger 7 is determined according to the current period rotation angle and the preset rotation angle.

[0167] In some embodiments, the anti-jamming module can be used to:

[0168] The rotation angle of the central axis of the robot 5 is controlled to decrease the preset retraction angle.

[0169] Since the drill rod grabbing and placing device 200 adopts all the technical solutions of the drill rod grabbing and placing method of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0170] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0171] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0172] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0173] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0174] In some embodiments, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0175] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the drill rod grabbing and placing methods in the above embodiments.

[0176] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 8 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0177] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0178] Bus 310 includes hardware, software or both, and couples the components of online data traffic billing equipment to each other. For example, but not limitation, the bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnect (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0179] The electronic device can execute the drill rod grabbing and placing method in the embodiment of the present application, thereby realizing the combination Figure 3 and Figure 7 The invention discloses a method and device for grabbing and placing drill rods.

[0180] In addition, in combination with the drill rod grabbing and placing method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the drill rod grabbing and placing methods in the above embodiment is implemented.

[0181] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0182] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0183] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0184] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0185] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for grabbing and placing a drill rod, characterized in that: include: In response to the placement instruction, determining a target placement finger beam gap; Control the manipulator to grab the target drill rod to be placed and move it to a waiting position before extending into the target placement finger beam gap, wherein the waiting position corresponds to the target placement finger beam gap, and when there are multiple drill rods in the target placement finger beam gap, the multiple drill rods in the target placement finger beam gap are arranged closely in sequence; Obtaining the number of existing drill rods in the target placement finger beam gap, and obtaining a target length according to the number of existing drill rods; wherein the target length is the length that the end of the manipulator needs to extend in the depth direction of the target placement finger beam gap in the process of pushing the target drill rod to be placed from the waiting position into the target placement position in the target placement finger beam gap; According to the target length, obtaining a target rotation angle at which the central axis of the manipulator needs to rotate; According to a preset initial speed of the manipulator, the manipulator is controlled to push the target drill rod to be placed from the waiting position to a buffer position, wherein the buffer position is a position corresponding to when the rotation angle of the central axis of the manipulator is a buffer rotation angle, and the buffer rotation angle is determined according to a preset buffer angle and the target rotation angle; When the target drill rod to be placed reaches the buffer position, controlling the manipulator to execute a buffer push strategy until the manipulator pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle; The buffer push strategy includes: Obtaining the real-time rotation angle of the central axis of the manipulator; According to the real-time rotation angle, the buffer speed of the manipulator at the current moment is obtained; The propulsion speed of the end of the manipulator is adjusted according to the buffer speed.

2. The drill rod grabbing and placing method according to claim 1, characterized in that: The target length is constrained by the following mathematical expression: ； in, is the target length, is the length of the beam, is the number of existing drill pipes, is the body diameter of the drill pipe, is the coupling diameter of the drill pipe.

3. The drill rod grabbing and placing method according to claim 1 or 2, characterized in that: The target rotation angle is constrained by the following mathematical expression: ； in, is the target rotation angle, is the target length, is the first constant, is the second constant, is the third constant.

4. The drill rod grabbing and placing method according to claim 1, characterized in that: The buffer rotation angle is the difference between the target rotation angle and the preset buffer angle; The buffer speed of the manipulator at the current moment is constrained by the following mathematical expression: ； in, is the buffer speed of the manipulator at the current moment, is the preset initial speed, is the target rotation angle, is the real-time rotation angle, is the preset buffer angle.

5. The drill rod grabbing and placing method according to claim 1, characterized in that: The manipulator comprises a gripper, and a mechanical finger is arranged on the gripper, and the mechanical finger grasps and releases the drill rod in the gripper through a rotation closing action and a rotation opening action, and the drill rod grasping and placing method also includes: In response to the grabbing instruction, the gripper is controlled to move to a position corresponding to the target drill rod to be grabbed, the mechanical finger is controlled to perform the rotation closing action, and an anti-jamming strategy is implemented until the mechanical finger is closed in place; The anti-stuck strategy includes: Obtaining the rotational displacement of the mechanical finger; When the rotational displacement indicates that the mechanical finger is stuck, the gripper is controlled to retract to a preset retraction degree, and the mechanical finger is controlled to perform the rotational closing action for a preset closing time.

6. The drill rod grabbing and placing method according to claim 5, characterized in that: The obtaining of the rotational displacement of the mechanical finger includes: Obtaining the current periodic rotation angle of the robotic finger; The rotation displacement of the mechanical finger is determined according to the current period rotation angle and the preset rotation angle.

7. The drill rod grabbing and placing method according to claim 5, characterized in that: The controlling the manipulator to retract to a preset retraction degree comprises: The rotation angle of the central axis of the manipulator is controlled to reduce a preset retraction angle.

8. A drill rod grabbing and placing device, characterized in that: include: A determination module, for determining a target placement finger beam gap in response to a placement instruction; The first control module is used to control the manipulator to grab the target drill rod to be placed and move it to a waiting position before extending into the gap between the target placement finger beams, wherein the waiting position corresponds to the gap between the target placement finger beams, and when there are multiple drill rods in the gap between the target placement finger beams, the multiple drill rods in the gap between the target placement finger beams are arranged closely in sequence; A first acquisition module is used to acquire the number of existing drill rods in the target placement finger beam gap, and acquire a target length according to the number of existing drill rods; wherein the target length is the length that the end of the manipulator needs to extend along the depth direction of the target placement finger beam gap in the process of pushing the target drill rod to be placed from the waiting position to the target placement position in the target placement finger beam gap; A second acquisition module is used to acquire a target rotation angle of the central axis of the manipulator according to the target length; A second control module is used to control the manipulator to push the target drill rod to be placed from the waiting position to a buffer position according to a preset initial speed of the manipulator, wherein the buffer position is a position corresponding to when the rotation angle of the central axis of the manipulator is a buffer rotation angle, and the buffer rotation angle is determined according to a preset buffer angle and the target rotation angle; A third control module is used to control the manipulator to execute a buffer push strategy when the target drill rod to be placed reaches the buffer position, until the manipulator pushes the target drill rod to be placed from the buffer position to the target placement position according to the target rotation angle; The buffer push strategy includes: Obtaining the real-time rotation angle of the central axis of the manipulator; According to the real-time rotation angle, the buffer speed of the manipulator at the current moment is obtained; The propulsion speed of the end of the manipulator is adjusted according to the buffer speed.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the drill rod grabbing and placing method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the drill rod grabbing and placing method as described in any one of claims 1 to 7.

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