Remote control method and device for cantilever type wellhead resetting robot

Abstract

The invention discloses a remote control method and device for a cantilever type wellhead reset robot. The remote control method and device are used for reducing the danger of the cantilever type wellhead reset robot in a special environment. The method comprises the following steps: generating a digital twin 3D base map according to a true color point cloud picture; constructing a remote control cabin; a pose sensing sensor system, an environment detection sensing laser radar system and a visual sensor system are arranged on the cantilever type wellhead resetting robot; the operation state data, the multi-path high-definition video image transmission signals, the machine posture action information and the well site rescue area scanning data are transmitted to a remote control cabin; constructing a 3D model and placing the 3D model on the digital twin 3D base map; performing real-time attitude restoration and real-time state restoration on the 3D model; generating a real-time point cloud picture of a wellhead reset operation site, and accessing the 3D model and machine posture action information; and the multi-path high-definition video image transmission signals, the operation state data, the digital twin 3D base map and the real-time point cloud picture are displayed on the remote control cabin.

Description

Technical Field

[0001] The present invention relates to the technical field of well control emergency rescue, and in particular to a remote control method and device for a cantilevered wellhead resetting robot. Background Art

[0002] With the continuous iteration and update of mechanical technology, my country has made continuous breakthroughs in resource mining and facility construction. The challenges that need to be faced are the dangerous situations that may occur during the mining and construction process. Only with relatively complete rescue capabilities can we complete rescue tasks in complex environments and reduce the possibility of secondary damage.

[0003] At present, the wellhead reset link in the field of well control emergency rescue requires precise operation. The cantilever wellhead reset robot developed based on the operating principle of the rotary drilling rig can be used to perform wellhead flange stripping, new wellhead centering, reset and other operations in the wellhead reset link. At present, the global navigation satellite system has been mature and widely used in the precise operation of rotary drilling rigs (cantilever wellhead reset robot) such as pile foundation operation, but it faces the harsh environment of strong heat radiation, lateral fire, high noise, and hydrogen sulfide gas during well control rescue. The control risk factor in the cab is very high. Now a 433HZ wireless remote control is used for short-range remote control, but its control distance is limited and it cannot be operated outside the visual range of the human eye. When the camera is faced with the common water mist, smoke, and video overexposure caused by high brightness in well control rescue, the perception effect of the surrounding environment is not good, and it is impossible to accurately grasp the surrounding terrain changes and the changes in the running posture of the cantilever wellhead reset robot from a long distance. The accuracy cannot meet the requirements during remote control operation. At the well control and rescue site, the ground conditions become complicated due to the long-term operation of large machinery and large amounts of water spraying and soaking. At the same time, the rotary drilling rig on the cantilever wellhead reset robot is heavy and has a high center of gravity, which makes it prone to rollover risks, increasing the danger of the cantilever wellhead reset robot in special environments. Summary of the invention

[0004] The invention discloses a remote control method and device of a cantilever wellhead resetting robot, which are used to reduce the danger of the cantilever wellhead resetting robot in special environments.

[0005] A first aspect of the present invention provides a remote control method for a cantilever wellhead resetting robot, comprising:

[0006] Obtain a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map based on the true color point cloud image, which contains the world coordinate data of objects at the wellhead reset operation site;

[0007] The remote control cabin is constructed according to the control mode and cab layout of the cantilever wellhead reset robot;

[0008] A posture perception sensor system is provided on the cantilever wellhead resetting robot;

[0009] An environment detection and perception laser radar system is set on the cantilever wellhead reset robot;

[0010] Setting up a visual sensor system on a cantilevered wellhead resetting robot;

[0011] The operation status data, multi-channel high-definition video transmission signals, tool posture motion information and well site rescue area scanning data are transmitted to the remote control cabin. The operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environmental detection perception laser radar system at the wellhead reset operation site;

[0012] Build a 3D model based on the structural model of the cantilever wellhead reset robot and place the 3D model in the digital twin 3D base map;

[0013] According to the posture and motion information of the machine and the operation status data, the 3D model in the digital twin 3D base map is restored in real time in posture and state.

[0014] Generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scan data and 3D model, and access the 3D model and machine posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model;

[0015] Multi-channel high-definition video transmission signals, operating status data, digital twin 3D base map, and real-time point cloud images are displayed on the display of the remote control cabin, allowing rescue workers to operate them.

[0016] Optionally, obtain a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map based on the true color point cloud image, including:

[0017] Use a ground laser scanner to scan the wellhead reset operation site at at least three safe sight points, and output a true color point cloud image, which contains the world coordinate data of objects at the wellhead reset operation site;

[0018] The true color point cloud data in the true color point cloud image is thinned and imported into the Unity 3D engine to generate a digital twin 3D base map.

[0019] Optionally, before displaying the multi-channel high-definition video transmission signals, the operation status data, the digital twin 3D base map, and the real-time point cloud image on the display of the remote control cabin, the remote control method further includes:

[0020] Obtain the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the measuring station P1 and the backsight point P2;

[0021] The digital twin 3D base map is coordinate corrected using the total station cylindrical center point measurement program and combined with the wellhead center coordinates P0, station point P1 and backsight point P2.

[0022] Optionally, after using the total station cylinder center point measurement program and combining the wellhead center coordinates P0, the station point P1 and the backsight point P2 to perform coordinate correction on the digital twin 3D base map, the remote control method further includes:

[0023] The wellhead center coordinate P3 is calculated again at another horizontal height, and the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3 are determined;

[0024] Calculate the tilt displacement angle of the wellhead according to the XZ axis parameters of the wellhead center coordinates P0 and P3;

[0025] A wellhead model is generated in the digital twin 3D base map according to the wellhead center coordinates P0, P3 and the inclination displacement angle of the wellhead.

[0026] Optional, the posture perception sensor system consists of 3 tilt sensors, 1 data solution touch all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas;

[0027] A posture perception sensor system is set on the cantilever wellhead reset robot, including:

[0028] The three inclination sensors are respectively integrated on the top armor of the robot cockpit, the back of the robot drilling mast and the side of the robot luffing mechanism of the cantilever wellhead resetting robot;

[0029] Install two GNSS antennas on the back of the drill mast and the counterweight behind the robot, and install the central rotary encoder on the rotary gear mechanism where the upper and lower vehicles are connected.

[0030] The data solution touch integrated machine is arranged in the cockpit of the cantilever wellhead reset robot, and the data solution touch integrated machine is connected to the GNSS antenna and three inclination sensors.

[0031] Optionally, after building a 3D model according to the structural model of the cantilever wellhead resetting robot and placing the 3D model on the digital twin 3D base map, the remote control method further includes:

[0032] Use GNSS antennas, satellites and real-time dynamic positioning technology to determine the coordinate data of the cantilever wellhead reset robot;

[0033] The real-time position restoration of the 3D model in the digital twin 3D base map is carried out through coordinate data correction.

[0034] Optional, the environment detection and perception laser radar system includes 3 laser radars, 3 laser radar protection mechanisms and 1 laser radar point cloud processing industrial computer. Among the 3 laser radars, there are 2 high-resolution laser radars and 1 wide-viewing angle laser radar;

[0035] An environment detection and perception lidar system is set up on the cantilever wellhead reset robot, including:

[0036] Two high-resolution laser radars are respectively installed on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm;

[0037] The wide-angle laser radar is vertically set on the counterweight of the cantilever wellhead reset robot, and the outside of the three laser radars are all provided with a laser radar protection mechanism that can be lifted and displaced;

[0038] The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the cantilever wellhead reset robot, and the laser radar point cloud processing industrial computer is connected to three laser radars.

[0039] Optionally, the remote control cabin is provided with a first broadband self-organizing network access system, the first broadband self-organizing network access system includes 1 4G / 5G CPE host, at least 2 filter units, at least 2 antenna units, the antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit. The cantilever wellhead reset robot is provided with a second broadband self-organizing network access system, the second broadband self-organizing network access system includes 1 sMesh host, 2 filters, and 2 antennas. The 2 antennas are arranged at the rear of the cab of the cantilever wellhead reset robot, and the sMesh host is arranged inside the cab of the cantilever wellhead reset robot. The antenna is connected to the sMesh host through the filter, and the first broadband self-organizing network access system and the second broadband self-organizing network access system are connected to the same Mesh wireless self-organizing network;

[0040] Transmits operating status data, multi-channel high-definition video transmission signals, tool posture information, and well site rescue area scanning data to the remote control cabin, including:

[0041] The operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data are connected to the second broadband self-organizing network access system;

[0042] The data accessed to the second broadband ad hoc network access system is input into the first broadband ad hoc network access system of the remote control cabin through the Mesh wireless ad hoc network.

