A remote control method and device for a cantilever wellhead resetting robot

Abstract

This invention discloses a remote control method and device for a cantilevered wellhead relocation robot, used to reduce the dangers of the cantilevered wellhead relocation robot in special environments. The method includes: generating a digital twin 3D base map based on a true-color point cloud image; constructing a remote control cabin; installing a pose perception sensor system, an environmental detection and perception lidar system, and a vision sensor system on the cantilevered wellhead relocation robot; transmitting operational status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the remote control cabin; constructing a 3D model and placing the 3D model on the digital twin 3D base map; performing real-time posture and status restoration on the 3D model; generating a real-time point cloud image of the wellhead relocation operation site, integrating the 3D model and tool posture and motion information; and displaying the multi-channel high-definition video transmission signals, operational status data, digital twin 3D base map, and real-time point cloud image on the remote control cabin.

Description

Technical Field

[0001] This invention relates to the field of well control emergency rescue technology, specifically to a remote control method and device for a cantilever wellhead reset robot. Background Technology

[0002] With continuous upgrades in mechanical technology, my country has made breakthroughs in resource extraction and infrastructure construction. However, this also presents challenges, particularly the potential dangers that may arise during extraction and construction. Only with relatively comprehensive emergency response capabilities can rescue missions be completed in complex environments, minimizing the possibility of secondary damage.

[0003] Currently, the wellhead relocation process in well control emergency rescue requires precise operations. Cantilevered wellhead relocation robots, developed based on the operating principles of rotary drilling rigs, can be used to perform tasks such as wellhead flange stripping, new wellhead alignment, and relocation. While global navigation satellite systems are mature and widely used for precise operations such as pile foundation work on rotary drilling rigs (cantilevered wellhead relocation robots), they are less effective in the harsh environments of well control emergency rescue, including strong heat radiation, lateral fires, high noise levels, and hydrogen sulfide gas. Controlling the robot from inside the operator's cab is extremely dangerous. Currently, 433Hz wireless remote controls are used for short-range operation, but their limited range prevents operation outside the human eye's line of sight. Cameras equipped with robots are less effective at perceiving the surrounding environment in well control emergency rescue situations, such as water mist, smoke, and overexposure due to high brightness. Furthermore, they cannot accurately assess changes in the surrounding terrain and the robot's operating posture from a distance, making remote control operations insufficient in terms of precision. At the well control emergency site, the complex ground conditions caused by the long-term operation of large machinery and the large amount of water spraying and soaking, coupled with the heavy weight and high center of gravity of the rotary drilling rig on the cantilever wellhead relocation robot, make it prone to tipping over, thus increasing the danger of the cantilever wellhead relocation robot in special environments. Summary of the Invention

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

[0005] The first aspect of this invention provides a remote control method for a cantilevered wellhead resetting robot, comprising:

[0006] Acquire true-color point cloud images of the wellhead relocation operation site and generate a digital twin 3D base map based on the true-color point cloud images. The true-color point cloud images contain the world coordinate data of the objects at the wellhead relocation operation site.

[0007] The remote control cabin was constructed based on the control method and cab layout of the cantilever wellhead resetting robot.

[0008] A pose perception sensor system is installed on the cantilever wellhead resetting robot;

[0009] An environmental detection and perception lidar system is installed on the cantilever wellhead relocation robot;

[0010] A vision sensor system was installed on the cantilever wellhead relocation robot;

[0011] The system transmits operational 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. The operational status data is the operational data of the cantilevered wellhead resetting robot, the multi-channel high-definition video transmission signals are data collected by the vision sensor system, the equipment posture and motion information is data collected by the posture perception sensor system, and the well site rescue area scanning data is scanning data collected by the environmental detection and perception lidar system at the wellhead resetting operation site.

[0012] A 3D model was constructed based on the structural model of the cantilever wellhead relocation robot, and the 3D model was placed on the digital twin 3D base map;

[0013] Based on the machine's posture and motion information and operating status data, the 3D model in the digital twin 3D base map is restored in real time for both posture and status.

[0014] Based on the scanning data and 3D model of the well site rescue area, a real-time point cloud image of the wellhead relocation operation site is generated, and the 3D model and equipment posture and motion information are integrated. The real-time point cloud image includes the distance information between objects at the wellhead relocation operation site and the 3D model.

[0015] The system displays multiple high-definition video transmission signals, operational status data, digital twin 3D base maps, and real-time point cloud images on the remote control cabin's monitor, enabling rescue personnel to operate the system.

[0016] Optionally, acquire true-color point cloud images of the wellhead relocation site and generate a digital twin 3D base map based on the true-color point cloud images, including:

[0017] Using a ground laser scanner, the wellhead relocation work site is scanned at at least three safe line-of-sight points, and a true-color point cloud image is output, which contains the world coordinate data of the objects at the wellhead relocation work 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 multiple high-definition video transmission signals, operational status data, digital twin 3D base maps, and real-time point cloud images on the remote control cabin's display, remote control methods also include:

[0020] Obtain the coordinates P0 of the wellhead center at the wellhead relocation site, and determine two known coordinate points at the wellhead relocation site as the survey station P1 and the backsight point P2.

[0021] The coordinates of the digital twin 3D base map were corrected using the total station cylinder center point measurement program and in conjunction with the wellhead center coordinates P0, the station point P1, and the backsight point P2.

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

[0023] Calculate the wellhead center coordinate P3 again at another horizontal height, and determine the XZ axis parameters of the wellhead center coordinates P0 and P3;

[0024] Calculate the tilt displacement angle of the wellhead based on the XZ axis parameters of the wellhead center coordinates P0 and P3.

[0025] A wellhead model is generated from the digital twin 3D base map based on the wellhead center coordinates P0, P3, and the wellhead tilt displacement angle.

[0026] Optionally, the pose perception sensor system consists of 3 tilt sensors, 1 data processing touch screen all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas.

[0027] A pose perception sensor system is installed on the cantilevered wellhead repositioning robot, including:

[0028] Three tilt sensors are respectively integrated into the top armor of the robot cockpit, the back of the robot mast, and the side of the robot luffing mechanism of the cantilever wellhead resetting robot.

[0029] Two GNSS antennas were installed on the back of the drill mast and the counterweight behind the robot, respectively. The central rotary encoder was installed on the rotary gear mechanism that connects the upper and lower vehicles.

[0030] The data processing touch screen is installed in the cockpit of the cantilevered wellhead resetting robot, and the data processing touch screen is connected to the GNSS antenna and three tilt sensors.

[0031] Optionally, after constructing a 3D model based on the structural model of the cantilever wellhead relocation robot and placing the 3D model on a digital twin 3D base map, the remote control method also includes:

[0032] The coordinate data of the cantilever wellhead resetting robot is determined using a GNSS antenna, satellites, and real-time dynamic positioning technology.

[0033] The 3D model in the digital twin 3D base map is restored to its real-time position by correcting coordinate data.

[0034] Optionally, the environmental detection and perception lidar system includes 3 lidars, 3 lidar protection mechanisms and 1 lidar point cloud processing industrial control computer. Among the 3 lidars, 2 are high-resolution lidars and 1 is a wide-angle lidar.

[0035] An environmental detection and sensing lidar system is installed on the cantilevered wellhead relocation robot, including:

[0036] Two high-resolution lidar sensors were respectively installed on the top of the cab armor of the cantilevered wellhead relocation robot and on the top of the external armor of the engine compartment on the other side of the excavator arm;

[0037] The large-angle lidar is vertically mounted on the counterweight of the cantilevered wellhead resetting robot, and each of the three lidars is equipped with a lidar protection mechanism that can be raised and lowered.

[0038] The LiDAR point cloud processing industrial control computer is installed inside the cab of the cantilevered wellhead relocation robot, and is connected to three LiDAR sensors.

