Remote control method and device for well control emergency rescue equipment

Abstract

The invention discloses a remote control method and device for well control emergency rescue equipment, and the method comprises the steps: constructing a remote control cabin, and arranging a first broadband ad hoc network access system; a pose sensing sensor system, an environment detection sensing laser radar system, a visual sensor system and a second broadband ad hoc network access system are arranged on the well control emergency rescue equipment; the operation state data, the multi-path high-definition video image transmission signals, the machine posture action information and the well site rescue area scanning data are accessed to a second broadband ad hoc network access system; obtaining through a first broadband ad hoc network access system; constructing a 3D model according to the structural model of the well control emergency rescue equipment and the machine posture action information; generating a true color point cloud three-dimensional model according to the well site rescue area scanning data; and displaying the multi-path high-definition video image transmission signal, the operation state data, the 3D model and the true color point cloud three-dimensional model on a display of the remote control cabin. According to the invention, the control accuracy of the well control emergency rescue equipment in a severe environment can be improved.

Description

Technical Field

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

[0002] With the continuous development of my country's infrastructure science and technology achievements, more and more land can be developed effectively and reasonably, such as coal mining, water source mining, tunnel construction and road construction.

[0003] In the process of land development, some dangerous situations are inevitable. At this time, individuals are required to operate the well control rescue equipment to rescue trapped people or precious resources.

[0004] However, it is very dangerous to carry out rescue operations in dangerous areas, and the situations to be faced are very complicated. At present, backhoe excavators are widely used in the field of well control emergency rescue, such as well control long-arm robots based on long-arm excavators, rescue and demolition robots based on small excavators, and rescue and obstacle removal robots based on excavators. They are used to perform long-distance fire-related obstacle removal shearing, grabbing, and digging operations. In the case of a well control out of control and fire, the control risk factor in the cab is very high.

[0005] Therefore, nowadays, unmanned well-controlled rescue equipment is mostly used for rescue operations. For example, a 433HZ wireless remote control is used to achieve short-range remote control operations. Existing remote control systems, such as the document with application number 202010170301.4, discloses a bulldozer remote control monitoring system, which uses a remote control terminal to display multi-source data including vehicle monitoring video, vehicle status, and collision warning data, and remotely controls the bulldozer through the remote control terminal's smart touch display, operating handle, etc. The system can obtain scene information of the working environment through a camera, allowing rescue personnel to perform remote operations.

[0006] However, when the camera is overexposed due to water mist, smoke, and high brightness in the rescue work area, the effect of pure visual perception is not good. Moreover, pure visual perception cannot intuitively reflect the changes in the surrounding terrain and the changes in the vehicle's posture. In areas with large terrain undulations such as mountainous areas, there is a risk of vehicle rollover. This leads to a reduction in the control accuracy of well control rescue equipment in harsh environments. Summary of the invention

[0007] The invention discloses a remote control method and device for well control emergency rescue equipment, which are used to improve the control accuracy of the well control emergency rescue equipment in harsh environments.

[0008] A first aspect of the present invention provides a remote control method for well control rescue equipment, comprising:

[0009] A remote control cabin is constructed based on well control rescue equipment, and the first broadband ad hoc network access system is arranged in the remote control cabin;

[0010] Setting up a posture perception sensor system on well control and rescue equipment;

[0011] Install an environmental detection and perception laser radar system on well control and rescue equipment;

[0012] Install visual sensor system and second broadband ad hoc network access system on well control rescue equipment;

[0013] Accessing the operation status data to the second broadband ad hoc network access system;

[0014] Connecting multiple high-definition video transmission signals and machine posture motion information to the second broadband ad hoc network access system, where the multiple high-definition video transmission signals are data collected by the visual sensor system, and the machine posture motion information is data collected by the posture perception sensor system;

[0015] The well site rescue area scanning data collected by the environment detection and perception laser radar system is connected to the second broadband self-organizing network access system;

[0016] Transmitting data of the second broadband self-organizing network access system to the first broadband self-organizing network access system;

[0017] A 3D model is constructed based on the structural model of the well control and rescue equipment and the posture and motion information of the equipment, and the 3D model represents the real-time posture of the well control and rescue equipment;

[0018] Generate a true color point cloud 3D model of the terrain and objects in the well site rescue area based on the scanned data of the well site rescue area;

[0019] Multiple channels of high-definition video transmission signals, operating status data, 3D models, and true-color point cloud three-dimensional models are displayed on the display of the remote control cabin, allowing rescue workers to operate them.

[0020] Optionally, the first broadband ad hoc network access system includes 1 4G / 5G CPE host, at least 2 filter units, and at least 2 antenna units;

[0021] A remote control cabin is constructed according to the well control rescue equipment, and the first broadband self-organizing network access system is arranged in the remote control cabin, including:

[0022] Construct a remote control cabin based on the control mode of well control and rescue equipment and the layout of the cab;

[0023] A 4G / 5G CPE host, at least two filter units, and at least two antenna units are arranged in the remote control cabin as the first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit.