[0043] A second aspect of the present invention provides a remote control device for a cantilever wellhead resetting robot, comprising:

[0044] A first acquisition unit is used to acquire a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map based on the true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site;

[0045] A first construction unit is used to construct a remote control cabin according to the control mode and cab layout of the cantilever wellhead reset robot;

[0046] A first setting unit is used to set a posture perception sensor system on the cantilever wellhead resetting robot;

[0047] A second setting unit is used to set an environment detection perception laser radar system on the cantilever wellhead reset robot;

[0048] A third setting unit is used to set a visual sensor system on the cantilever wellhead resetting robot;

[0049] A transmission unit is used to transmit operation status data, multi-channel high-definition video transmission signals, machine tool posture motion information, and well site rescue area scanning data to the remote control cabin, wherein the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site;

[0050] A second construction unit is used to construct a 3D model according to the structural model of the cantilever wellhead resetting robot and place the 3D model in the digital twin 3D base map;

[0051] A real-time restoration unit is used to perform real-time posture restoration and real-time state restoration on the 3D model in the digital twin 3D base map according to the posture and motion information of the machine and the operation status data;

[0052] The first generating unit is used to generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scanning data and the 3D model, and access the 3D model and the machine tool posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model;

[0053] The display unit is used to display multiple high-definition video transmission signals, operating status data, digital twin 3D base map, and real-time point cloud images on the display of the remote control cabin, so that rescue workers can operate them.

[0054] Optionally, the first acquisition unit includes:

[0055] Use a ground laser scanner to scan the wellhead reset operation site at at least three safe sight points, and output a true color point cloud image, which contains the world coordinate data of objects at the wellhead reset operation site;

[0056] The true color point cloud data in the true color point cloud image is thinned and imported into the Unity 3D engine to generate a digital twin 3D base map.

[0057] Optionally, before the display unit, the remote control device also includes:

[0058] The second acquisition unit is used to acquire the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the station point P1 and the backsight point P2;

[0059] The correction unit is used to use the total station cylinder center point measurement program and combine the wellhead center coordinates P0, the measuring station P1 and the backsight point P2 to perform coordinate correction on the digital twin 3D base map.

[0060] Optionally, after the calibration unit, the remote control device further comprises:

[0061] A first determining unit, used to calculate the wellhead center coordinate P3 again at another level, and determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3;

[0062] A calculation unit, used for calculating the tilt displacement angle of the wellhead according to the XZ axis parameters of the wellhead center coordinates P0 and P3;

[0063] The second generating unit is used to generate a wellhead model in the digital twin 3D base map according to the wellhead center coordinate P0, the wellhead center coordinate P3 and the inclination displacement angle of the wellhead.

[0064] Optional, the posture perception sensor system consists of 3 tilt sensors, 1 data solution touch all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas;

[0065] The first setting unit includes:

[0066] The three inclination sensors are respectively integrated on the top armor of the robot cockpit, the back of the robot drilling mast and the side of the robot luffing mechanism of the cantilever wellhead resetting robot;

[0067] Install two GNSS antennas on the back of the drill mast and the counterweight behind the robot, and install the central rotary encoder on the rotary gear mechanism where the upper and lower vehicles are connected.

[0068] The data solution touch integrated machine is arranged in the cockpit of the cantilever wellhead reset robot, and the data solution touch integrated machine is connected to the GNSS antenna and three inclination sensors.

[0069] Optionally, after the second building unit, the remote control device further includes:

[0070] A second determination unit is used to determine coordinate data of the cantilever wellhead resetting robot using a GNSS antenna, a satellite and a real-time dynamic positioning technology;

[0071] The position restoration unit is used to restore the real-time position of the 3D model in the digital twin 3D base map through coordinate data correction.

[0072] Optional, the environment detection and perception laser radar system includes 3 laser radars, 3 laser radar protection mechanisms and 1 laser radar point cloud processing industrial computer. Among the 3 laser radars, there are 2 high-resolution laser radars and 1 wide-viewing angle laser radar;

[0073] The second setting unit includes:

[0074] Two high-resolution laser radars are respectively installed on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm;

[0075] The wide-angle laser radar is vertically set on the counterweight of the cantilever wellhead reset robot, and the outside of the three laser radars are all provided with a laser radar protection mechanism that can be lifted and displaced;

[0076] The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the cantilever wellhead reset robot, and the laser radar point cloud processing industrial computer is connected to three laser radars.

[0077] Optionally, the remote control cabin is provided with a first broadband self-organizing network access system, the first broadband self-organizing network access system includes 1 4G / 5G CPE host, at least 2 filter units, at least 2 antenna units, the antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit. The cantilever wellhead reset robot is provided with a second broadband self-organizing network access system, the second broadband self-organizing network access system includes 1 sMesh host, 2 filters, and 2 antennas. The 2 antennas are arranged at the rear of the cab of the cantilever wellhead reset robot, and the sMesh host is arranged inside the cab of the cantilever wellhead reset robot. The antenna is connected to the sMesh host through the filter, and the first broadband self-organizing network access system and the second broadband self-organizing network access system are connected to the same Mesh wireless self-organizing network;

[0078] Transmission unit, comprising:

[0079] The operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data are connected to the second broadband self-organizing network access system;

[0080] The data accessed to the second broadband ad hoc network access system is input into the first broadband ad hoc network access system of the remote control cabin through the Mesh wireless ad hoc network.

[0081] A third aspect of the present invention provides an electronic device, comprising:

[0082] Processor, memory, input-output unit, and bus;

[0083] The processor is connected to the memory, the input and output unit, and the bus;

[0084] The memory stores a program, and the processor calls the program to execute the remote control method of the cantilever wellhead reset robot as described in the first aspect and any optional method of the first aspect.

[0085] A fourth aspect of the present invention provides a computer-readable storage medium having a program stored thereon. When the program is executed on a computer, the remote control method of the cantilever wellhead reset robot according to the first aspect and any optional method of the first aspect is performed.

[0086] The advantages of adopting the present invention are:

[0087] The present invention first obtains a true color point cloud image of the wellhead reset operation site, and generates a digital twin 3D base map based on the true color point cloud image. The true color point cloud image contains the world coordinate data of the objects at the wellhead reset operation site, that is, the scene around the wellhead reset operation site is first scanned to obtain a virtual scene image. The remote control cabin is constructed according to the control method and cab layout of the cantilever wellhead reset robot, so that the driver can quickly familiarize himself with the remote control cabin. A posture perception sensor system is set on the cantilever wellhead reset robot, and the data obtained in different postures can be determined when the cantilever wellhead reset robot is running. An environmental detection perception laser radar system is set on the cantilever wellhead reset robot, which can sense the real-time distance between the surrounding objects and the cantilever wellhead reset robot. A visual sensor system is set on the cantilever wellhead reset robot to act as the eyes of the driver, so that the driver can observe the scene of the wellhead reset operation site in an immersive way. The operation status data, multi-channel high-definition video transmission signals, machine posture information and well site rescue area scanning data are transmitted to the remote control cabin. The operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine posture information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environmental detection perception laser radar system at the wellhead reset operation site. According to the structural model of the cantilever wellhead reset robot, a 3D model is constructed and placed in the digital twin 3D base map. The driver can make driving judgments based on the digital twin 3D base map and the 3D model, and confirm the real-time operation status of the current cantilever wellhead reset robot at the wellhead reset operation site. According to the machine posture information and operation status data, the 3D model in the digital twin 3D base map is restored in real time. The operation data of the equipment can be captured in real time and displayed in the digital twin 3D base map in a timely manner. A real-time point cloud image of the wellhead reset operation site is generated based on the well site rescue area scanning data and 3D model, and the 3D model and machine tool posture and motion information are connected. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model. The multi-channel high-definition video image transmission signal, operation status data, digital twin 3D base map, and real-time point cloud image are displayed on the display of the remote control cabin so that rescue workers can operate. By obtaining the true color point cloud image of the wellhead reset operation site and generating a digital twin 3D base map based on the true color point cloud image, the object coordinates of the objects in the entire scene are obtained, and by constructing a 3D model of the cantilever wellhead reset robot, and collecting machine tool posture and motion information and operation status data and connecting them to the 3D model, it is combined with multi-channel high-definition video image transmission signals and well site rescue area scanning data for assistance.During the operation of the cantilever wellhead reset robot, the driver can promptly understand the scene changes at the wellhead reset operation site and can promptly perform operations according to the changes on the ground and the wellhead, thereby reducing the danger of the cantilever wellhead reset robot in special environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 A schematic diagram of an embodiment of a remote control method of a cantilever wellhead resetting robot according to the present invention;

[0089] Figure 2-1 This is a schematic diagram of the first stage of another embodiment of the present invention;

[0090] Figure 2-2 This is a schematic diagram of the second stage of another embodiment of the present invention;

[0091] Figure 2-3 This is a schematic diagram of the third stage of another embodiment of the present invention;

[0092] Figure 3 A schematic diagram of an embodiment of a remote control device for a cantilever wellhead resetting robot according to the present invention;

[0093] Figure 4 A schematic diagram of another embodiment of a remote control device for a cantilever wellhead resetting robot according to the present invention;

[0094] Figure 5 FIG. 1 is a schematic diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0095] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0096] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0097] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0098] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0099] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0100] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0101] The invention discloses a remote control method and device of a cantilever wellhead resetting robot, which are used to reduce the danger of the cantilever wellhead resetting robot in special environments.