[0039] Optionally, the remote control cabin is equipped with a first broadband self-organizing network access system, which includes one 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna units are located outside the remote control cabin and are connected to the CPE host through the filter units. The cantilevered wellhead relocation robot is equipped with a second broadband self-organizing network access system, which includes one sMesh host, two filters, and two antennas. The two antennas are located behind the exterior of the cantilevered wellhead relocation robot's cab armor, and the sMesh host is located inside the cantilevered wellhead relocation robot's cab. The antennas are connected to the sMesh host through the filters. 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] The system transmits operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data to the remote control cabin, including:

[0041] The system integrates operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data into the second broadband self-organizing network access system.

[0042] Data accessed through the second broadband self-organizing network access system is input into the first broadband self-organizing network access system of the remote control cabin via the Mesh wireless self-organizing network.

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

[0044] The first acquisition unit is used to acquire the true color point cloud image of the wellhead relocation operation site and generate 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 relocation operation site.

[0045] The first building unit is used to build a remote control cabin based on the control method and cab layout of the cantilever wellhead resetting robot.

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

[0047] The second setting unit is used to set up an environmental detection and perception lidar system on the cantilever wellhead resetting robot;

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

[0049] The transmission unit is used to transmit operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the remote control cabin. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site.

[0050] The second building unit is used to build a 3D model based on the structural model of the cantilever wellhead resetting robot and place the 3D model on the digital twin 3D base map;

[0051] The real-time restoration unit is used to perform real-time posture restoration and real-time status restoration of the 3D model in the digital twin 3D base map based on the machine's posture and motion information and operating status data.

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

[0053] The display unit is used to display multiple high-definition video transmission signals, operational status data, digital twin 3D base maps, and real-time point cloud images on the monitor in the remote control cabin, enabling rescue personnel to operate it.

[0054] Optionally, the first acquisition unit includes:

[0055] Using a ground laser scanner, the wellhead relocation work site is scanned at at least three safe line-of-sight points, and a true-color point cloud image is output, which contains the world coordinate data of the objects at the wellhead relocation work 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, prior to the display unit, the remote control device also includes:

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

[0059] The calibration unit is used to perform coordinate calibration on the digital twin 3D base map using the total station cylinder center point measurement program and in conjunction with the wellhead center coordinates P0, the station point P1, and the backsight point P2.

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

[0061] The first determining unit is used to recalculate the wellhead center coordinate P3 at another horizontal height, and to determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3.

[0062] The calculation unit is used to calculate the tilt displacement angle of the wellhead based on the XZ axis parameters of the wellhead center coordinates P0 and P3.

[0063] The second generation unit is used to generate a wellhead model on the digital twin 3D base map based on the wellhead center coordinates P0, P3, and the tilt displacement angle of the wellhead.

[0064] Optionally, the pose perception sensor system consists of 3 tilt sensors, 1 data processing touch screen all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas.

[0065] The first setting unit includes:

[0066] Three tilt sensors are respectively integrated into the top armor of the robot cockpit, the back of the robot mast, and the side of the robot luffing mechanism of the cantilever wellhead resetting robot.

[0067] Two GNSS antennas were installed on the back of the drill mast and the counterweight behind the robot, respectively. The central rotary encoder was installed on the rotary gear mechanism that connects the upper and lower vehicles.

[0068] The data processing touch screen is installed in the cockpit of the cantilevered wellhead resetting robot, and the data processing touch screen is connected to the GNSS antenna and three tilt sensors.

[0069] Optionally, following the second building unit, the remote control device also includes:

[0070] The second determining unit is used to determine the coordinate data of the cantilever wellhead resetting robot using GNSS antennas, satellites, and real-time dynamic positioning technology.

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

[0072] Optionally, the environmental detection and perception lidar system includes 3 lidars, 3 lidar protection mechanisms and 1 lidar point cloud processing industrial control computer. Among the 3 lidars, 2 are high-resolution lidars and 1 is a wide-angle lidar.

[0073] The second setting unit includes:

[0074] Two high-resolution lidar sensors were respectively installed on the top of the cab armor of the cantilevered wellhead relocation robot and on the top of the external armor of the engine compartment on the other side of the excavator arm;

[0075] The large-angle lidar is vertically mounted on the counterweight of the cantilevered wellhead resetting robot, and each of the three lidars is equipped with a lidar protection mechanism that can be raised and lowered.

[0076] The LiDAR point cloud processing industrial control computer is installed inside the cab of the cantilevered wellhead relocation robot, and is connected to three LiDAR sensors.

[0077] Optionally, the remote control cabin is equipped with a first broadband self-organizing network access system, which includes one 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna units are located outside the remote control cabin and are connected to the CPE host through the filter units. The cantilevered wellhead relocation robot is equipped with a second broadband self-organizing network access system, which includes one sMesh host, two filters, and two antennas. The two antennas are located behind the exterior of the cantilevered wellhead relocation robot's cab armor, and the sMesh host is located inside the cantilevered wellhead relocation robot's cab. The antennas are connected to the sMesh host through the filters. 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] The transmission unit includes:

[0079] The system integrates operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data into the second broadband self-organizing network access system.

[0080] Data accessed through the second broadband self-organizing network access system is input into the first broadband self-organizing network access system of the remote control cabin via the Mesh wireless self-organizing network.

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

[0082] Processor, memory, input / output units, and bus;

[0083] The processor is connected to memory, input / output units, and a bus;

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

[0085] The fourth aspect of the present invention provides a computer-readable storage medium storing a program that, when executed on a computer, performs a remote control method for a cantilevered wellhead resetting robot as described in the first aspect and any optional method of the first aspect.

[0086] The advantages of using this invention are:

[0087] This invention first acquires a true-color point cloud image of the wellhead relocation operation site, and then 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 relocation operation site; that is, the scene surrounding the wellhead relocation operation site is scanned first to obtain a virtual scene image. A remote control cabin is constructed based on the control method and cab layout of the cantilevered wellhead relocation robot, allowing the operator to quickly familiarize themselves with the cabin. A pose perception sensor system is installed on the cantilevered wellhead relocation robot to determine and acquire data under different postures during operation. An environmental detection and perception lidar system is installed on the cantilevered wellhead relocation robot to sense the real-time distance between surrounding objects and the robot. A vision sensor system is installed on the cantilevered wellhead relocation robot, acting as the operator's eyes, allowing for an immersive observation of the wellhead relocation operation site. The system transmits operational 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. The operational status data refers to the operation of the cantilever wellhead resetting robot; the multi-channel high-definition video transmission signals are data collected by the vision sensor system; the equipment posture and motion information is data collected by the pose perception sensor system; and the well site rescue area scanning data is scanning data collected by the environmental detection and perception lidar system at the wellhead resetting operation site. A 3D model is constructed based on the structural model of the cantilever wellhead resetting robot and placed on a digital twin 3D base map. The operator can make driving judgments based on the digital twin 3D base map and the 3D model, confirming the real-time operational status of the cantilever wellhead resetting robot at the wellhead resetting operation site. Based on the equipment posture and motion information and operational status data, the 3D model in the digital twin 3D base map is reconstructed in real-time for both posture and status. This allows for real-time capture of the equipment's operational data and timely display on the digital twin 3D base map. Based on the scanning data and 3D model of the wellhead reset operation area, a real-time point cloud image of the wellhead reset operation site is generated. This image incorporates the 3D model and equipment attitude and motion information. The real-time point cloud image includes distance information between objects at the wellhead reset operation site and the 3D model. Multiple high-definition video transmission signals, operational status data, digital twin 3D base maps, and real-time point cloud images are displayed on the remote control cabin's monitor, enabling rescue personnel to operate the system. By acquiring true-color point cloud images of the wellhead reset operation site and generating a digital twin 3D base map from these images, the object coordinates of objects in the entire scene are obtained. Furthermore, a 3D model of the cantilevered wellhead reset robot is constructed, and equipment attitude and motion information and operational status data are collected and integrated into the 3D model. This data is then combined with multiple high-definition video transmission signals and wellhead reset area scanning data for further assistance.This allows the operator to stay informed about changes in the wellhead relocation site during operation, enabling timely adjustments to the work based on changes in the ground and wellhead, thus reducing the risks associated with the cantilever wellhead relocation robot in special environments. Attached Figure Description