[0024] Optional, the posture perception sensor system includes 4 tilt sensors, 1 data solution touch all-in-one machine and 2 GNSS antennas;

[0025] A posture perception sensor system is set up on the well control rescue equipment, including:

[0026] An inclination sensor is installed on the turntable of the well control rescue equipment;

[0027] An inclination sensor is installed on the boom of the well control rescue equipment;

[0028] A tilt sensor is installed on the boom of the well control rescue equipment;

[0029] A tilt sensor is installed on the joystick of the well control rescue equipment;

[0030] The data solution touch integrated machine is installed in the cockpit of the well control and rescue equipment;

[0031] Connect the data solution touch all-in-one computer to the GNSS antenna and four inclination sensors.

[0032] Optionally, after generating a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the well site rescue area scanning data, the remote control method further includes:

[0033] Scan the environment of the well control rescue equipment through the laser radar on the environment detection perception laser radar system and calibrate the first distance between it and the marker;

[0034] Use GNSS antennas, satellites and real-time dynamic positioning technology to determine the coordinate data of well control and rescue equipment;

[0035] Generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control rescue equipment, and calculate the second distance according to the coordinates of the marker in the true color point cloud three-dimensional model;

[0036] A correction is performed based on the first distance and the second distance.

[0037] Optional, the environment detection and perception laser radar system includes 3 laser radars, 3 laser radar protection mechanisms and 1 laser radar point cloud processing industrial computer. Among the 3 laser radars, there are 2 high-resolution laser radars and 1 wide-viewing angle laser radar;

[0038] An environmental detection and perception laser radar system is installed on the well control rescue equipment, including:

[0039] A high-resolution laser radar is installed on the top of the cab mecha of the well control and rescue equipment;

[0040] A high-resolution laser radar is installed on the top of the external armor of the engine compartment on the other side of the excavator arm of the well control rescue equipment;

[0041] A wide-angle laser radar is vertically installed on the counterweight of the well control rescue equipment, and the outside of the three laser radars are equipped with a laser radar protection mechanism that can be lifted and displaced;

[0042] The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the well control and rescue equipment, and the laser radar point cloud processing industrial computer is connected to three laser radars.

[0043] Optionally, the visual sensor system is a 360-degree camera group, the 360-degree camera group includes at least 3 cameras, and the second broadband ad hoc network access system includes 1 sMesh host, 2 filters, and 2 antennas;

[0044] A visual sensor system and a second broadband ad hoc network access system are set up on the well control rescue equipment, including:

[0045] Set up at least 3 cameras on the well control and rescue equipment;

[0046] Two antennas are installed at the rear of the cab of the well control rescue equipment;

[0047] The sMesh host is arranged inside the cab of the well control rescue equipment, and the antenna is connected to the sMesh host through a filter.

[0048] Optionally, accessing the operation status data to the second broadband ad hoc network access system includes:

[0049] Obtain the operating status data of well control and rescue equipment through the CAN bus;

[0050] Convert the above operating status data into Ethernet data through the CAN to Ethernet tool;

[0051] The operation status data converted into Ethernet data is connected to the second broadband ad hoc network access system.

[0052] Optionally, transmitting data of the second broadband self-organizing network access system to the first broadband self-organizing network access system includes:

[0053] The data of the second broadband self-organizing network access system is transmitted to the first broadband self-organizing network access system through the Mesh wireless self-organizing network.

[0054] A second aspect of the present invention provides a remote control device for well control and rescue equipment, comprising:

[0055] A first construction unit is used to construct a remote control cabin according to the well control rescue equipment and arrange a first broadband ad hoc network access system in the remote control cabin;

[0056] The first setting unit is used to set a posture perception sensor system on the well control rescue equipment;

[0057] The second setting unit is used to set the environment detection perception laser radar system on the well control rescue equipment;

[0058] The third setting unit is used to set the visual sensor system and the second broadband ad hoc network access system on the well control rescue equipment;

[0059] A first access unit, used to access the operation status data to the second broadband ad hoc network access system;

[0060] A second access unit is used to access the multi-channel high-definition video transmission signal and the machine posture motion information to the second broadband ad hoc network access system, wherein the multi-channel high-definition video transmission signal is the data collected by the visual sensor system, and the machine posture motion information is the data collected by the posture perception sensor system;

[0061] A third access unit is used to access the well site rescue area scanning data collected by the posture perception sensor system to the second broadband self-organizing network access system;

[0062] A transmission unit, used for transmitting data of the second broadband self-organizing network access system to the first broadband self-organizing network access system;

[0063] The second construction unit is used to construct a 3D model according to the structural model of the well control rescue equipment and the posture and motion information of the machine tool, and the 3D model represents the real-time posture of the well control rescue equipment;

[0064] A generating unit, used for generating a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the scanning data of the well site rescue area;

[0065] The display unit is used to display multiple high-definition video transmission signals, operating status data, 3D models, and true-color point cloud three-dimensional models on the display of the remote control cabin, so that rescue workers can operate them.