[0102] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0103] The method of the present invention can be applied to a server, a device, a terminal or other devices with logic processing capabilities, and the present invention does not limit this. For the convenience of description, the following description is made by taking the execution subject as an example of a terminal.

[0104] See also Figure 1 The present invention provides an embodiment of a remote control method of a cantilever wellhead resetting robot, comprising:

[0105] 101. Obtain a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map based on the true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site;

[0106] The terminal first scans the scene around the wellhead reset operation site, obtains the true color point cloud image of the wellhead reset operation site, and generates a digital twin 3D base map based on the true color point cloud image. The true color point cloud image contains the world coordinate data of objects at the wellhead reset operation site.

[0107] 102. Construct a remote control cabin based on the control method and cab layout of the cantilever wellhead reset robot;

[0108] A remote control cabin is constructed according to the cantilever wellhead reset robot. Specifically, it needs to be constructed according to the control method and cab layout of the cantilever wellhead reset robot, so that rescue workers can adapt to the remote control cabin and the cantilever wellhead reset robot to the greatest extent.

[0109] Specifically, the remote control cabin is an open structure, which includes at least a driver's seat, with left and right control handle boxes arranged on both sides of the seat, and a control panel set in the front. The control panel contains buttons such as switch simulation, and a display screen bracket above the control panel fixes 1 to 6 display screens, and below is the walking mechanism control pedal.

[0110] In this embodiment, the cantilever wellhead resetting robot is composed of a crawler walking chassis, a vehicle turntable, a drill mast, a tilting cylinder, a luffing mechanism, a wellhead clamp tooling, and a clamp cylinder.

[0111] 103. Set up a posture perception sensor system on the cantilever wellhead resetting robot;

[0112] 104. An environment detection and perception laser radar system is provided on the cantilever wellhead reset robot;

[0113] 105. Set up a visual sensor system on the cantilever wellhead reset robot;

[0114] A posture perception sensor system, an environment detection perception lidar system and a visual sensor system are set on the cantilever wellhead reset robot to obtain information about the rescue environment and the operation data of the cantilever wellhead reset robot.

[0115] 106. Transmit the operation status data, multi-channel high-definition video transmission signals, machine tool posture motion information and well site rescue area scanning data to the remote control cabin, the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site;

[0116] The terminal transmits the operating status data, multi-channel high-definition video transmission signals, equipment posture and motion information, and well site rescue area scanning data to the remote control cabin, among which the operating status data is the operating data of the cantilever wellhead reset robot.

[0117] In this embodiment, the operating status data is converted by the CAN to Ethernet tool into Ethernet data including the gear data, operating voltage, pump pressure, engine water temperature, fuel level, safety handle status, fault alarm, total fuel consumption, boom lifting, boom lowering, arm digging, arm unloading, bucket digging, bucket unloading, left walking, right walking, rotation signal, and vehicle rotation angle contained in the CAN bus, and connected to the remote control cabin.

[0118] The visual sensor system can be a camera, a still camera or other equipment, and the multi-channel high-definition video transmission signal is the 360-degree video data obtained when shooting the scene.

[0119] 107. Construct a 3D model based on the structural model of the cantilever wellhead reset robot and place the 3D model in the digital twin 3D base map;

[0120] In this embodiment, a 3D model is constructed based on the actual kinematic model and appearance structure of the cantilever wellhead reset robot and combined with the machine tool posture motion information. In the 3D modeling, the key motion nodes and axis points of the machine tool 3D model are calibrated according to the machine tool posture motion information.

[0121] 108. Perform real-time posture restoration and real-time state restoration on the 3D model in the digital twin 3D base map according to the posture and motion information of the machine and the operation status data;

[0122] In this embodiment, the machine posture motion information and operating status data can display the operating status of the cantilever wellhead reset robot to the greatest extent, such as common working voltage, pump pressure, engine water temperature, fuel level, etc., as well as boom lifting, boom lowering, arm digging, arm unloading, bucket digging and other data. The above data can be connected to the 3D model for real-time posture restoration and real-time status restoration, so that the driver can pay attention to the status of the equipment in time.

[0123] 109. Generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scan data and 3D model, and access the 3D model and machine posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model;

[0124] The terminal generates a real-time point cloud image of the wellhead reset operation site based on the scanning data and 3D model of the well site rescue area, mainly to detect the distance between the cantilever wellhead reset robot and surrounding objects.

[0125] In this embodiment, the laser radar industrial computer is connected to the cantilever wellhead reset robot switch, and the dynamic three-dimensional model of the cantilever wellhead reset robot is placed in the real-time perceived point cloud picture. The three-dimensional model is connected to the tilt sensor data, the central rotary encoder and the status data. In the point cloud picture, the three-dimensional model restores the whole vehicle posture and the posture of the moving parts of the robot. The industrial computer converts the laser radar point cloud and the real-time data-driven three-dimensional animation sequence frame picture into streaming media data and connects it to the broadband self-organizing network access system through the switch.

[0126] 110. Multiple channels of high-definition video transmission signals, operating status data, digital twin 3D base map, and real-time point cloud images are displayed on the display of the remote control cabin, allowing rescue workers to operate them.

[0127] In this embodiment, the industrial computer in the remote control cabin is equipped with a digital twin program, in which the digital twin implementation consists of three parts: one is the true color point cloud three-dimensional model of the well site rescue operation area; the second is the 3D model; the third is the position and posture data of the cantilever wellhead reset robot, the movement angle of each action component, and the real-time status data. In addition, the 3D model is placed in the true color point cloud three-dimensional model of the rescue operation area, and the posture and motion information of the machine and the real-time operation status data are accessed.

[0128] The middle part of the three parts displays the digital twin program screen. The digital twin screen in the middle has a semi-transparent status bar on the upper part, which contains the name of the cantilever wellhead reset robot, the cantilever wellhead reset robot ID, the cantilever wellhead reset robot coordinates, the cantilever wellhead reset robot speed, and a button to view details. Clicking the button displays the rated power, total fuel consumption, controller model, engine model, and hydraulic system model of the cantilever wellhead reset robot. The middle part is the real-time twin screen of the cantilever wellhead reset robot, with movement angles marked around each component of the cantilever wellhead reset robot 3D model. Below is a virtual instrument panel that displays engine speed, pump pressure, hydraulic oil temperature, engine water temperature, and fuel level.

[0129] The right screen displays the video surveillance screen, the upper part shows the main perspective facing the operation surface, and the lower part shows the stitched panoramic image.

[0130] The upper part of the left screen displays the images detected by the environment detection and perception laser radar system, including at least the real-time laser radar point cloud stitching image and the laser radar protection switch status. The lower part displays the gear position, working time, voltage, safety handle status, fault alarm, and network delay content of the cantilever wellhead reset robot.

[0131] The lower left corner of the left screen displays the currently executed operation command and the previous two operation commands. The lower right corner of the right screen displays the lidar status, camera status, and sensor status.