[0088] Figure 1 This is a schematic diagram of an embodiment of the remote control method for the cantilevered wellhead resetting robot of 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 This is a schematic diagram of an embodiment of the remote control device for the cantilevered wellhead resetting robot of the present invention;

[0093] Figure 4 This is a schematic diagram of another embodiment of the remote control device for the cantilevered wellhead resetting robot of the present invention;

[0094] Figure 5 This is a schematic diagram of one embodiment of the electronic device of the present invention. Detailed Implementation

[0095] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

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

[0097] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

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

[0099] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0100] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

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

[0102] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0103] The method of this invention can be applied to servers, devices, terminals, or other devices with logical processing capabilities; therefore, this invention does not limit its application. For ease of description, the following description uses a terminal as the executing entity.

[0104] Please see Figure 1 This invention provides an embodiment of a remote control method for a cantilevered wellhead resetting robot, comprising:

[0105] 101. Obtain the true-color point cloud image of the wellhead relocation operation site, and generate 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 relocation operation site.

[0106] The terminal first scans the scene around the wellhead relocation site to obtain a true-color point cloud image of the wellhead relocation 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 relocation site.

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

[0108] The remote control cabin for the cantilever wellhead repositioning robot needs to be constructed based on the robot's control method and cab layout, so that rescue workers can adapt to the remote control cabin and the cantilever wellhead repositioning robot to the greatest extent possible.

[0109] Specifically, the remote control cabin has an open structure and includes at least a driver's seat. Left and right control handle boxes are arranged on both sides of the seat, and a control panel is set in front. The control panel contains buttons for switching and other functions. The display bracket above the control panel connects and fixes 1-6 displays together, and the walking mechanism control pedal is below.

[0110] In this embodiment, the cantilevered wellhead resetting robot consists of a tracked chassis, an upper turntable, a drilling mast, a tilting cylinder, a luffing mechanism, a wellhead clamping fixture, and a clamping cylinder.

[0111] 103. Install a pose perception sensor system on the cantilever wellhead resetting robot;

[0112] 104. Install an environmental detection and perception lidar system on the cantilevered wellhead relocation robot;

[0113] 105. Install a vision sensor system on the cantilevered wellhead relocation robot;

[0114] The purpose of equipping the cantilever wellhead relocation robot with a pose perception sensor system, an environmental detection and perception lidar system, and a vision sensor system is to obtain information about the emergency rescue environment and the operational data of the cantilever wellhead relocation robot.

[0115] 106. Transmit the operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the remote control cabin. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site.

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

[0117] In this embodiment, the operating status data is converted into Ethernet data by a CAN-to-Ethernet tool, which converts the gear position data, working voltage, pump pressure, engine water temperature, fuel level, safety handle status, fault alarm, total fuel consumption, boom lifting, boom lowering, stick digging, stick unloading, bucket digging, bucket unloading, left travel, right travel, slewing signal, and upper vehicle slewing angle contained in the CAN bus into Ethernet data and then connects it to the remote control cabin.

[0118] The visual sensor system can be a camera, a camera, or other device. The multi-channel high-definition video transmission signal is the 360-degree video data obtained at the shooting site.

[0119] 107. Construct a 3D model based on the structural model of the cantilever wellhead relocation robot and place the 3D model on 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 relocation robot, combined with the machine's posture and motion information. Specifically, during 3D modeling, key motion nodes and pivot points of the 3D model are calibrated according to the machine's posture and motion information.

[0121] 108. Based on the machine's posture and motion information and operating status data, perform real-time posture restoration and real-time status restoration of the 3D model in the digital twin 3D base map;

[0122] In this embodiment, the machine's posture and motion information and operating status data can display the operating status of the cantilever wellhead resetting robot to the greatest extent. For example, common operating voltage, pump pressure, engine water temperature, fuel level, etc., as well as data such as boom lifting, boom lowering, stick digging, stick unloading, bucket digging, etc. All of the above data can be integrated into the 3D model for real-time posture restoration and real-time status restoration, allowing the operator to pay attention to the status of the equipment in a timely manner.

[0123] 109. Generate a real-time point cloud image of the wellhead relocation operation site based on the well site rescue area scan data and 3D model, and integrate the 3D model and equipment attitude and movement information. The real-time point cloud image includes the distance information between objects at the wellhead relocation operation site and the 3D model.

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

[0125] In this embodiment, the LiDAR industrial control computer is connected to the switch of the cantilever wellhead resetting robot. A dynamic 3D model of the cantilever wellhead resetting robot is placed into the real-time perceived point cloud image. This 3D model incorporates tilt sensor data, central rotary encoder data, and status data. Within the point cloud image, the 3D model recreates the robot's overall posture and the posture of its moving parts. The industrial control computer converts the LiDAR point cloud and the real-time data-driven 3D animation sequence frames into streaming media data, which is then connected to the broadband self-organizing network access system via the switch.

[0126] 110. Display multiple high-definition video transmission signals, operational status data, digital twin 3D base map, and real-time point cloud images on the monitor in the remote control cabin, enabling rescue personnel to operate the system.

[0127] In this embodiment, the industrial control computer in the remote control cabin is equipped with a digital twin program. The digital twin consists of three parts: first, a true-color point cloud 3D model of the well site emergency rescue operation area; second, a 3D model; and third, the position and attitude data of the cantilever wellhead resetting robot, the motion angles of each moving component, and real-time status data. Furthermore, the 3D model is placed into the true-color point cloud 3D model of the emergency rescue operation area, and the machine's attitude and motion information and real-time operating status data are integrated.

[0128] The middle section of the three parts displays the digital twin program screen. The upper part of the middle digital twin screen has a semi-transparent status bar containing the name, ID, coordinates, speed, and a button to view details of the cantilever wellhead resetting robot. Clicking the button displays the rated power, total fuel consumption, controller model, engine model, and hydraulic system model of the cantilever wellhead resetting robot. The middle part is a real-time twin screen of the cantilever wellhead resetting robot, with motion angles marked around the various components of the 3D model of the cantilever wellhead resetting robot. The bottom part is a virtual instrument panel that displays engine speed, pump pressure, hydraulic oil temperature, engine coolant temperature, and fuel level.

[0129] The right-side screen displays video surveillance footage, with the upper part showing the main view facing the operating panel and the lower part showing the stitched panoramic image.

[0130] The upper left side of the screen displays images detected by the environmental detection and perception lidar system, including at least a real-time lidar point cloud mosaic image and the lidar protection switch status. The lower left side displays the cantilever wellhead reset robot's gear position, working time, voltage, safety handle status, fault alarms, and network latency information.

[0131] The bottom left corner of the left screen displays the currently executed operation command, as well as the two previous operation commands. The bottom right corner of the right screen displays the status of the LiDAR, camera, and sensors.