[0066] Optionally, the first broadband ad hoc network access system includes 1 4G / 5G CPE host, at least 2 filter units, and at least 2 antenna units;

[0067] The first building block is specifically:

[0068] Construct a remote control cabin based on the control mode of well control and rescue equipment and the layout of the cab;

[0069] A 4G / 5G CPE host, at least two filter units, and at least two antenna units are arranged in the remote control cabin as the first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit.

[0070] Optional, the posture perception sensor system includes 4 tilt sensors, 1 data solution touch all-in-one machine and 2 GNSS antennas;

[0071] The first setting unit includes:

[0072] An inclination sensor is installed on the turntable of the well control rescue equipment;

[0073] An inclination sensor is installed on the boom of the well control rescue equipment;

[0074] A tilt sensor is installed on the boom of the well control rescue equipment;

[0075] A tilt sensor is installed on the joystick of the well control rescue equipment;

[0076] The data solution touch integrated machine is installed in the cockpit of the well control and rescue equipment;

[0077] Connect the data solution touch all-in-one computer to the GNSS antenna and four inclination sensors.

[0078] Optionally, the remote control device also includes:

[0079] A calibration unit, used for scanning the environment of the well control rescue equipment by a laser radar on the environment detection perception laser radar system and calibrating a first distance to the marker;

[0080] A determination unit, used to determine coordinate data of well control and rescue equipment using a GNSS antenna, a satellite and real-time dynamic positioning technology;

[0081] A calculation unit, used to generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control rescue equipment, and calculate the second distance according to the coordinates of the marker in the true color point cloud three-dimensional model;

[0082] The correction unit is used to perform correction according to the first distance and the second distance.

[0083] Optional, the environment detection and perception laser radar system includes 3 laser radars, 3 laser radar protection mechanisms and 1 laser radar point cloud processing industrial computer. Among the 3 laser radars, there are 2 high-resolution laser radars and 1 wide-viewing angle laser radar;

[0084] The second setting unit includes:

[0085] A high-resolution laser radar is installed on the top of the cab mecha of the well control and rescue equipment;

[0086] A high-resolution laser radar is installed on the top of the external armor of the engine compartment on the other side of the excavator arm of the well control rescue equipment;

[0087] A wide-angle laser radar is vertically installed on the counterweight of the well control rescue equipment, and the outside of the three laser radars are equipped with a laser radar protection mechanism that can be lifted and displaced;

[0088] The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the well control and rescue equipment, and the laser radar point cloud processing industrial computer is connected to three laser radars.

[0089] Optionally, the visual sensor system is a 360-degree camera group, the 360-degree camera group includes at least 3 cameras, and the second broadband ad hoc network access system includes 1 sMesh host, 2 filters, and 2 antennas;

[0090] The third setting unit includes:

[0091] Set up at least 3 cameras on the well control and rescue equipment;

[0092] Two antennas are installed at the rear of the cab of the well control rescue equipment;

[0093] The sMesh host is arranged inside the cab of the well control rescue equipment, and the antenna is connected to the sMesh host through a filter.

[0094] Optionally, the first access unit includes:

[0095] Obtain the operating status data of well control and rescue equipment through the CAN bus;

[0096] Convert the above operating status data into Ethernet data through the CAN to Ethernet tool;

[0097] The operation status data converted into Ethernet data is connected to the second broadband ad hoc network access system.

[0098] Optionally, a transmission unit, comprising:

[0099] The data of the second broadband self-organizing network access system is transmitted to the first broadband self-organizing network access system through the Mesh wireless self-organizing network.

[0100] A third aspect of the present invention provides an electronic device, comprising:

[0101] Processor, memory, input-output unit, and bus;

[0102] The processor is connected to the memory, the input and output unit, and the bus;

[0103] The memory stores a program, and the processor calls the program to execute the remote control method of the well control and rescue equipment as described in the first aspect and any optional method of the well control and rescue equipment as described in the first aspect.

[0104] A fourth aspect of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed on a computer, the remote control method for well control and rescue equipment according to the first aspect and any optional well control and rescue equipment according to the first aspect is executed.