[0132] In this embodiment, the true color point cloud image of the wellhead reset operation site is first obtained, and a digital twin 3D base map is generated based on the true color point cloud image. The true color point cloud image contains the world coordinate data of the objects at the wellhead reset operation site, that is, the scene around the wellhead reset operation site is first scanned to obtain a virtual scene image. The remote control cabin is constructed according to the control method and cab layout of the cantilever wellhead reset robot, which can enable the driver to quickly familiarize himself with the remote control cabin. A posture perception sensor system is set on the cantilever wellhead reset robot, and the data obtained in different postures can be determined when the cantilever wellhead reset robot is running. An environmental detection perception laser radar system is set on the cantilever wellhead reset robot, which can sense the real-time distance between the surrounding objects and the cantilever wellhead reset robot. A visual sensor system is set on the cantilever wellhead reset robot to act as the eyes of the driver, so that the driver can observe the scene of the wellhead reset operation site in an immersive way. The operation status data, multi-channel high-definition video transmission signals, machine posture information and well site rescue area scanning data are transmitted to the remote control cabin. The operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine posture information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environmental detection perception laser radar system at the wellhead reset operation site. According to the structural model of the cantilever wellhead reset robot, a 3D model is constructed and placed in the digital twin 3D base map. The driver can make driving judgments based on the digital twin 3D base map and the 3D model, and confirm the real-time operation status of the current cantilever wellhead reset robot at the wellhead reset operation site. According to the machine posture information and operation status data, the 3D model in the digital twin 3D base map is restored in real time. The operation data of the equipment can be captured in real time and displayed in the digital twin 3D base map in a timely manner. A real-time point cloud image of the wellhead reset operation site is generated based on the well site rescue area scanning data and 3D model, and the 3D model and machine tool posture and motion information are connected. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model. The multi-channel high-definition video image transmission signal, operation status data, digital twin 3D base map, and real-time point cloud image are displayed on the display of the remote control cabin so that rescue workers can operate. By obtaining the true color point cloud image of the wellhead reset operation site and generating a digital twin 3D base map based on the true color point cloud image, the object coordinates of the objects in the entire scene are obtained, and by constructing a 3D model of the cantilever wellhead reset robot, and collecting machine tool posture and motion information and operation status data and connecting them to the 3D model, it is combined with multi-channel high-definition video image transmission signals and well site rescue area scanning data for assistance.During the operation of the cantilever wellhead reset robot, the driver can promptly understand the scene changes at the wellhead reset operation site and can promptly perform operations according to the changes on the ground and the wellhead, thereby reducing the danger of the cantilever wellhead reset robot in special environments.

[0133] Referring to FIG. 2 , the present invention provides an embodiment of a remote control method of a cantilever wellhead resetting robot, comprising:

[0134] 201. Use a ground laser scanner to scan the wellhead reset operation site at at least three safe sight points, and output a true color point cloud image, which contains the world coordinate data of objects at the wellhead reset operation site;

[0135] 202. Thinning the true color point cloud data in the true color point cloud image, importing it into the Unity 3D engine, and generating a digital twin 3D base map;

[0136] In this embodiment, after the old wellhead is cut off and towed away, a ground laser scanner is used to scan the wellhead reset operation site at 3-4 safe viewing points, and after internal surveying and mapping processing, a true color point cloud image is output.

[0137] Specifically, 3-4 ground laser scanners are set up in areas far away from the influence of thermal radiation from the blowout, with an overlap rate of ≥10% between each set. The wellhead is scanned to reset the operation area and operation route. After multiple station scanning, the point cloud 3D model is spliced, the point cloud is processed to retain its operation area and operation route, and the point cloud coordinates are converted into world coordinates in combination with the coordinates of the image control points. Combined with the RGB image, it is converted into a true color point cloud 3D model (true color point cloud image) with real coordinates.

[0138] After point cloud thinning, the true-color point cloud image is imported into the Unity 3D engine. This point cloud image contains the world coordinates of all objects at the wellhead reset operation site. The regional topography it contains is used as the digital twin 3D base map for the cantilever wellhead reset robot operation.

[0139] 203. Construct a remote control cabin according to the control mode and cab layout of the cantilever wellhead reset robot;

[0140] In this embodiment, step 203 is similar to the aforementioned step 102 and will not be described in detail here.

[0141] 204. Integrate three tilt sensors respectively on the top armor of the robot cockpit, the back of the robot drilling mast and the side of the robot luffing mechanism of the cantilever wellhead resetting robot;

[0142] 205. Install two GNSS antennas on the back of the drill mast and the counterweight block behind the robot respectively, and install the central rotary encoder on the rotary gear mechanism where the upper and lower vehicles are connected;

[0143] 206. The data solution touch integrated machine is arranged in the cockpit of the cantilever wellhead reset robot, and the data solution touch integrated machine is connected to the GNSS antenna and the three inclination sensors;

[0144] In this embodiment, the posture perception sensor system of the cantilever wellhead reset robot is composed of three tilt sensors, one data solution touch all-in-one machine, one central rotary encoder, and two GNSS antennas.

[0145] 1 inclination sensor is integrated into the top armor of the robot cockpit, which can collect the pitch and roll angles of the cantilever wellhead reset robot. 1 inclination sensor is integrated into the back of the robot drill mast, which can detect the inclination angle of the drill mast of the suspended robot. 1 inclination sensor is integrated into the side of the robot's variable amplitude mechanism, which can detect the inclination angle of the variable amplitude mechanism. 2 GNSS antennas, 1 installed on the back of the drill mast, through which the coordinates of the center point of the clamp (X1) can be monitored, and 1 installed on the rear counterweight of the cantilever wellhead reset robot. The GNSS antenna is used to receive GNSS satellite signals and ground reference station differential signals, and is used to detect the high-precision positioning of the robot in the well site and the position of the drill mast. The heading angle is collected through the displacement deflection of the 2 GNSS antennas.

[0146] A central rotary encoder is installed on the rotary gear mechanism where the upper and lower vehicles meet, and is specifically used to collect the rotary angle of the upper vehicle.

[0147] The high-precision position acquisition of the cantilever wellhead reset robot in the well site area is based on real-time dynamic positioning technology (RTK) technology. Based on RTK technology, the ground base station provides the three-dimensional positioning results of the base station in the specified coordinate system in real time, and the results have centimeter-level accuracy. The ground base station transmits its observation values ​​and station coordinate information to the cantilever wellhead reset robot through the data link. By utilizing the spatial correlation of the observation errors between the base station and the mobile station (cantilever wellhead reset robot), most of the errors in the GNSS data observed by the mobile station (cantilever wellhead reset robot) are removed by differential means, realizing centimeter-level positioning of the cantilever wellhead reset robot.

[0148] The inclination sensor at the end of the cantilever wellhead reset robot is installed on the back of the drill mast. The inclination sensor at the end is connected to one end of the inclination sensor on the side of the luffing mechanism. The other end of the inclination sensor on the side of the luffing mechanism is connected to the data solution touch all-in-one machine in the cockpit. One end of the top armor inclination sensor is connected to the solution touch all-in-one machine in the cockpit. Two GNSS antennas are connected in parallel to the solution touch all-in-one machine in the cockpit. The data solution touch all-in-one machine packages the movement angle, position and heading angle data of the inclination sensor and connects them to the broadband self-organizing network access system through the switch, and sends them to the broadband self-organizing network access system and the laser radar industrial computer at the remote control cabin at the same time. The laser radar industrial computer regularly cleans up the posture perception sensor data.

[0149] 207. Two high-resolution laser radars are respectively installed on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm;

[0150] 208. The wide-angle laser radar is vertically arranged on the counterweight block of the cantilever wellhead resetting robot, and the outside of the three laser radars are provided with a laser radar protection mechanism that can be lifted and displaced;

[0151] 209. Install the laser radar point cloud processing industrial computer inside the actual vehicle cab of the cantilever wellhead reset robot, and connect the laser radar point cloud processing industrial computer to the three laser radars;

[0152] In this embodiment, the cantilever wellhead reset robot environment detection perception laser radar system is composed of 3 laser radars, 3 laser radar protection mechanisms, and 1 laser radar point cloud processing industrial computer.

[0153] Three laser radars are installed on the upper vehicle turntable, including two high-resolution laser radars and one wide-angle laser radar. One of the two high-resolution laser radars is mounted on the top of the cab armor; the other is on the top of the external armor of the engine compartment on the other side of the drilling mast of the rotary drilling rig. A bracket is set up at its bottom to ensure that the two high-resolution laser radars are on the same horizontal plane, which is used for real-time detection and scanning of the front and left and right sides of the environment. The other laser radar is vertically installed on the counterweight block for real-time detection and scanning of the rear screen. After adjustment, the images of the three laser radars are spliced ​​into a panoramic image according to the coordinates. And develop first-person perspective, third-person perspective, and bird's-eye perspective.

[0154] There is a lifting protection mechanism on the outside of the laser radar. The protection mechanism is made of aluminum alloy. There are two control switches for the protection lifting, which are located inside the robot cockpit and the remote control cabin respectively. The button in the cockpit is integrated into the control panel inside the vehicle, directly controlling the relay, and the relay control circuit controls the protection lifting. The remote control cabin is connected to the broadband self-organizing network, and sends the lifting control command to the robot broadband self-organizing network access system. The command is connected to the laser radar industrial computer through the switch, and the industrial computer sends the command to the protection mechanism relay, and the relay control circuit controls the protection lifting.

[0155] The laser radar industrial computer is installed inside the robot cab, and is equipped with a point cloud processing program, a posture driver, and a protection mechanism control program. The laser radar scans the surrounding environment in real time and generates a real-time point cloud image of the environment.