[0132] In this embodiment, a true-color point cloud image of the wellhead relocation operation site is first acquired, 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 objects at the wellhead relocation operation site; that is, the scene surrounding the wellhead relocation operation site is scanned first to obtain a virtual scene image. A remote control cabin is constructed according to the control method and cab layout of the cantilevered wellhead relocation robot, allowing the operator to quickly become familiar with the remote control cabin. A pose perception sensor system is installed on the cantilevered wellhead relocation robot to determine and acquire data under different postures during operation. An environmental detection and perception lidar system is installed on the cantilevered wellhead relocation robot to sense the real-time distance between surrounding objects and the cantilevered wellhead relocation robot. A vision sensor system is installed on the cantilevered wellhead relocation robot, acting as the operator's eyes, allowing for an immersive observation of the wellhead relocation operation site. The system transmits operational 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. The operational status data refers to the operation of the cantilever wellhead resetting robot; the multi-channel high-definition video transmission signals are data collected by the vision sensor system; the equipment posture and motion information is data collected by the pose perception sensor system; and the well site rescue area scanning data is scanning data collected by the environmental detection and perception lidar system at the wellhead resetting operation site. A 3D model is constructed based on the structural model of the cantilever wellhead resetting robot and placed on a digital twin 3D base map. The operator can make driving judgments based on the digital twin 3D base map and the 3D model, confirming the real-time operational status of the cantilever wellhead resetting robot at the wellhead resetting operation site. Based on the equipment posture and motion information and operational status data, the 3D model in the digital twin 3D base map is reconstructed in real-time for both posture and status. This allows for real-time capture of the equipment's operational data and timely display on the digital twin 3D base map. Based on the scanning data and 3D model of the wellhead reset operation area, a real-time point cloud image of the wellhead reset operation site is generated. This image incorporates the 3D model and equipment attitude and motion information. The real-time point cloud image includes distance information between objects at the wellhead reset operation site and the 3D model. Multiple high-definition video transmission signals, operational status data, digital twin 3D base maps, and real-time point cloud images are displayed on the remote control cabin's monitor, enabling rescue personnel to operate the system. By acquiring true-color point cloud images of the wellhead reset operation site and generating a digital twin 3D base map from these images, the object coordinates of objects in the entire scene are obtained. Furthermore, a 3D model of the cantilevered wellhead reset robot is constructed, and equipment attitude and motion information and operational status data are collected and integrated into the 3D model. This data is then combined with multiple high-definition video transmission signals and wellhead reset area scanning data for further assistance.This allows the operator to stay informed about changes in the wellhead relocation site during operation, enabling timely adjustments to the work based on changes in the ground and wellhead, thus reducing the risks associated with the cantilever wellhead relocation robot in special environments.

[0133] Please refer to Figure 2. This invention provides an embodiment of a remote control method for a cantilevered wellhead relocation robot, comprising:

[0134] 201. Use a ground laser scanner to scan the wellhead relocation work site at at least 3 safe line-of-sight points and output a true-color point cloud image containing the world coordinate data of the objects at the wellhead relocation work site.

[0135] 202. Thin out the true color point cloud data in the true color point cloud image, import it into the Unity 3D engine, and generate 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 line-of-sight points. After surveying and mapping processing, a true-color point cloud image is output.

[0137] Specifically, 3-4 ground-based laser scanners are deployed in areas far from the thermal radiation impact of the wellhead, with an overlap rate of ≥10% between each scan. The wellhead is scanned to reset the work area and route. After multi-station scanning, the point cloud 3D model is stitched together. The point cloud is processed to retain its work area and route, and combined with the geocontroller coordinates, the point cloud coordinates are converted to world coordinates. Finally, RGB images are combined to convert the point cloud into a true-color point cloud 3D model with realistic coordinates (true-color point cloud image).

[0138] After the true-color point cloud image is thinned, it is imported into the Unity 3D engine. This point cloud image contains the world coordinates of all objects at the wellhead relocation site. Based on the regional terrain and landform it contains, it serves as the digital twin 3D base map for the cantilever wellhead relocation robot operation.

[0139] 203. Construct a remote control cabin based on the control method and cab layout of the cantilever wellhead resetting robot;

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

[0141] 204. Three tilt sensors are respectively integrated into the top armor of the robot cockpit, the back of the robot drill 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 behind the robot, respectively, and install the central rotary encoder on the rotary gear mechanism for docking the upper and lower vehicles.

[0143] 206. The data processing touch screen is installed in the cockpit of the cantilevered wellhead resetting robot, and the data processing touch screen is connected to the GNSS antenna and three tilt sensors;

[0144] In this embodiment, the pose perception sensor system of the cantilever wellhead resetting robot consists of 3 tilt sensors, 1 data processing touch screen all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas.

[0145] One tilt sensor is integrated into the top armor of the robot's cockpit, capable of acquiring the pitch and roll angles of the cantilever wellhead resetting robot. Another tilt sensor is integrated into the back of the robot's drill mast, capable of detecting the mast's tilt angle. A third tilt sensor is integrated into the side of the robot's luffing mechanism, capable of detecting its tilt angle. Two GNSS antennas are used: one mounted on the back of the drill mast to monitor the coordinates of the gripper's center point (X1), and the other mounted on the rear counterweight of the cantilever wellhead resetting robot. The GNSS antennas receive GNSS satellite signals and differential signals from the ground reference station, enabling high-precision positioning of the robot within the well site and the position of the drill mast. The heading angle is acquired through the displacement and deflection of the two GNSS antennas.

[0146] A central rotary encoder is installed on the rotary gear mechanism where the upper and lower vehicles dock, specifically for collecting the rotation angle of the upper vehicle.

[0147] The cantilevered wellhead repositioning robot achieves high-precision position acquisition within the well site area based on Real-Time Kinematic (RTK) technology. A ground reference station, also based on RTK, provides real-time 3D positioning results in a specified coordinate system with centimeter-level accuracy. The ground reference station transmits its observations and station coordinates to the cantilevered wellhead repositioning robot via a data link. Utilizing the spatial correlation of observation errors between the reference station and the rover (cantilevered wellhead repositioning robot), most errors in the rover's (cantilevered wellhead repositioning robot's) GNSS observation data are removed using a differential method, achieving centimeter-level positioning for the cantilevered wellhead repositioning robot.

[0148] The end-effector tilt sensor of the cantilevered wellhead resetting robot is installed on the back of the drill mast. One end of the end-effector tilt sensor is connected to one end of the side tilt sensor of the luffing mechanism, and the other end of the side tilt sensor is connected to the data processing touchscreen all-in-one machine in the cockpit. One end of the top armor tilt sensor is also connected to the data processing touchscreen all-in-one machine in the cockpit. Two GNSS antennas are connected in parallel to the data processing touchscreen all-in-one machine in the cockpit. The data processing touchscreen all-in-one machine packages the motion angle, position, and heading angle data from the tilt sensors and connects them to the broadband self-organizing network access system via a switch. Simultaneously, it sends the data to the broadband self-organizing network access system at the remote control cabin and the lidar industrial control computer. The lidar industrial control computer periodically clears the attitude perception sensor data.

[0149] 207. Place two high-resolution lidar sensors on the top of the cab armor of the cantilevered wellhead relocation robot and on the top of the engine compartment exterior armor on the other side of the excavator arm, respectively.

[0150] 208. The large-angle lidar is vertically mounted on the counterweight of the cantilever wellhead resetting robot, and each of the three lidars is equipped with a lidar protection mechanism that can be raised and lowered.

[0151] 209. The laser radar point cloud processing industrial control computer is installed inside the cab of the cantilever wellhead resetting robot, and the laser radar point cloud processing industrial control computer is connected to 3 laser radars.

[0152] In this embodiment, the cantilever wellhead relocation robot environmental detection and perception lidar system consists of 3 lidars, 3 lidar protection mechanisms, and 1 lidar point cloud processing industrial control computer.

[0153] Three lidar sensors are mounted on the upper turntable: two high-resolution lidars and one wide-angle lidar. One of the two high-resolution lidars is mounted on the top of the mech in the driver's cab; the other is located on the top of the mech outside the engine compartment on the opposite side of the rotary drilling rig's mast. A support frame is mounted at the bottom of the high-resolution lidar to ensure that the two high-resolution lidars are on the same horizontal plane, used for real-time detection and scanning of the environment in front and to the left and right. The third lidar is vertically mounted on a counterweight for real-time detection and scanning of the rear. After calibration, the images from the three lidars are stitched together according to coordinates to form a panoramic image. First-person, third-person, and overhead view perspectives have also been developed.