[0105] The advantages of adopting the present invention are:

[0106] The present invention first needs to construct a remote control cabin according to the well control rescue equipment, and arrange the first broadband self-organizing network access system in the remote control cabin so that the remote control cabin has the functions of control and information exchange. A posture perception sensor system is set on the well control rescue equipment so that the parameters of the well control rescue equipment in multiple postures can be collected and uploaded. An environmental detection perception laser radar system is set on the well control rescue equipment so that the well control rescue equipment can collect surrounding environmental data through the laser radar. A visual sensor system and a second broadband self-organizing network access system are set on the well control rescue equipment. The visual sensor system enables the well control rescue equipment to have the function of collecting real-time environmental video, and the second broadband self-organizing network access system enables the well control rescue equipment to have the function of information exchange. Next, the operating status data is connected to the second broadband self-organizing network access system, and the multi-channel high-definition video image transmission signal and the machine posture action information are connected to the second broadband self-organizing network access system, wherein the multi-channel high-definition video image transmission signal is the data collected by the visual sensor system, the machine posture action information is the data collected by the posture perception sensor system, and the well site rescue area scanning data collected by the environmental detection perception laser radar system is connected to the second broadband self-organizing network access system. After all the collected parameters are uploaded to the second broadband self-organizing network access system, the data of the second broadband self-organizing network access system can be transmitted to the first broadband self-organizing network access system at the remote control cabin end. After the remote control cabin obtains the above data, a 3D model is constructed according to the structural model of the well control rescue equipment and the posture and motion information of the machine tool. The 3D model represents the real-time posture of the well control rescue equipment. A true color point cloud three-dimensional model of the terrain and objects in the well site rescue area is generated according to the scanning data of the well site rescue area. The multi-channel high-definition video transmission signal, the operation status data, the 3D model, and the true color point cloud three-dimensional model are displayed on the display of the remote control cabin so that the rescue staff can operate it. The action of the current well control rescue equipment is determined by the posture and motion information of the machine tool, the visualization environment is determined by the multi-channel high-definition video transmission signal, the internal operation details of the well control rescue equipment are mastered by the operation status data, and finally a virtual true color point cloud three-dimensional model is formed by the scanning data of the well site rescue area, so that the rescue workers in the remote control cabin can work effectively in a variety of harsh rescue environments, and the control accuracy of the well control rescue equipment in harsh environments is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] Figure 1 A schematic diagram of an embodiment of a remote control method for well control and rescue equipment of the present invention;

[0108] Figure 2-1 It is a schematic diagram of the first stage of another embodiment of the present invention;

[0109] Figure 2-2 A schematic diagram of the second stage of another embodiment of the present invention;

[0110] Figure 2-3 It is a schematic diagram of the third stage of another embodiment of the present invention;

[0111] Figure 3 A schematic diagram of an embodiment of a remote control device for well control and rescue equipment of the present invention;

[0112] Figure 4 A schematic diagram of another embodiment of a remote control device for well control and rescue equipment of the present invention;

[0113] Figure 5 FIG. 1 is a schematic diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0114] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0115] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0116] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0117] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0118] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0119] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0120] The invention discloses a remote control method and device for well control emergency rescue equipment, which are used to improve the control accuracy of the well control emergency rescue equipment in harsh environments.

[0121] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0122] The method of the present invention can be applied to a server, a device, a terminal or other devices with logic processing capabilities, and the present invention does not limit this. For the convenience of description, the following description is made by taking the execution subject as an example of a terminal.

[0123] See also Figure 1 The present invention provides an embodiment of a remote control method for well control rescue equipment, comprising:

[0124] 101. Construct a remote control cabin based on well control rescue equipment, and arrange the first broadband ad hoc network access system in the remote control cabin;

[0125] The remote control cabin is constructed according to the well control rescue equipment. Specifically, it needs to be constructed according to the control method and cab layout of the well control rescue equipment, so that the rescue workers can adapt to the remote control cabin and the well control rescue equipment to the greatest extent.

[0126] Specifically, the remote control cabin is an open structure, which includes at least a driver's seat, with left and right control handle boxes arranged on both sides of the seat, and a control panel set in the front. The control panel contains buttons such as switch simulation, and a display screen bracket above the control panel fixes 1 to 6 display screens, and below is the walking mechanism control pedal.

[0127] The first broadband self-organizing network access system is arranged in the remote control cabin, so that the remote control cabin has the ability of information exchange and equipment control.

[0128] 102. Install a posture perception sensor system on the well control rescue equipment;

[0129] The posture perception sensor system is used to obtain the posture data of well control and rescue equipment in real time.

[0130] 103. Install an environmental detection and perception laser radar system on well control and rescue equipment;

[0131] The environmental detection and perception lidar system is used to obtain environmental information around the emergency area.

[0132] 104. Install a visual sensor system and a second broadband ad hoc network access system on the well control rescue equipment;

[0133] The visual sensor system can be a variety of shooting devices, such as: a camera, a mobile phone, a camera, etc., which is not limited here.

[0134] The second broadband ad hoc network access system is used to provide information interaction function for well control and rescue equipment.

[0135] 105. Access the operation status data to the second broadband ad hoc network access system;

[0136] When the well control rescue equipment is working or in a standby state, various operation data of the well control rescue equipment will be collected and connected to the second broadband self-organizing network access system through the switch.