[0156] The laser radar industrial computer solution program solves the point cloud scanned in real time, assigns it relative coordinates, and calibrates the distance relationship between objects in the field of view in real time.

[0157] The robot laser radar industrial computer modified based on the rotary drilling rig stitches the point cloud images of the two laser radars, calibrates the point cloud of the drill mast that blocks the field of view in the point cloud image, and hides it from the point cloud image.

[0158] 210. Setting a visual sensor system on a cantilever wellhead resetting robot;

[0159] In this embodiment, step 210 is similar to the aforementioned step 105 and will not be described in detail here.

[0160] 211. Access the operation status data, multi-channel high-definition video transmission signals, machine tool posture motion information, and well site rescue area scanning data to the second broadband ad hoc network access system, wherein the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site;

[0161] 212. Input the data accessed to the second broadband ad hoc network access system into the first broadband ad hoc network access system of the remote control cabin through the Mesh wireless ad hoc network;

[0162] The first broadband self-organizing network access system is arranged at the remote control cabin end. The first broadband self-organizing network access system is connected to the switch, and multiple remote control cabins are connected to the switch. The first broadband self-organizing network access system consists of 1 4G / 5G CPE host, at least 2 filter units, and at least 2 antenna units. The antenna is located outside the cabin or in an area where the outdoor signal is not blocked. The antenna is connected to the host through the filter. The CPE host is connected to the 4G / 5G base station uplink, accesses the broadband self-organizing network system, and is connected to the robot industrial computer downlink. The filter unit is used to reduce, weaken, and filter out interference signals, and the antenna unit is used to increase the coverage range and enhance the wireless signal reception and transmission capabilities.

[0163] The second broadband ad hoc network access system of the cantilever wellhead reset robot consists of 1 sMesh host, 2 filters, and 2 antennas. The 2 antennas are located behind the cab and connected to the host through the filter.

[0164] In this embodiment, a posture perception sensor system, an environment detection perception laser radar system and a second broadband self-organizing network access system are integrated on the cantilever wellhead reset robot body, and the posture perception sensor system and the environment detection perception laser radar system are connected to the second broadband self-organizing network access system through a switch.

[0165] The second broadband ad hoc network access system of the cantilever wellhead reset robot and the first broadband ad hoc network access system of the remote control cabin are connected to the same Mesh wireless ad hoc network.

[0166] The simulation cabin realizes network communication with the second broadband self-organizing network access system of the cantilever wellhead reset robot through the first broadband self-organizing network access system, and uses the 1.4GHz frequency band network radio transmission technology that can be set up at any time to form a MESH wireless self-organizing network, and converts the driver's operation into a control signal and sends it to the controller of the cantilever wellhead reset robot through network communication, thereby controlling the operation of the cantilever wellhead reset robot.

[0167] In this embodiment, the multi-channel high-definition video transmission signals and operation status data of the cantilever wellhead reset robot are also connected to the second broadband self-organizing network access system through the switch.

[0168] 213. Construct a 3D model based on the structural model of the cantilever wellhead reset robot and place the 3D model in the digital twin 3D base map;

[0169] In this embodiment, step 213 is similar to the aforementioned step 107 and will not be described in detail here.

[0170] 214. Use GNSS antennas, satellites and real-time dynamic positioning technology to determine the coordinate data of the cantilevered wellhead reset robot;

[0171] 215. Real-time position restoration of the 3D model in the digital twin 3D base map through coordinate data correction;

[0172] In this embodiment, GNSS antennas and satellites are used to determine the coordinate data of the cantilever wellhead reset robot through real-time dynamic positioning technology (RTK technology). That is, the real-time positioning coordinate data after RTK positioning is bound to the robot's three-dimensional model for position drive to restore the robot's real-time position.

[0173] 216. Perform real-time posture restoration and real-time state restoration on the 3D model in the digital twin 3D base map according to the posture and motion information of the machine and the operation status data;

[0174] 217. Generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scanning data and 3D model, and access the 3D model and machine posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model;

[0175] In this embodiment, steps 216 and 217 are similar to the aforementioned steps 108 and 109 and are not described in detail here.

[0176] 218. Obtain the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the measuring station P1 and the backsight point P2;

[0177] 219. Use the total station cylindrical center point measurement program and combine the wellhead center coordinates P0, the measuring station P1 and the backsight point P2 to perform coordinate correction on the digital twin 3D base map;

[0178] 220. Calculate the wellhead center coordinate P3 again at another level, and determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3;

[0179] 221. Calculate the tilt displacement angle of the wellhead according to the XZ axis parameters of the wellhead center coordinates P0 and P3;

[0180] 222. Generate a wellhead model in the digital twin 3D base map according to the wellhead center coordinate P0, the wellhead center coordinate P3 and the inclination displacement angle of the wellhead;

[0181] In this embodiment, the total station cylinder center point measurement program is used to prepare two known coordinate points (P1, P2) before measurement as the measuring station and backsight point of the total station, and the wellhead center coordinates (P0) are obtained. The wellhead center coordinates are input into the twin system, and the two known coordinate points are combined with three points (P0, P1, P2) to complete the coordinate correction of the entire topographic map.

[0182] Then measure again at a different level (P3), compare the XZ axis parameters of (P0) and (P3) through the system, and obtain the inclination displacement angle of the wellhead based on the parameter comparison results.

[0183] 223. Multiple channels of high-definition video transmission signals, operating status data, digital twin 3D base map, and real-time point cloud images are displayed on the display of the remote control cabin, allowing rescue workers to operate them.

[0184] In this embodiment, step 223 is similar to the aforementioned step 110 and will not be described in detail here.

[0185] In this embodiment, when entering the wellhead reset phase, the twin system hides the redundant objects in the digital twin 3D base map, and only retains key elements such as terrain, wellhead, and robot 3D model. The wellhead model is determined based on the wellhead size data obtained by the laser radar scan, and the corresponding wellhead model is selected in the model library to input the wellhead height, inclination angle, wellhead P0 and P3 coordinate points, and the wellhead model is placed in the rescue scene.

[0186] The operator performs remote operation through the operation panel and handle in the remote control cockpit through the system guidance interface. During the operation, the position perception is used to obtain the coordinates of the center point of the gripper and the center coordinates of the wellhead for alignment. The twin system provides 3D auxiliary lines to guide the center line of the gripper to align with the extension line of the wellhead in the horizontal and vertical directions. The system provides the numerical change of the distance between the center points, with the center of the vehicle as the endpoint, the line between the center point of the gripper as one edge, and the line between the center of the wellhead as the other edge. The overlap is completed according to the change of the angle between them, and the center line of the gripper and the extension line of the wellhead center are overlapped according to the change of the angle between them. After alignment, the gripper is lowered to open and the well is sealed.

[0187] The following is an example to illustrate that the application scenario of this embodiment is the well control emergency rescue wellhead reset operation link, and the cantilever wellhead reset robot is used to complete the new wellhead centering and reset operations in long-distance fire operations.

[0188] One of the operations is as follows:

[0189] Step 1: After the old wellhead is removed, use a ground laser scanner to scan the wellhead reset operation site at 3-4 safe viewing points, and output a true color point cloud image after internal surveying and mapping processing.

[0190] After the true-color point cloud data is thinned, it is imported into the Unity 3D engine. This point cloud contains the world coordinates of all objects at the wellhead reset operation site, and the regional topography it contains is used as the digital twin 3D base map for robot operations.

[0191] Step 2: Install a tilt sensor and a GNSS antenna on the back of the drill mast of the robot (cantilever wellhead reset robot) modified from the rotary drilling rig, install a tilt sensor on the side of the boom mechanism, install a central rotary encoder on the upper turntable, and install a tilt sensor, a lidar, a GNSS antenna and two broadband ad hoc network access system antennas on the top of the cockpit.

[0192] Step 3: Connect the cantilever wellhead reset robot's real-time tilt sensor data, RTK positioning coordinate data, robot operation status data, lidar point cloud image, and robot monitoring image data to the robot-side broadband self-organizing network access system, and transmit the above data to the remote control cabin through the Mesh wireless self-organizing network.

[0193] Step 4: At the remote control cabin end, the broadband ad hoc network access system sends the data sent by the cantilever wellhead reset robot to the corresponding remote control cabin industrial computer through the switch, and the inclination sensor data is synchronously sent to the lidar industrial computer.

[0194] Step 5: Establish a 3D model based on the actual kinematic model and appearance structure of the cantilever wellhead reset robot, and place the 3D model in the digital twin 3D base map.