[0154] The lidar unit has an external, retractable protective mechanism made of aluminum alloy. The lifting mechanism has two control switches, one located inside the robot's cockpit and the other in the remote control cabin. The button in the cockpit is integrated into the vehicle's control panel, directly controlling a relay. The relay control circuit then controls the lifting mechanism. The remote control cabin is connected to a broadband self-organizing network, sending lifting control commands to the robot's broadband self-organizing network access system. These commands are then connected to the lidar's industrial control computer via a switch. The industrial control computer sends commands to the protective mechanism's relay, and the relay control circuit then controls the lifting mechanism.

[0155] The LiDAR industrial control computer is installed inside the robot's cab. The computer carries point cloud processing programs, pose driver programs, and protective mechanism control programs. The LiDAR scans the surrounding environment in real time, generating a real-time point cloud image of the environment.

[0156] The LiDAR industrial control computer's calculation program calculates the point cloud data in real time, assigns it relative coordinates, and calibrates the distance relationships between objects within the field of view in real time.

[0157] The robotic lidar industrial control computer based on the rotary drilling rig modification stitches together the point cloud images of two lidars and calibrates the point cloud images of the mast that obstruct the view, hiding them from the point cloud image.

[0158] 210. Install a vision sensor system on the cantilevered 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. Connect the operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the second broadband self-organizing network access system. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site.

[0161] 212. The data accessed by 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;

[0162] A first broadband self-organizing network access system is deployed at the end of the remote control cabin. This system connects to a switch, and multiple remote control cabins are connected to the switch. The first broadband self-organizing network access system consists of one 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antennas are located outside the cabin or in an outdoor area with unobstructed signals, and are connected to the host via filters. The CPE host connects uplink to a 4G / 5G base station to access the broadband self-organizing network system, and downlink to the robot's industrial control computer. The filter units are used to reduce, weaken, and filter out interference signals, while the antenna units are used to increase coverage and enhance wireless signal reception and transmission capabilities.

[0163] The second broadband self-organizing network access system of the cantilevered wellhead relocation robot consists of one sMesh host, two filters, and two antennas. The two antennas are located at the rear of the outside of the cockpit mech and are connected to the host via the filters.

[0164] In this embodiment, a pose perception sensor system, an environmental detection and perception lidar system, and a second broadband self-organizing network access system are integrated on the cantilevered wellhead resetting robot body. The pose perception sensor system and the environmental detection and perception lidar system are connected to the second broadband self-organizing network access system through a switch.

[0165] The second broadband self-organizing network access system of the cantilever wellhead relocation robot and the first broadband self-organizing network access system at the remote control cabin end are connected to the same Mesh wireless self-organizing network.

[0166] The simulation cabin achieves network communication with the second broadband self-organizing network access system of the cantilever wellhead resetting robot through the first broadband self-organizing network access system. It uses the 1.4GHz band network radio transmission technology that can be set up at any time to form a MESH wireless self-organizing network, which converts the operator's operation into control signals and sends them to the controller of the cantilever wellhead resetting robot through network communication to control the operation of the cantilever wellhead resetting robot.

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

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

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

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

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

[0172] In this embodiment, a GNSS antenna and satellite are used, and the coordinate data of the cantilever wellhead resetting robot is determined by 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 to restore the robot's real-time position.

[0173] 216. Based on the machine's posture and motion information and operating status data, perform real-time posture restoration and real-time status restoration of the 3D model in the digital twin 3D base map;

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

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

[0176] 218. Obtain the coordinates P0 of the wellhead center at the wellhead relocation site, and determine two known coordinate points at the wellhead relocation site as the survey station P1 and the backsight point P2;

[0177] 219. Use the total station cylinder center point measurement program and combine it with 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;

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

[0179] 221. Calculate the tilt displacement angle of the wellhead based on 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 based on the wellhead center coordinates P0, P3, and the wellhead tilt displacement angle;

[0181] In this embodiment, the total station cylinder center point measurement program is used to prepare two known coordinate points (P1, P2) before measurement, which serve as the station point and backsight point of the total station. The coordinates of the wellhead center (P0) are obtained and input into the twin system. At the same time, the coordinates of the entire topographic map are corrected by combining the two known coordinate points and using three points (P0, P1, P2).

[0182] Then, measure (P3) again at different horizontal heights. By comparing the XZ axis parameters of (P0) and (P3) through the system, the tilt displacement angle of the wellhead can be obtained based on the parameter comparison results.

[0183] 223. Display multiple high-definition video transmission signals, operational status data, digital twin 3D base map, and real-time point cloud images on the monitor in the remote control cabin, enabling rescue personnel to operate the system.

[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, during the wellhead reset phase, the twin system hides redundant objects in the digital twin 3D base map, retaining only key elements such as the terrain, wellhead, and robot 3D model. Based on the wellhead size data obtained from LiDAR scanning, the wellhead model is determined. A corresponding wellhead model is selected from the model library, and the wellhead height, tilt angle, and coordinates of wellhead P0 and P3 are input. The wellhead model is then placed into the emergency rescue scenario.

[0186] The operator remotely controls the machine from within the remote control cockpit via a control panel and handles through the system's guided interface. During operation, pose sensing is used to obtain and align the coordinates of the gripper's center point and the wellhead center point. The twin system provides 3D auxiliary lines to guide the gripper's center line horizontally and vertically to align with the wellhead extension line. The system provides numerical changes in the distance between the center points. Taking the vehicle center as the endpoint, the line connecting it to the gripper's center point is one edge, and the line connecting it to the wellhead center point is another edge. Overlapping is achieved based on changes in their angles. Alignment is then achieved by adjusting the angle between the gripper's center line and the wellhead center extension line. After alignment, the gripper is lowered and opened to complete the well sealing.

[0187] The following example illustrates the application scenario of this embodiment, which is the wellhead relocation operation in well control emergency rescue. The cantilevered wellhead relocation robot completes the centering and relocation of the new wellhead in the presence of fire over a long distance.

[0188] One of the methods involves the following steps:

[0189] Step 1: After the old wellhead is removed and towed away, use a ground laser scanner to scan the wellhead reset work site at 3-4 safe line-of-sight points. After surveying and mapping processing, output true color point cloud images.

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

[0191] Step 2: Install an inclination sensor and a GNSS antenna on the back of the drill mast of the robot (cantilever wellhead reset robot) based on the rotary drilling rig. Install an inclination sensor on the side of the luffing mechanism. Install a central rotary encoder on the upper turntable. Install an inclination sensor, a lidar, a GNSS antenna, and two broadband self-organizing network access system antennas on the top of the cab.

[0192] Step 3: Connect the real-time tilt angle sensor data, RTK positioning coordinate data, robot operation status data, LiDAR point cloud image, and robot monitoring screen data of the cantilever wellhead reset robot to the robot's 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 self-organizing network access system sends the data sent by the cantilever wellhead resetting robot to the corresponding remote control cabin industrial control computer through the switch. Among them, the tilt sensor data is simultaneously sent to the lidar industrial control computer.

[0194] Step 5: Based on the kinematic model and appearance structure of the cantilever wellhead resetting robot, establish a 3D model and place the 3D model within the digital twin 3D base map.

[0195] Step Six: The tilt sensor collects real-time parameters of the moving joints during the operation and binds them to the corresponding motion nodes of the cantilever wellhead relocation robot's 3D model for angle drive binding; the robot's heading angle parameters are collected based on the GNSS antenna offset and bound to the robot's 3D model's front-end orientation for angle drive binding; the rotation angle parameters collected by the central rotary encoder are bound to the upper-vehicle drive rotation angle of the cantilever wellhead relocation robot's 3D model for angle drive binding. Based on the data from this step, the real-time parameter data driving of the cantilever wellhead relocation robot's 3D model animation is completed, restoring the cantilever wellhead relocation robot's real-time attitude. This real-time attitude image is simultaneously displayed in the environmental perception point cloud center provided by the LiDAR industrial control computer and the digital twin scene provided by the remote control cabin industrial control computer.