[0137] In this embodiment, the operating status data includes at least gear data, operating voltage, pump pressure, engine water temperature, fuel level, safety handle status, fault alarm, total fuel consumption, boom lifting, boom lowering, arm digging, arm unloading, bucket digging, bucket unloading, left walking, right walking, rotation signal, and vehicle rotation angle.

[0138] 106. Connecting the multi-channel high-definition video transmission signals and the machine posture motion information to the second broadband ad hoc network access system, wherein the multi-channel high-definition video transmission signals are data collected by the visual sensor system, and the machine posture motion information is data collected by the posture perception sensor system;

[0139] When the well control rescue equipment enters the rescue area, the visual sensor system will start to collect the environmental video around the well control rescue equipment, that is, multiple high-definition video transmission signals. In addition, the posture perception sensor system will also collect information corresponding to the working position of each tool of the well control rescue equipment.

[0140] Finally, multiple channels of high-definition video transmission signals and equipment posture and motion information will be connected to the second broadband self-organizing network access system through their respective switches.

[0141] 107. Access the well site rescue area scanning data collected by the environment detection and perception laser radar system to the second broadband self-organizing network access system;

[0142] The well site rescue area scanning data is the data obtained by the well control rescue equipment when entering the rescue area by performing an all-round scan of the surrounding environment, and is connected to the second broadband self-organizing network access system through a switch.

[0143] 108. Transmitting data of the second broadband self-organizing network access system to the first broadband self-organizing network access system;

[0144] The terminal transmits the data of the second broadband self-organizing network access system to the first broadband self-organizing network access system, so as to enable information exchange between the remote control cabin and the well control rescue equipment.

[0145] 109. Construct a 3D model based on the structural model of the well control rescue equipment and the posture and motion information of the equipment, and the 3D model represents the real-time posture of the well control rescue equipment;

[0146] In this embodiment, a 3D model is constructed based on the actual kinematic model and appearance structure of the well control rescue equipment and combined with the posture and motion information of the equipment. During the three-dimensional modeling, the key motion nodes and axis points of the 3D model of the equipment are calibrated according to the posture and motion information of the equipment.

[0147] 110. Generate a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area based on the scanned data of the well site rescue area;

[0148] In this embodiment, the environment detection and perception laser radar system is used to scan the well site rescue area 360 degrees. After landing, a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area is obtained through processing, wherein the point cloud coordinates are in the world coordinate system.

[0149] 111. Display multiple channels of high-definition video transmission signals, operating status data, 3D models, and true-color point cloud 3D models on the display of the remote control cabin so that emergency workers can operate them.

[0150] In this embodiment, the industrial computer in the remote control cabin is equipped with a digital twin program, in which the digital twin implementation consists of three parts: one is the true color point cloud three-dimensional model of the well site rescue operation area; the second is the 3D model; the third is the position and posture data of the well control rescue equipment, the movement angle of each action component, and the real-time status data. In addition, the 3D model is placed in the true color point cloud three-dimensional model of the rescue operation area, and the posture and motion information of the equipment and the real-time operation status data are accessed.

[0151] The middle part of the three parts displays the digital twin program screen. The digital twin screen in the middle has a semi-transparent status bar on the upper part, which contains the name of the well control rescue equipment, the well control rescue equipment ID, the well control rescue equipment coordinates, the well control rescue equipment speed, and a button to view details. Clicking the button displays the rated power, total fuel consumption, controller model, engine model, and hydraulic system model of the well control rescue equipment. The middle part is the real-time twin screen of the well control rescue equipment, with movement angles marked around each component of the 3D model of the well control rescue equipment. Below is a virtual instrument panel that displays engine speed, pump pressure, hydraulic oil temperature, engine water temperature, and fuel level.

[0152] The right screen displays the video surveillance screen, the upper part shows the main perspective facing the operation surface, and the lower part shows the stitched panoramic image.

[0153] The upper part of the left screen displays the images detected by the environment detection and perception laser radar system, including at least the real-time laser radar point cloud stitching image and the laser radar protection switch status. The lower part displays the gear position, working time, voltage, safety handle status, fault alarm, and network delay content of the well control rescue equipment.

[0154] The lower left corner of the left screen displays the currently executed operation command and the previous two operation commands. The lower right corner of the right screen displays the status of the laser radar, camera, and sensor.