[0195] Step 6: The tilt sensor collects the real-time parameters of the motion joints during the operation, and performs angle drive binding with the motion nodes corresponding to the three-dimensional model of the cantilever wellhead reset robot; the heading angle parameters of the robot are collected according to the offset of the GNSS antenna, and the angle drive binding is performed with the vehicle head orientation of the three-dimensional model of the robot; the rotation angle parameters collected by the central rotary encoder are used to perform angle drive binding with the vehicle drive rotation angle of the three-dimensional model of the cantilever wellhead reset robot. Based on the data in this step, the real-time parameter data drive of the cantilever wellhead reset robot of the robot 3D model animation is completed, and the real-time posture of the cantilever wellhead reset robot is restored. This real-time posture picture is synchronously displayed in the digital twin scene provided by the environmental perception point cloud center provided by the laser radar industrial computer and the remote control cabin industrial computer.

[0196] The robot operation status data collected by the CAN-to-Ethernet device is bound to the three-dimensional model of the cantilever wellhead reset robot to restore the real-time status of the robot in the digital twin scene.

[0197] The real-time positioning coordinate data after RTK positioning is bound to the three-dimensional model of the cantilever wellhead reset robot for position drive to restore the real-time position of the robot.

[0198] Step 7: The laser radar integrated on the robot side scans the surrounding working environment in real time, generates a real-time point cloud image of the surrounding working environment, and marks the real-time distance between different objects on the screen based on the coordinate comparison between different objects.

[0199] Step 8: Use the total station to measure the coordinates of the wellhead center point at different heights to calculate the inclination angle, and input one of the wellhead center coordinates into the twin system. At the same time, combined with the known coordinates of the two total station backsight points, input the coordinates of the three points into the twin system to improve the coordinate accuracy of the entire topographic map.

[0200] Step 9: The industrial computer at the remote control cabin is equipped with a digital twin system to display the real-time digital twin image, lidar point cloud image, and video image of the cantilever wellhead reset robot, and remotely control the cantilever wellhead reset robot based on the digital twin system image.

[0201] Step 10: The control data of the remote control cabin control panel and handle are collected by the acquisition system, summarized by the industrial computer, and sent to the robot receiving end through the broadband self-organizing network system. The robot end converts the Ethernet control command into a CAN control signal to control the robot operation.

[0202] It should be noted that the above distance is only one implementation method.

[0203] In this embodiment, a ground laser scanner is first used to scan the wellhead reset operation site at at least three safe visual points to output a true color point cloud image, which contains the world coordinate data of objects at the wellhead reset operation site. The true color point cloud data in the true color point cloud image is then thinned and imported into the Unity 3D engine to generate a digital twin 3D base map.

[0204] Constructing a remote control cabin according to the control mode and cab layout of the cantilever wellhead reset robot can help the driver quickly familiarize himself with the remote control cabin. Integrate three inclination sensors into the top armor of the robot cockpit, the back of the robot drill mast, and the side of the robot's variable amplitude mechanism of the cantilever wellhead reset robot. Install two GNSS antennas on the back of the drill mast and the rear counterweight of the robot, respectively, and install the central rotary encoder on the rotary gear mechanism for docking the upper and lower vehicles. Set the data solution touch all-in-one machine in the cockpit of the cantilever wellhead reset robot, and connect the data solution touch all-in-one machine to the GNSS antenna and the three inclination sensors.

[0205] Two high-resolution laser radars are respectively installed on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm. The wide-angle laser radar is vertically installed on the counterweight block of the cantilever wellhead reset robot, and the three laser radars are all equipped with a laser radar protection mechanism that can be lifted and displaced. The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the cantilever wellhead reset robot, and the laser radar point cloud processing industrial computer is connected to the three laser radars.

[0206] A visual sensor system is set up on the cantilever wellhead reset robot to act as the eyes of the driver, so that the driver can observe the scene of the wellhead reset operation site in an immersive way. The operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data are connected to the second broadband self-organizing network access system. The operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine posture and motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environmental detection perception laser radar system at the wellhead reset operation site. The data connected to the second broadband self-organizing network access system is input into the first broadband self-organizing network access system of the remote control cabin through the Mesh wireless self-organizing network.

[0207] A 3D model is constructed based on the structural model of the cantilever wellhead reset robot and placed in the digital twin 3D base map. The driver can make driving decisions based on the digital twin 3D base map and the 3D model to confirm the real-time operating status of the current cantilever wellhead reset robot at the wellhead reset operation site.

[0208] The coordinate data of the cantilever wellhead reset robot is determined by using GNSS antennas and satellites and real-time dynamic positioning technology. The real-time position restoration of the 3D model in the digital twin 3D base map is performed through coordinate data correction.

[0209] According to the posture information and operation status data of the equipment, the 3D model in the digital twin 3D base map is restored in real time, and the operation data of the equipment can be captured in real time and displayed in the digital twin 3D base map in a timely manner. The real-time point cloud image of the wellhead reset operation site is generated based on the scanning data and 3D model of the well site rescue area, and the 3D model and equipment posture information are connected. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model.

[0210] Obtain the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the measuring station P1 and the backsight point P2. Use the total station cylindrical center point measurement program and combine the wellhead center coordinate P0, the measuring station P1 and the backsight point P2 to perform coordinate correction on the digital twin 3D base map. Calculate the wellhead center coordinate P3 again at another horizontal height, and determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3. Calculate the inclination displacement angle of the wellhead based on the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3. Generate a wellhead model in the digital twin 3D base map based on the wellhead center coordinate P0, the wellhead center coordinate P3 and the inclination displacement angle of the wellhead.

[0211] The multi-channel high-definition video transmission signals, operation status data, digital twin 3D base map, and real-time point cloud images are displayed on the display of the remote control cabin, so that the rescue workers can operate them. By obtaining the true color point cloud image of the wellhead reset operation site and generating the digital twin 3D base map based on the true color point cloud image, the object coordinates of the objects in the entire scene are obtained, and by constructing a 3D model of the cantilever wellhead reset robot, and collecting the machine posture and motion information and operation status data to access the 3D model, and then combined with multi-channel high-definition video transmission signals and well site rescue area scanning data for assistance. During the operation of the cantilever wellhead reset robot, the driver can promptly understand the scene changes at the wellhead reset operation site, and can promptly operate according to the changes on the ground and the wellhead, reducing the danger of the cantilever wellhead reset robot in special environments.

[0212] Secondly, by integrating the posture perception sensor system, the environmental detection perception lidar system, and the broadband self-organizing network access system, the robot is able to perform remote and precise operations in a network-free environment, improving its environmental perception capabilities in special environments of well control and rescue, and enabling the robot to have precise guidance and positioning capabilities.

[0213] The high-precision coordinates of the wellhead are extracted through the total station, and the map accuracy is improved through correction through multiple high-precision coordinates. The efficiency of the new wellhead centering is improved by using high-precision wellhead coordinates and map coordinates. The wellhead inclination angle is obtained through multiple wellhead center point coordinates to guide the wellhead reset.

[0214] By developing a clamp, we were able to complete the clamping, transportation and lowering of different wellheads, reducing manpower input and ensuring the safety of rescue team members.

[0215] This method improves the intuitive presentation of robot status data and position and posture data through digital twins, and makes a huge upgrade to the existing remote control of the remote control cabin.

[0216] This method protects the laser radar, ensures the service life of the laser radar in a high temperature environment, and saves high costs.

[0217] See also Figure 3 The present invention provides an embodiment of a remote control device for a cantilever wellhead resetting robot, comprising:

[0218] The first acquisition unit 301 is used to acquire a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map according to the true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site;

[0219] The first construction unit 302 is used to construct a remote control cabin according to the control mode and cab layout of the cantilever wellhead reset robot;

[0220] A first setting unit 303 is used to set a posture perception sensor system on the cantilever wellhead resetting robot;

[0221] The second setting unit 304 is used to set an environment detection and perception laser radar system on the cantilever wellhead reset robot;

[0222] A third setting unit 305 is used to set a visual sensor system on the cantilever wellhead resetting robot;

[0223] The transmission unit 306 is used to transmit the operation status data, multi-channel high-definition video image transmission signals, machine tool posture motion information and well site rescue area scanning data to the remote control cabin, the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video image transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site;

[0224] The second construction unit 307 is used to construct a 3D model according to the structural model of the cantilever wellhead reset robot and place the 3D model in the digital twin 3D base map;

[0225] A real-time restoration unit 308 is used to perform real-time posture restoration and real-time state restoration on the 3D model in the digital twin 3D base map according to the posture and motion information of the machine and the operation status data;

[0226] The first generating unit 309 is used to generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scanning data and the 3D model, and access the 3D model and the machine tool posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model;

[0227] The display unit 310 is used to display multiple high-definition video transmission signals, operating status data, digital twin 3D base map, and real-time point cloud images on the display of the remote control cabin, so that rescue workers can operate them.