[0196] The robot's operating status data collected by the CAN-to-Ethernet device is bound to the cantilever wellhead to reset the robot's 3D model, which is used to restore the robot's real-time status in a digital twin scenario.

[0197] The real-time positioning coordinate data obtained through RTK positioning is bound to the 3D model of the cantilever wellhead resetting robot for position driving, thereby restoring the robot's real-time position.

[0198] Step 7: The LiDAR integrated into the robot scans the surrounding working environment in real time, generating a real-time point cloud image of the surrounding working environment. Based on the coordinate comparison between different objects in the image, the real-time distance between different objects is marked on the image.

[0199] Step 8: Calculate the tilt angle by measuring the coordinates of the wellhead center point at different heights using a total station, and input the coordinates of one of the wellhead centers into the twin system. At the same time, combine the known coordinates of the two total station backsight points and input the coordinates of the three points into the twin system to complete the coordinate accuracy improvement of the entire topographic map.

[0200] Step 9: The industrial control computer at the remote control cabin is equipped with a digital twin system, which displays the real-time digital twin image, lidar point cloud image, and video image of the cantilever wellhead resetting robot. Based on the digital twin system image, the cantilever wellhead resetting robot can be remotely controlled.

[0201] Step 10: The control signals from the remote control cabin control panel and handle are collected by the acquisition system, summarized by the industrial control computer, and sent to the robot receiver via the broadband self-organizing network system. The robot then converts the Ethernet control commands into CAN control signals to control the robot's 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 relocation operation site at at least three safe line-of-sight points, outputting a true-color point cloud image. The true-color point cloud image contains the world coordinate data of the objects at the wellhead relocation operation site. Then, 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.

[0204] The remote control cabin is constructed based on the operation method and cab layout of the cantilevered wellhead relocation robot, allowing the operator to quickly familiarize themselves with it. Three tilt sensors are integrated into the top armor of the robot's cab, the back of the robot's drill mast, and the side of the robot's luffing mechanism, respectively. Two GNSS antennas are mounted on the back of the drill mast and the rear counterweight of the robot, respectively. The central rotary encoder is mounted on the rotary gear mechanism used for docking the robot. The data processing touch screen is placed inside the cantilevered wellhead relocation robot's cab and connected to the GNSS antennas and the three tilt sensors.

[0205] Two high-resolution lidar sensors were mounted on the top of the cab armor of the cantilever wellhead relocation robot and on the top of the engine compartment armor on the other side of the excavator arm, respectively. A wide-angle lidar sensor was vertically mounted on the counterweight of the cantilever wellhead relocation robot. All three lidar sensors were equipped with liftable and movable lidar protection mechanisms. A lidar point cloud processing industrial control computer was installed inside the cab of the cantilever wellhead relocation robot and connected to the three lidar sensors.

[0206] A vision sensor system is installed on the cantilevered wellhead relocation robot, acting as the operator's eyes and allowing for an immersive observation of the wellhead relocation operation site. Operational status data, multiple high-definition video transmission signals, tool attitude and movement information, and well site rescue area scanning data are integrated into a second broadband self-organizing network access system. The operational status data refers to the robot's operation data; the multiple high-definition video transmission signals are data collected by the vision sensor system; the tool attitude and movement information is data collected by the posture perception sensor system; and the well site rescue area scanning data is scanning data collected by the environmental detection and perception lidar system at the wellhead relocation operation site. The data integrated into the second broadband self-organizing network access system is then transmitted to the first broadband self-organizing network access system of the remote control cabin via a mesh wireless self-organizing network.

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

[0208] The coordinate data of the cantilever wellhead repositioning robot is determined using a GNSS antenna and satellites, along with real-time dynamic positioning technology. The coordinate data is then used to correct the position of the 3D model within the digital twin 3D base map, allowing for real-time position reconstruction.

[0209] Based on the equipment's posture and motion information and operational status data, the 3D model in the digital twin 3D base map is reconstructed in real time for both posture and status. This allows for real-time capture of equipment operational data, which is then promptly displayed in the digital twin 3D base map. Real-time point cloud images of the wellhead relocation operation site are generated based on the well site rescue area scan data and the 3D model. These images incorporate the 3D model and equipment posture and motion information, and include distance information between objects at the wellhead relocation operation site and the 3D model.

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

[0211] The system displays multiple high-definition video transmission signals, operational status data, digital twin 3D base maps, and real-time point cloud images on the remote control cabin's monitor, enabling rescue personnel to operate the robot. By acquiring true-color point cloud images of the wellhead relocation operation site and generating a digital twin 3D base map from these images, the system obtains the object coordinates within the entire scene. Furthermore, it constructs a 3D model of the cantilevered wellhead relocation robot, collecting machine posture and motion information and operational status data, and integrating this data with multiple high-definition video transmission signals and well site rescue area scan data. This allows the operator to stay informed about changes in the wellhead relocation operation site during operation, enabling timely adjustments based on changes in the ground and wellhead, thus reducing the risks associated with the cantilevered wellhead relocation robot in special environments.

[0212] Secondly, by integrating a pose perception sensor system, an environmental detection and perception lidar system, and a broadband self-organizing network access system, the robot is equipped with the capability for remote and precise operation in environments without a network, which enhances its environmental perception capabilities in special environments such as well control and emergency rescue, and also enables the robot to have precise guidance and positioning capabilities.

[0213] High-precision coordinates of the wellhead are extracted using a total station, and map accuracy is improved by using multiple high-precision coordinates. The efficiency of new wellhead alignment is improved by utilizing high-precision wellhead and map coordinates. The wellhead tilt angle is obtained using the coordinates of multiple wellhead center points to guide wellhead resetting.

[0214] By developing a clamping device, the clamping, transportation, and lowering of different wellheads were accomplished, reducing personnel input and ensuring the safety of rescue team members.

[0215] This method, through digital twins, enhances the intuitive presentation of robot state data and position and posture data, and represents a significant upgrade to the existing remote control cabin.

[0216] This method protects the lidar, ensuring its lifespan in high-temperature environments and saving significant costs.

[0217] Please see Figure 3 This invention provides an embodiment of a remote control device for a cantilevered wellhead resetting robot, comprising:

[0218] The first acquisition unit 301 is used to acquire the true color point cloud image of the wellhead relocation operation site and generate 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 relocation operation site.

[0219] The first building unit 302 is used to build a remote control cabin according to the control method and cab layout of the cantilever wellhead resetting robot.

[0220] The first setting unit 303 is used to set up a pose perception sensor system on the cantilever wellhead resetting robot.

[0221] The second setting unit 304 is used to set an environmental detection and perception lidar system on the cantilever wellhead resetting robot;

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

[0223] The transmission unit 306 is used to transmit operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the remote control cabin. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site.

[0224] The second building unit 307 is used to build a 3D model based on the structural model of the cantilever wellhead resetting robot and place the 3D model on the digital twin 3D base map;

[0225] The real-time restoration unit 308 is used to perform real-time posture restoration and real-time status restoration of the 3D model in the digital twin 3D base map based on the machine's posture and motion information and operating status data.

[0226] The first generation unit 309 is used to generate a real-time point cloud image of the wellhead relocation operation site based on the well site rescue area scanning data and 3D model, and to access the 3D model and equipment posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead relocation 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 monitor of the remote control cabin, enabling rescue personnel to operate it.