[0155] In this embodiment, it is first necessary to construct a remote control cabin according to the well control rescue equipment, and arrange the first broadband self-organizing network access system in the remote control cabin so that the remote control cabin has the functions of control and information exchange. A posture perception sensor system is set on the well control rescue equipment so that the parameters of the well control rescue equipment in various postures can be collected and uploaded. An environmental detection perception laser radar system is set on the well control rescue equipment so that the well control rescue equipment can collect surrounding environmental data through the laser radar. A visual sensor system and a second broadband self-organizing network access system are set on the well control rescue equipment. The visual sensor system enables the well control rescue equipment to have the function of collecting real-time environmental video, and the second broadband self-organizing network access system enables the well control rescue equipment to have the function of information exchange. Next, the operating status data is connected to the second broadband self-organizing network access system, and the multi-channel high-definition video image transmission signal and the machine posture action information are connected to the second broadband self-organizing network access system, wherein the multi-channel high-definition video image transmission signal is the data collected by the visual sensor system, the machine posture action information is the data collected by the posture perception sensor system, and the well site rescue area scanning data collected by the environmental detection perception laser radar system is connected to the second broadband self-organizing network access system. After all the collected parameters are uploaded to the second broadband self-organizing network access system, the data of the second broadband self-organizing network access system can be transmitted to the first broadband self-organizing network access system at the remote control cabin end. After the remote control cabin obtains the above data, a 3D model is constructed according to the structural model of the well control rescue equipment and the posture and motion information of the machine tool. The 3D model represents the real-time posture of the well control rescue equipment. A true color point cloud three-dimensional model of the terrain and objects in the well site rescue area is generated according to the scanning data of the well site rescue area. The multi-channel high-definition video transmission signal, the operation status data, the 3D model, and the true color point cloud three-dimensional model are displayed on the display of the remote control cabin so that the rescue staff can operate it. The action of the current well control rescue equipment is determined by the posture and motion information of the machine tool, the visualization environment is determined by the multi-channel high-definition video transmission signal, the internal operation details of the well control rescue equipment are mastered by the operation status data, and finally a virtual true color point cloud three-dimensional model is formed by the scanning data of the well site rescue area, so that the rescue workers in the remote control cabin can work effectively in a variety of harsh rescue environments, and the control accuracy of the well control rescue equipment in harsh environments is improved.

[0156] Referring to FIG. 2 , the present invention provides an embodiment of a remote control method for well control rescue equipment, comprising:

[0157] 201. Construct a remote control cabin according to the control mode of well control rescue equipment and the layout of the cab;

[0158] 202. Arrange a 4G / 5G CPE host, at least two filter units, and at least two antenna units in the remote control cabin as a first broadband ad hoc network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit.

[0159] In this embodiment, a first broadband self-organizing network access system is arranged on the remote control cabin, and the first broadband self-organizing network access system is connected to the switch, so that multiple remote control cabins can be connected to the switch together. The first broadband self-organizing network access system consists of 1 4G / 5G CPE host, at least 2 filter units, and at least 2 antenna units. Among them, the antenna unit is located outside the cabin or in an area where the outdoor signal is not blocked, and the antenna unit is connected to the CPE host through the filter unit. The CPE host is connected to the 4G / 5G base station uplink, accesses the first broadband self-organizing network access system, and is connected to the industrial computer of the well control rescue equipment downlink. The filter unit is used to reduce, weaken, and filter out interference signals, and the antenna is used to increase the coverage range and enhance the wireless signal reception and transmission capabilities.

[0160] 203. An inclination sensor is installed on the turntable of the well control rescue equipment;

[0161] 204. Install an inclination sensor on the boom of the well control rescue equipment;

[0162] 205. An inclination sensor is installed on the boom of the well control rescue equipment;

[0163] 206. Install an inclination sensor on the rocker of the well control rescue equipment;

[0164] 207. The data solution touch integrated machine is installed in the cockpit of the well control and rescue equipment;

[0165] 208. Connect the data solution touch integrated machine with the GNSS antenna and four inclination sensors;

[0166] In this embodiment, the posture perception sensor system consists of 4 tilt sensors, 1 data solution touch all-in-one machine, and 2 GNSS antennas.

[0167] Specifically, one inclination sensor is fixed on the excavator's upper turntable, below the boom hydraulic cylinder. The inclination sensor is parallel to the side of the vehicle body, and collects the pitch and roll angles of the fuselage. One inclination sensor is fixed on the boom, and the inclination sensor is parallel to the axis of the vehicle body-boom connecting shaft and the axis of the boom-arm connecting shaft, and collects the movement angle of the boom and the vehicle body. One inclination sensor is fixed on the arm, and the inclination sensor is parallel to the axis of the boom-arm connecting shaft and the axis of the arm-bucket connecting shaft, and collects the movement angle of the arm and the boom. One inclination sensor is fixed on the rocker, and the inclination sensor is parallel to the rocker, and collects the movement angle of the rocker and the arm. The data solution touch all-in-one computer is installed in the cockpit of the well control and rescue equipment, and the data solution touch all-in-one computer is connected to the inclination sensor and the GNSS antenna;

[0168] Two GNSS antennas are installed on the parallel edges on both sides of the rear counterweight block so that the connecting line between the two antennas and the central axis of the vehicle boom are at 90 degrees. The GNSS antenna is used to receive GNSS satellite signals and differential signals from ground reference stations to detect high-precision positioning of well control and rescue equipment in the well site.