[0228] See also Figure 4 The present invention provides an embodiment of a remote control device for a cantilever wellhead resetting robot, comprising:

[0229] The first acquisition unit 401 is used to acquire a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map according to the true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site;

[0230] Optionally, the first acquiring unit 401 includes:

[0231] Use a ground laser scanner to scan the wellhead reset operation site at at least three safe sight points, and output a true color point cloud image, which contains the world coordinate data of objects at the wellhead reset operation site;

[0232] The true color point cloud data in the true color point cloud image is thinned and imported into the Unity 3D engine to generate a digital twin 3D base map.

[0233] A first construction unit 402 is used to construct a remote control cabin according to the control mode and cab layout of the cantilever wellhead reset robot;

[0234] A first setting unit 403 is used to set a posture perception sensor system on the cantilever wellhead resetting robot;

[0235] Optional, the posture perception sensor system consists of 3 tilt sensors, 1 data solution touch all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas;

[0236] The first setting unit 403 includes:

[0237] The three inclination sensors are respectively integrated on the top armor of the robot cockpit, the back of the robot drilling mast and the side of the robot luffing mechanism of the cantilever wellhead resetting robot;

[0238] Install two GNSS antennas on the back of the drill mast and the counterweight behind the robot, and install the central rotary encoder on the rotary gear mechanism where the upper and lower vehicles are connected.

[0239] The data solution touch integrated machine is arranged in the cockpit of the cantilever wellhead reset robot, and the data solution touch integrated machine is connected to the GNSS antenna and three inclination sensors.

[0240] A second setting unit 404 is used to set an environment detection and perception laser radar system on the cantilever wellhead reset robot;

[0241] Optional, the environment detection and perception laser radar system includes 3 laser radars, 3 laser radar protection mechanisms and 1 laser radar point cloud processing industrial computer. Among the 3 laser radars, there are 2 high-resolution laser radars and 1 wide-viewing angle laser radar;

[0242] The second setting unit 404 includes:

[0243] Two high-resolution laser radars are respectively installed on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm;

[0244] The wide-angle laser radar is vertically set on the counterweight of the cantilever wellhead reset robot, and the outside of the three laser radars are all provided with a laser radar protection mechanism that can be lifted and displaced;

[0245] The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the cantilever wellhead reset robot, and the laser radar point cloud processing industrial computer is connected to three laser radars.

[0246] A third setting unit 405 is used to set a visual sensor system on the cantilever wellhead resetting robot;

[0247] The transmission unit 406 is used to transmit the operation status data, multi-channel high-definition video image transmission signals, machine tool posture motion information and well site rescue area scanning data to the remote control cabin, the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video image transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site;

[0248] Optionally, the remote control cabin is provided with a first broadband self-organizing network access system, the first broadband self-organizing network access system includes 1 4G / 5G CPE host, at least 2 filter units, at least 2 antenna units, the antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit. The cantilever wellhead reset robot is provided with a second broadband self-organizing network access system, the second broadband self-organizing network access system includes 1 sMesh host, 2 filters, and 2 antennas. The 2 antennas are arranged at the rear of the cab of the cantilever wellhead reset robot, and the sMesh host is arranged inside the cab of the cantilever wellhead reset robot. The antenna is connected to the sMesh host through the filter, and the first broadband self-organizing network access system and the second broadband self-organizing network access system are connected to the same Mesh wireless self-organizing network;

[0249] The transmission unit 406 includes:

[0250] The operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data are connected to the second broadband self-organizing network access system;

[0251] The data accessed to the second broadband ad hoc network access system is input into the first broadband ad hoc network access system of the remote control cabin through the Mesh wireless ad hoc network.

[0252] A second construction unit 407 is used to construct a 3D model according to the structural model of the cantilever wellhead resetting robot and place the 3D model in the digital twin 3D base map;

[0253] A second determining unit 408 is used to determine the coordinate data of the cantilever wellhead resetting robot using a GNSS antenna, a satellite and a real-time dynamic positioning technology;

[0254] The position restoration unit 409 is used to restore the position of the 3D model in the digital twin 3D base map in real time by correcting the coordinate data.

[0255] A real-time restoration unit 410 is used to perform real-time posture restoration and real-time state restoration on the 3D model in the digital twin 3D base map according to the posture and motion information of the machine and the operation status data;

[0256] The first generating unit 411 is used to generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scanning data and the 3D model, and access the 3D model and the machine tool posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model;

[0257] The second acquisition unit 412 is used to acquire the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the station point P1 and the backsight point P2;

[0258] The correction unit 413 is used to perform coordinate correction on the digital twin 3D base map using the total station cylinder center point measurement program and combining the wellhead center coordinate P0, the measuring station P1 and the backsight point P2;

[0259] A first determining unit 414 is used to calculate the wellhead center coordinate P3 again at another level, and determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3;

[0260] A calculation unit 415 is used to calculate the tilt displacement angle of the wellhead according to the XZ axis parameters of the wellhead center coordinates P0 and P3;

[0261] A second generating unit 416 is used to generate a wellhead model in the digital twin 3D base map according to the wellhead center coordinate P0, the wellhead center coordinate P3 and the inclination displacement angle of the wellhead;

[0262] The display unit 417 is used to display multiple high-definition video transmission signals, operating status data, digital twin 3D base map, and real-time point cloud images on the display of the remote control cabin, so that rescue workers can operate them.

[0263] See also Figure 5 The present invention provides an electronic device, comprising:

[0264] Processor 501 , memory 503 , input / output unit 502 , and bus 504 .

[0265] The processor 501 is connected to the memory 503 , the input / output unit 502 , and the bus 504 .

[0266] The memory 503 stores a program, and the processor 501 calls the program to execute the following steps: Figure 1 , Figure 2-1 , Figure 2-2 and Figure 2-3 Remote control method in.

[0267] The present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed on a computer, Figure 1 , Figure 2-1 , Figure 2-2 and Figure 2-3 Remote control method in.

[0268] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the described systems, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0269] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0270] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0271] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0272] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A remote control method for a cantilever wellhead resetting robot, characterized in that: include: Acquire a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map based on the true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site; The remote control cabin is constructed according to the control mode and cab layout of the cantilever wellhead reset robot; A posture perception sensor system is provided on the cantilever wellhead resetting robot; An environment detection and perception laser radar system is set on the cantilever wellhead reset robot; Setting up a visual sensor system on a cantilevered wellhead resetting robot; Transmitting operation status data, multi-channel high-definition video transmission signals, machine tool posture motion information, and well site rescue area scanning data to the remote control cabin, wherein the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site; Building a 3D model according to the structural model of the cantilever wellhead resetting robot and placing the 3D model in the digital twin 3D base map; According to the machine posture motion information and the operation status data, the 3D model in the digital twin 3D base map is restored in real time in posture and state; Generate a real-time point cloud image of the wellhead reset operation site based on the well site rescue area scanning data and the 3D model, and access the 3D model and the machine tool posture and motion information, wherein the real-time point cloud image includes distance information between objects at the wellhead reset operation site and the 3D model; The multi-channel high-definition video transmission signals, the operating status data, the digital twin 3D base map, and the real-time point cloud image are displayed on the display of the remote control cabin so that the rescue workers can operate them.

2. The remote control method according to claim 1, characterized in that: The obtaining of a true color point cloud image of the wellhead resetting operation site and generating a digital twin 3D base map according to the true color point cloud image includes: Use a ground laser scanner to scan the wellhead reset operation site at at least three safe sight points, and output a true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site; The true color point cloud data in the true color point cloud picture is thinned and imported into the Unity 3D engine to generate a digital twin 3D base map.

3. The remote control method according to claim 1, characterized in that: Before displaying the multi-channel high-definition video transmission signals, the operating status data, the digital twin 3D base map, and the real-time point cloud image on the display of the remote control cabin, the remote control method further includes: Obtain the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the measuring station P1 and the backsight point P2; The digital twin 3D base map is coordinate corrected using the total station cylindrical center point measurement program in combination with the wellhead center coordinates P0, the measuring station P1 and the backsight point P2.

4. The remote control method according to claim 3, characterized in that: After using the total station cylindrical center point measurement program and combining the wellhead center coordinates P0, the station point P1 and the backsight point P2 to coordinately calibrate the digital twin 3D base map, the remote control method further includes: The wellhead center coordinate P3 is calculated again at another horizontal height, and the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3 are determined; Calculate the tilt displacement angle of the wellhead according to the XZ axis parameters of the wellhead center coordinates P0 and P3; A wellhead model is generated in the digital twin 3D base map according to the wellhead center coordinates P0, P3 and the inclination displacement angle of the wellhead.