[0228] Please see Figure 4 This invention provides an embodiment of a remote control device for a cantilevered wellhead resetting robot, comprising:

[0229] The first acquisition unit 401 is used to acquire the true color point cloud image of the wellhead relocation operation site and generate a digital twin 3D base map based on the true color point cloud image. The true color point cloud image contains the object world coordinate data of the wellhead relocation operation site.

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

[0231] Using a ground laser scanner, the wellhead relocation work site is scanned at at least three safe line-of-sight points, and a true-color point cloud image is output, which contains the world coordinate data of the objects at the wellhead relocation work 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] The first building unit 402 is used to build a remote control cabin according to the control method and cab layout of the cantilever wellhead resetting robot.

[0234] The first setting unit 403 is used to set up a pose perception sensor system on the cantilever wellhead resetting robot.

[0235] Optionally, the pose perception sensor system consists of 3 tilt sensors, 1 data processing touch screen all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas.

[0236] The first setting unit 403 includes:

[0237] Three tilt sensors are respectively integrated into the top armor of the robot cockpit, the back of the robot mast, and the side of the robot luffing mechanism of the cantilever wellhead resetting robot.

[0238] Two GNSS antennas were installed on the back of the drill mast and the counterweight behind the robot, respectively. The central rotary encoder was installed on the rotary gear mechanism that connects the upper and lower vehicles.

[0239] The data processing touch screen is installed in the cockpit of the cantilevered wellhead resetting robot, and the data processing touch screen is connected to the GNSS antenna and three tilt sensors.

[0240] The second setting unit 404 is used to set an environmental detection and perception lidar system on the cantilever wellhead resetting robot;

[0241] Optionally, the environmental detection and perception lidar system includes 3 lidars, 3 lidar protection mechanisms and 1 lidar point cloud processing industrial control computer. Among the 3 lidars, 2 are high-resolution lidars and 1 is a wide-angle lidar.

[0242] The second setting unit 404 includes:

[0243] Two high-resolution lidar sensors were respectively installed on the top of the cab armor of the cantilevered wellhead relocation robot and on the top of the external armor of the engine compartment on the other side of the excavator arm;

[0244] The large-angle lidar is vertically mounted on the counterweight of the cantilevered wellhead resetting robot, and each of the three lidars is equipped with a lidar protection mechanism that can be raised and lowered.

[0245] The LiDAR point cloud processing industrial control computer is installed inside the cab of the cantilevered wellhead relocation robot, and is connected to three LiDAR sensors.

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

[0247] The transmission unit 406 is used to transmit operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the remote control cabin. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site.

[0248] Optionally, the remote control cabin is equipped with a first broadband self-organizing network access system, which includes one 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna units are located outside the remote control cabin and are connected to the CPE host through the filter units. The cantilevered wellhead relocation robot is equipped with a second broadband self-organizing network access system, which includes one sMesh host, two filters, and two antennas. The two antennas are located behind the exterior of the cantilevered wellhead relocation robot's cab armor, and the sMesh host is located inside the cantilevered wellhead relocation robot's cab. The antennas are connected to the sMesh host through the filters. 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] Transmission unit 406 includes:

[0250] The system integrates operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data into the second broadband self-organizing network access system.

[0251] Data accessed through the second broadband self-organizing network access system is input into the first broadband self-organizing network access system of the remote control cabin via the Mesh wireless self-organizing network.

[0252] The second building unit 407 is used to build a 3D model based on the structural model of the cantilever wellhead resetting robot and place the 3D model on the digital twin 3D base map;

[0253] The second determining unit 408 is used to determine the coordinate data of the cantilever wellhead resetting robot using a GNSS antenna, satellite and 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 through coordinate data correction.

[0255] The real-time restoration unit 410 is used to perform real-time posture restoration and real-time status restoration of the 3D model in the digital twin 3D base map based on the machine's posture and motion information and operating status data.

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

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

[0258] The calibration unit 413 is used to perform coordinate calibration on the digital twin 3D base map using the total station cylinder center point measurement program and in combination with the wellhead center coordinates P0, the station point P1 and the backsight point P2.

[0259] The first determining unit 414 is used to recalculate the wellhead center coordinate P3 at another horizontal height, and to determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3.

[0260] The calculation unit 415 is used to calculate the tilt displacement angle of the wellhead based on the XZ axis parameters of the wellhead center coordinates P0 and P3.

[0261] The second generation unit 416 is used to generate a wellhead model in the digital twin 3D base map based on the wellhead center coordinates P0, P3 and the tilt 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 monitor of the remote control cabin, enabling rescue personnel to operate it.

[0263] Please see 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 it, such as... Figure 1 , Figure 2-1 , Figure 2-2 and Figure 2-3 Remote control methods in the text.

[0267] This invention provides a computer-readable storage medium on which a program is stored, and which, when executed on a computer, performs the following actions: Figure 1 , Figure 2-1 , Figure 2-2 and Figure 2-3 Remote control methods in the text.

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

[0269] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

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

[0271] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0272] If the integrated unit is implemented as 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, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A remote control method for a cantilevered wellhead resetting robot, characterized in that, include: Acquire a true-color point cloud image of the wellhead relocation operation site, and generate 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 relocation operation site. The remote control cabin was constructed based on the control method and cab layout of the cantilever wellhead resetting robot. A pose perception sensor system is installed on the cantilever wellhead resetting robot; An environmental detection and perception lidar system is installed on the cantilever wellhead relocation robot; A vision sensor system was installed on the cantilever wellhead relocation robot; The operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data are transmitted to the remote control cabin. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site. A 3D model is constructed based on the structural model of the cantilever wellhead relocation robot, and the 3D model is placed on the digital twin 3D base map; Based on the machine's posture and motion information and the operating status data, the 3D model in the digital twin 3D base map is restored in real time for both posture and status. Based on the scanning data of the well site rescue area and the 3D model, a real-time point cloud image of the wellhead relocation operation site is generated, and the 3D model and the attitude and motion information of the equipment are integrated. The real-time point cloud image includes the distance information between the objects at the wellhead relocation 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 monitor of the remote control cabin, enabling rescue personnel to operate the system. 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 screen of the remote control cabin, the remote control method further includes: Obtain the coordinates P0 of the wellhead center at the wellhead relocation site, and determine two known coordinate points at the wellhead relocation site as the survey station P1 and the backsight point P2. The coordinates of the digital twin 3D base map were corrected using the total station cylinder center point measurement program and in conjunction with the wellhead center coordinates P0, the station point P1, and the backsight point P2. 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: Calculate the wellhead center coordinate P3 again at another horizontal height, and determine the XZ axis parameters of the wellhead center coordinates P0 and P3; Calculate the tilt displacement angle of the wellhead based on the XZ axis parameters of the wellhead center coordinates P0 and P3. A wellhead model is generated from the digital twin 3D base map based on the wellhead center coordinates P0, P3, and the wellhead tilt displacement angle.

2. The remote control method according to claim 1, characterized in that, The process of acquiring a true-color point cloud image of the wellhead relocation operation site and generating a digital twin 3D base map based on the true-color point cloud image includes: Using a ground laser scanner, the wellhead relocation work site is scanned at at least three safe line-of-sight points, and a true-color point cloud image is output. The true-color point cloud image contains the world coordinate data of the objects at the wellhead relocation work site. 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.

3. The remote control method according to claim 1 or 2, characterized in that, The pose perception sensor system consists of 3 tilt sensors, 1 data processing touch screen all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas. A pose perception sensor system is installed on the cantilevered wellhead repositioning robot, including: Three tilt sensors are respectively integrated into the top armor of the robot cockpit, the back of the robot mast, and the side of the robot luffing mechanism of the cantilever wellhead resetting robot. Two GNSS antennas were installed on the back of the drill mast and the counterweight behind the robot, respectively. The central rotary encoder was installed on the rotary gear mechanism that connects the upper and lower vehicles. The data processing touch screen is installed in the cockpit of the cantilevered wellhead resetting robot, and the data processing touch screen is connected to the GNSS antenna and three tilt sensors.