[0169] The high-precision position acquisition of well control and rescue equipment in the well site area is based on RTK technology. The ground base station uses real-time dynamic positioning technology (RTK) based on carrier phase observation values ​​to provide real-time three-dimensional positioning results of the base station in the specified coordinate system with centimeter-level accuracy. The ground base station transmits its observation values ​​and station coordinate information to the well control and rescue equipment through the data link. By utilizing the spatial correlation of the observation errors between the base station and the mobile station (well control and rescue equipment), most of the errors in the GNSS data observed by the mobile station (well control and rescue equipment) are removed by differential means, achieving centimeter-level positioning of the well control and rescue equipment.

[0170] The heading angle is collected through the displacement deflection of two GNSS antennas, and the heading angle value is assigned to the 3D model of the well control and rescue equipment, presenting the real-time direction of the well control and rescue equipment in the environment in the digital twin program.

[0171] In this embodiment, the well control rescue equipment based on the excavator modification has a tilt sensor in series, with the rocker at the end. One end of the rocker sensor is connected to the arm sensor through a wiring harness, and the other end of the arm sensor is connected to the boom sensor through a wiring harness. The other end of the boom sensor is connected to the tilt sensor under the boom, and the tilt sensor under the boom is connected to the touch-solving all-in-one machine. Two GNSS antennas are connected in parallel to the data-solving touch-solving all-in-one machine. The data-solving touch-solving all-in-one machine packages the motion angle, position, and heading angle data of the four tilt sensors and sends them to the broadband self-organizing network access system at the remote control cabin end through the broadband self-organizing network access system accessed by the switch.

[0172] 209. Install a high-resolution laser radar on the top of the cab mecha of the well control and rescue equipment;

[0173] 210. Install a high-resolution laser radar on the top of the external mecha of the engine compartment on the other side of the excavator arm of the well control rescue equipment;

[0174] 211. A laser radar with a wide viewing angle is vertically installed on the counterweight block of the well control and rescue equipment. The three laser radars are all provided with a laser radar protection mechanism that can be lifted and displaced.

[0175] 212. Install the laser radar point cloud processing industrial control computer inside the actual vehicle cab of the well control rescue equipment, and connect the laser radar point cloud processing industrial control computer with the three laser radars;

[0176] The environmental detection and perception laser radar system consists of 3 laser radars, 3 laser radar protection mechanisms, and 1 laser radar point cloud processing industrial computer.

[0177] Among them, three laser radars are installed on the upper vehicle turntable, including two high-resolution laser radars and one wide-angle laser radar. One of the two high-resolution laser radars is mounted on the top of the cab armor, and the other is on the top of the external armor of the engine compartment on the other side of the excavator arm. The two radars are at the same horizontal height from the ground and are used for real-time detection and scanning of the front and left and right sides. The wide-angle laser radar is vertically installed on the counterweight block to detect and scan the real-time picture behind in real time.

[0178] There is a protective mechanism that can be raised and lowered on the outside of the laser radar. The protective mechanism is made of aluminum alloy. There are two control switches for the protective lifting, which are located inside the cockpit of the well control rescue equipment and in the remote control cabin. The buttons in the cockpit are integrated into the control panel inside the vehicle to directly control the relay, which is controlled by the relay control circuit to control the lifting of the protection. The remote control cabin is connected to the broadband self-organizing network and sends lifting control commands to the broadband self-organizing network access system of the well control rescue equipment. The commands are connected to the laser radar industrial computer through the switch. The industrial computer sends commands to the protective mechanism relay, which is controlled by the relay control circuit to control the lifting of the protection.

[0179] The laser radar industrial computer is installed inside the cab of the real vehicle, and is equipped with a point cloud processing program and a control program for the protective mechanism. The laser radar scans the surrounding environment in real time and generates a real-time point cloud image of the environment.

[0180] The laser radar industrial computer solution program solves the point cloud scanned in real time, assigns it relative coordinates, and calibrates the distance relationship between objects in the field of view in real time.

[0181] The laser radar industrial computer of the well control and rescue equipment modified from the excavator stitches the point cloud images of the two laser radars, calibrates the boom point cloud that blocks the field of view in the point cloud image, hides it from the point cloud image, and converts the sequence frame images of the laser radar point cloud into streaming media data, which is then connected to the broadband self-organizing network access system through a switch.

[0182] 213. Install at least three cameras on the well control and rescue equipment;

[0183] 214. Install two antennas on the rear of the cab of the well control rescue equipment;

[0184] 215. The sMesh host is arranged inside the cab of the well control rescue equipment, and the antenna is connected to the sMesh host through a filter;

[0185] The broadband ad hoc network access system consists of 1 sMesh host, 2 filters, and 2 antennas. The 2 antennas are located behind the cab and connected to the sMesh host through the filters.

[0186] In this embodiment, the camera is connected to a DVR or a switch, and the switch is then connected to an sMesh host via a network cable to achieve transmission of the captured image.