5. The remote control method according to any one of claims 1 to 4, characterized in that: The posture perception sensor system includes 3 tilt sensors, 1 data processing touch integrated machine, 1 central rotary encoder, and 2 GNSS antennas; A posture perception sensor system is set on the cantilever wellhead reset robot, including: The three inclination sensors are respectively integrated on the top armor of the robot cockpit, the back of the robot drilling mast and the side of the robot luffing mechanism of the cantilever wellhead resetting robot; Install two GNSS antennas on the back of the drill mast and the counterweight behind the robot, and install the central rotary encoder on the rotary gear mechanism where the upper and lower vehicles are connected. The data solution touch integrated machine is arranged in the cockpit of the cantilever wellhead reset robot, and the data solution touch integrated machine is connected to the GNSS antenna and three inclination sensors.

6. The remote control method according to claim 5, characterized in that: After constructing a 3D model according to the structural model of the cantilever wellhead resetting robot and placing the 3D model on the digital twin 3D base map, the remote control method further includes: Using GNSS antennas, satellites and real-time dynamic positioning technology to determine the coordinate data of the cantilevered wellhead resetting robot; The coordinate data correction is used to restore the position of the 3D model in the digital twin 3D base map in real time.

7. The remote control method according to any one of claims 1 to 4, characterized in that: The environment detection and perception laser radar system includes three laser radars, three laser radar protection mechanisms and one laser radar point cloud processing industrial computer, wherein the three laser radars include two high-resolution laser radars and one wide-angle laser radar; An environment detection and perception lidar system is set up on the cantilever wellhead reset robot, including: Two high-resolution laser radars are respectively arranged on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm; The wide-angle laser radar is vertically arranged on the counterweight block of the cantilever wellhead reset robot, and the outside of the three laser radars are provided with a laser radar protection mechanism that can be lifted and displaced; The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the cantilever wellhead reset robot, and the laser radar point cloud processing industrial computer is connected to three laser radars.

8. The remote control method according to claim 1, characterized in that: The remote control cabin is provided with a first broadband self-organizing network access system, which includes a 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit. The cantilever wellhead reset robot is provided with a second broadband self-organizing network access system, which includes a sMesh host, two filters, and two antennas. The two antennas are arranged at the rear of the cab of the cantilever wellhead reset robot. The sMesh host is arranged inside the cab of the cantilever wellhead reset robot. The antenna is connected to the sMesh host through the filter. The first broadband self-organizing network access system and the second broadband self-organizing network access system are connected to the same Mesh wireless self-organizing network. Transmitting operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data to the remote control cabin, including: Accessing the operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data into the second broadband ad hoc network access system; The data accessed to the second broadband ad hoc network access system is input into the first broadband ad hoc network access system of the remote control cabin through the Mesh wireless ad hoc network.

9. A remote control device for a cantilever wellhead resetting robot, characterized in that: include: A first acquisition unit is used to acquire a true color point cloud image of the wellhead reset operation site, and generate a digital twin 3D base map according to the true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site; A first construction unit is used to construct a remote control cabin according to the control mode and cab layout of the cantilever wellhead reset robot; A first setting unit is used to set a posture perception sensor system on the cantilever wellhead resetting robot; A second setting unit is used to set an environment detection perception laser radar system on the cantilever wellhead reset robot; A third setting unit is used to set a visual sensor system on the cantilever wellhead resetting robot; A transmission unit is used to transmit operation status data, multi-channel high-definition video image transmission signals, machine tool posture motion information and well site rescue area scanning data to the remote control cabin, wherein the operation status data is the operation data of the cantilever wellhead reset robot, the multi-channel high-definition video image transmission signals are the data collected by the visual sensor system, the machine tool posture motion information is the data collected by the posture perception sensor system, and the well site rescue area scanning data is the scanning data collected by the environment detection perception laser radar system at the wellhead reset operation site; A second construction unit is used to construct a 3D model according to the structural model of the cantilever wellhead resetting robot and place the 3D model in the digital twin 3D base map; A real-time restoration unit, used to perform real-time posture restoration and real-time state restoration on the 3D model in the digital twin 3D base map according to the machine posture action information and the operation status data; A first generating unit is used to generate a real-time point cloud image of the wellhead reset operation site according to the well site rescue area scanning data and the 3D model, and access the 3D model and the machine tool posture action information, wherein the real-time point cloud image includes the distance information between the objects at the wellhead reset operation site and the 3D model; The display unit is used to display the multi-channel high-definition video image transmission signals, the operating status data, the digital twin 3D base map, and the real-time point cloud image on the display of the remote control cabin so that the rescue workers can operate it.

10. The remote control device according to claim 9, characterized in that: The first acquisition unit includes: Use a ground laser scanner to scan the wellhead reset operation site at at least three safe sight points, and output a true color point cloud image, wherein the true color point cloud image contains world coordinate data of objects at the wellhead reset operation site; The true color point cloud data in the true color point cloud picture is thinned and imported into the Unity 3D engine to generate a digital twin 3D base map.

11. The remote control device according to claim 9, characterized in that: Before the display unit, the remote control device further includes: The second acquisition unit is used to acquire the wellhead center coordinate P0 in the wellhead reset operation site, and determine two known coordinate points in the wellhead reset operation site as the station point P1 and the backsight point P2; The correction unit is used to use the total station cylinder center point measurement program and combine the wellhead center coordinates P0, the measuring station P1 and the backsight point P2 to perform coordinate correction on the digital twin 3D base map.

12. The remote control device according to claim 11, characterized in that: After the correction unit, the remote control device further comprises: A first determining unit, used to calculate the wellhead center coordinate P3 again at another level, and determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3; A calculation unit, used for calculating the tilt displacement angle of the wellhead according to the XZ axis parameters of the wellhead center coordinates P0 and P3; The second generating unit is used to generate a wellhead model in the digital twin 3D base map according to the wellhead center coordinate P0, the wellhead center coordinate P3 and the inclination displacement angle of the wellhead.

13. The remote control device according to claim 9, characterized in that: The posture perception sensor system includes 3 tilt sensors, 1 data processing touch integrated machine, 1 central rotary encoder, and 2 GNSS antennas; The first setting unit includes: The three inclination sensors are respectively integrated on the top armor of the robot cockpit, the back of the robot drilling mast and the side of the robot luffing mechanism of the cantilever wellhead resetting robot; Install two GNSS antennas on the back of the drill mast and the counterweight behind the robot, and install the central rotary encoder on the rotary gear mechanism where the upper and lower vehicles are connected. The data solution touch integrated machine is arranged in the cockpit of the cantilever wellhead reset robot, and the data solution touch integrated machine is connected to the GNSS antenna and three inclination sensors.

14. The remote control device according to claim 9, characterized in that: After the second building unit, the remote control device further includes: A second determination unit is used to determine the coordinate data of the cantilever wellhead resetting robot using a GNSS antenna, a satellite and a real-time dynamic positioning technology; The position restoration unit is used to restore the real-time position of the 3D model in the digital twin 3D base map through coordinate data correction.

15. The remote control device according to claim 9, characterized in that: The environment detection and perception laser radar system includes three laser radars, three laser radar protection mechanisms and one laser radar point cloud processing industrial computer, among which the three laser radars include two high-resolution laser radars and one wide-angle laser radar; The second setting unit includes: Two high-resolution laser radars are respectively installed on the top of the cab armor of the cantilever wellhead reset robot and the top of the external armor of the engine compartment on the other side of the excavator arm; The wide-angle laser radar is vertically set on the counterweight of the cantilever wellhead reset robot, and the outside of the three laser radars are all provided with a laser radar protection mechanism that can be lifted and displaced; The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the cantilever wellhead reset robot, and the laser radar point cloud processing industrial computer is connected to three laser radars.

16. The remote control device according to any one of claims 9 to 15, characterized in that: The remote control cabin is provided with a first broadband self-organizing network access system, which includes a 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit. The cantilever wellhead reset robot is provided with a second broadband self-organizing network access system, which includes a sMesh host, two filters, and two antennas. The two antennas are arranged at the rear of the cab of the cantilever wellhead reset robot. The sMesh host is arranged inside the cab of the cantilever wellhead reset robot. The antenna is connected to the sMesh host through the filter. The first broadband self-organizing network access system and the second broadband self-organizing network access system are connected to the same Mesh wireless self-organizing network; The transmission unit comprises: Accessing the operation status data, multi-channel high-definition video transmission signals, machine posture and motion information, and well site rescue area scanning data into the second broadband ad hoc network access system; The data accessed to the second broadband ad hoc network access system is input into the first broadband ad hoc network access system of the remote control cabin through the Mesh wireless ad hoc network.

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