4. The remote control method according to claim 3, characterized in that, After constructing a 3D model based on the structural model of the cantilever wellhead relocation robot and placing the 3D model on a digital twin 3D base map, the remote control method further includes: The coordinate data of the cantilever wellhead resetting robot are determined using a GNSS antenna, satellites, and real-time dynamic positioning technology. The coordinate data correction is used to restore the position of the 3D model in the digital twin 3D base map in real time.

5. The remote control method according to claim 1 or 2, characterized in that, The environmental detection and perception lidar system includes 3 lidars, 3 lidar protection mechanisms, and 1 lidar point cloud processing industrial control computer. Among the 3 lidars, 2 are high-resolution lidars and 1 is a wide-angle lidar. An environmental detection and sensing lidar system is installed on the cantilevered wellhead relocation robot, including: Two high-resolution lidar sensors are respectively installed on the top of the cab armor of the cantilevered wellhead relocation robot and on the top of the engine compartment exterior armor on the other side of the excavator arm; The large-angle lidar is vertically mounted on the counterweight of the cantilevered wellhead resetting robot, and each of the three lidars is equipped with a lidar protection mechanism that can be raised and lowered. The laser radar point cloud processing industrial control computer is installed inside the cab of the cantilevered wellhead relocation robot, and the laser radar point cloud processing industrial control computer is connected to three laser radars.

6. The remote control method according to claim 1, characterized in that, The remote control cabin is equipped with a first broadband self-organizing network access system, which includes one 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna units are located outside the remote control cabin and are connected to the CPE host through the filter units. The cantilevered wellhead relocation robot is equipped with a second broadband self-organizing network access system, which includes one sMesh host, two filters, and two antennas. The two antennas are located behind the exterior of the cantilevered wellhead relocation robot's cab, and the sMesh host is located inside the cantilevered wellhead relocation robot's cab. The antennas are connected to the sMesh host through the filters. 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 system transmits operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data to the remote control cabin, including: The system integrates operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data into the second broadband self-organizing network access system. Data accessed through the second broadband self-organizing network access system is input into the first broadband self-organizing network access system of the remote control cabin via the Mesh wireless self-organizing network.

7. A remote control device for a cantilevered wellhead resetting robot, characterized in that, include: The first acquisition unit is used to acquire a true-color point cloud image of the wellhead relocation operation site and generate 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 relocation operation site. The first building unit is used to build a remote control cabin based on the control method and cab layout of the cantilever wellhead resetting robot. The first setting unit is used to set up a pose perception sensor system on the cantilever wellhead resetting robot; The second setting unit is used to set up an environmental detection and perception lidar system on the cantilever wellhead resetting robot; The third setting unit is used to set up a vision sensor system on the cantilever wellhead resetting robot; The transmission unit is used to transmit operating status data, multi-channel high-definition video transmission signals, tool posture and motion information, and well site rescue area scanning data to the remote control cabin. The operating status data is the operating data of the cantilever wellhead resetting robot, the multi-channel high-definition video transmission signals are the data collected by the vision sensor system, the tool 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 and perception lidar system at the wellhead resetting operation site. The second building unit is used to build a 3D model based on the structural model of the cantilever wellhead resetting robot and place the 3D model on the digital twin 3D base map; The real-time restoration unit is used to perform real-time posture restoration and real-time state restoration of the 3D model in the digital twin 3D base map based on the machine posture and motion information and the running status data, respectively. The first generation unit is used to generate a real-time point cloud image of the wellhead relocation operation site based on the well site rescue area scanning data and the 3D model, and to access the 3D model and equipment posture and motion information. The real-time point cloud image includes the distance information between the objects at the wellhead relocation operation site and the 3D model. The display unit is used to display 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 screen of the remote control cabin, so that the rescue personnel can operate it. Prior to the demonstration unit, the remote control device also includes: The second acquisition unit is used to acquire the coordinates P0 of the wellhead center in the wellhead relocation operation site, and to determine two known coordinate points in the wellhead relocation operation site as the measuring station P1 and the backsight point P2. The calibration unit is used to perform coordinate calibration on the digital twin 3D base map using the total station cylinder center point measurement program and in combination with the wellhead center coordinates P0, the station point P1 and the backsight point P2. Following the calibration unit, the remote control device further includes: The first determining unit is used to recalculate the wellhead center coordinate P3 at another horizontal height, and to determine the XZ axis parameters of the wellhead center coordinate P0 and the wellhead center coordinate P3. The calculation unit is used to calculate the tilt displacement angle of the wellhead based on the XZ axis parameters of the wellhead center coordinates P0 and P3. The second generation unit is used to generate a wellhead model on the digital twin 3D base map based on the wellhead center coordinates P0, P3, and the tilt displacement angle of the wellhead.

8. The remote control device according to claim 7, characterized in that, The first acquisition unit includes: Using a ground laser scanner, the wellhead relocation work site is scanned at at least three safe line-of-sight points, and a true-color point cloud image is output. The true-color point cloud image contains the world coordinate data of the objects at the wellhead relocation work site. 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.

9. The remote control device according to claim 7, characterized in that, The pose perception sensor system consists of 3 tilt sensors, 1 data processing touch screen all-in-one machine, 1 central rotary encoder, and 2 GNSS antennas. The first setting unit includes: Three tilt sensors are respectively integrated into the top armor of the robot cockpit, the back of the robot mast, and the side of the robot luffing mechanism of the cantilever wellhead resetting robot. Two GNSS antennas were installed on the back of the drill mast and the counterweight behind the robot, respectively. The central rotary encoder was installed on the rotary gear mechanism that connects the upper and lower vehicles. The data processing touch screen is installed in the cockpit of the cantilevered wellhead resetting robot, and the data processing touch screen is connected to the GNSS antenna and three tilt sensors.

10. The remote control device according to claim 7, characterized in that, Following the second building unit, the remote control device further includes: The second determining unit is used to determine the coordinate data of the cantilever wellhead resetting robot using a GNSS antenna, satellite, and real-time dynamic positioning technology. The position restoration unit is used to restore the position of the 3D model in the digital twin 3D base map in real time through coordinate data correction.

11. The remote control device according to claim 7, characterized in that, The environmental detection and perception lidar system includes 3 lidars, 3 lidar protection mechanisms, and 1 lidar point cloud processing industrial control computer. Among the 3 lidars, 2 are high-resolution lidars and 1 is a wide-angle lidar. The second setting unit includes: Two high-resolution lidar sensors were respectively installed on the top of the cab armor of the cantilevered wellhead relocation robot and on the top of the external armor of the engine compartment on the other side of the excavator arm. The large-angle lidar is vertically mounted on the counterweight of the cantilevered wellhead resetting robot, and each of the three lidars is equipped with a lidar protection mechanism that can be raised and lowered. The LiDAR point cloud processing industrial control computer is installed inside the cab of the cantilevered wellhead relocation robot, and is connected to three LiDAR sensors.

12. The remote control device according to any one of claims 7-11, characterized in that, The remote control cabin is equipped with a first broadband self-organizing network access system, which includes one 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna units are located outside the remote control cabin and are connected to the CPE host through the filter units. The cantilevered wellhead relocation robot is equipped with a second broadband self-organizing network access system, which includes one sMesh host, two filters, and two antennas. The two antennas are located behind the exterior of the cantilevered wellhead relocation robot's cab, and the sMesh host is located inside the cantilevered wellhead relocation robot's cab. The antennas are 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 includes: The system integrates operational status data, multi-channel high-definition video transmission signals, equipment attitude and movement information, and well site rescue area scanning data into the second broadband self-organizing network access system. Data accessed through the second broadband self-organizing network access system is input into the first broadband self-organizing network access system of the remote control cabin via a Mesh wireless self-organizing network.

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