[0187] 216. Obtain the operating status data of well control and rescue equipment through the CAN bus;

[0188] 217. Convert the above operating status data into Ethernet data through a CAN to Ethernet tool;

[0189] Accessing the operation status data converted into Ethernet data to the second broadband ad hoc network access system;

[0190] In this embodiment, the operating status data is converted into Ethernet data by a CAN to Ethernet tool, including the gear data, operating voltage, pump pressure, engine water temperature, fuel level, safety handle status, fault alarm, total fuel consumption, boom lifting, boom lowering, arm digging, arm unloading, bucket digging, bucket unloading, left walking, right walking, rotation signal, and vehicle rotation angle contained in the CAN bus, and connected to the second broadband ad hoc network access system.

[0191] 218. Connect multiple high-definition video transmission signals and machine posture motion information to the second broadband ad hoc network access system, where the multiple high-definition video transmission signals are data collected by the visual sensor system, and the machine posture motion information is data collected by the posture perception sensor system;

[0192] 219. Access the well site rescue area scanning data collected by the environment detection and perception laser radar system to the second broadband self-organizing network access system;

[0193] In this embodiment, steps 218 to 219 are similar to the aforementioned steps 106 to 107 and are not described in detail here.

[0194] 220. Transmitting data of the second broadband ad hoc network access system to the first broadband ad hoc network access system through the Mesh wireless ad hoc network;

[0195] The second broadband ad hoc network access system of the well control rescue equipment and the first broadband ad hoc network access system of the remote control cabin are connected to the same Mesh wireless ad hoc network.

[0196] In this embodiment, the remote control cabin realizes network communication with the second broadband self-organizing network access system of the well control and rescue equipment through the first broadband self-organizing network access system, and forms a MESH wireless self-organizing network using the 1.4GHz frequency band network radio transmission technology that can be set up at any time. The driver's operation is converted into a control signal and sent to the controller of the well control and rescue equipment through network communication to control the operation of the well control and rescue equipment.

[0197] 221. Construct a 3D model based on the structural model of the well control rescue equipment and the posture and motion information of the equipment, and the 3D model represents the real-time posture of the well control rescue equipment;

[0198] 222. Generate a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area based on the scanned data of the well site rescue area;

[0199] 223. Display multiple channels of high-definition video transmission signals, operating status data, 3D models, and true-color point cloud 3D models on the display of the remote control cabin so that emergency workers can operate them;

[0200] In this embodiment, steps 221 to 223 are similar to the aforementioned steps 109 to 111 and are not described in detail here.

[0201] 224. Scanning the environment of the well control rescue equipment by the laser radar on the environment detection perception laser radar system and calibrating the first distance between the equipment and the marker;

[0202] 225. Use GNSS antennas, satellites and real-time dynamic positioning technology to determine the coordinate data of well control and rescue equipment;

[0203] 226. Generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control rescue equipment, and calculate the second distance according to the coordinates of the marker in the true color point cloud three-dimensional model;

[0204] 227. Perform correction according to the first distance and the second distance.

[0205] In this embodiment, correction according to the first distance and the second distance refers to correcting the actual position coordinates of the well control rescue equipment, and after correction, the twin well control rescue equipment in the true color point cloud three-dimensional model is consistent with the actual equipment position in the environment. The laser radar carried by the well control rescue equipment scans the environment and calibrates the distance between the well control rescue equipment and the marker (the first distance). The distance measurement method is to output the measured coordinate data after RTK positioning of the well control rescue equipment in a static state, and superimpose it on the three-dimensional laser point cloud of the well site area with world coordinate system information, combined with high-precision 3D modeling of the size, shape and action posture of the well control rescue equipment, and the distance (the second distance) between the specified end point and the marker can be measured in the system through coordinate comparison. The difference between the two sets of data is at the centimeter level, indicating that the digital twin system and the posture perception sensor system meet the operation requirements and can guide the operation. If the difference between the two sets of data is above the decimeter level, it is necessary to check the sensor status, determine the occlusion of the surrounding operating environment, and then face the RTK base station for re-calibration, and wait until the error converges to the centimeter level, indicating that the operation can be guided.

[0206] In this embodiment, the application scenario is well control emergency rescue operations, and the well control long-arm robot, rescue and demolition robot, and rescue and obstacle removal robot work together to complete long-distance fire obstacle removal shearing, grabbing, digging, obstacle dragging, old wellhead cutting, wellhead flange stripping, etc. Among them, the well control long-arm robot, rescue and demolition robot, and rescue and obstacle removal robot are well control rescue equipment.

[0207] The operation process is as follows:

[0208] Step 1: Use surveying and mapping LiDAR to scan the well control emergency rescue site. After internal surveying and mapping processing, the output result is high-precision true-color point cloud data (scanning data of the well site rescue area).

[0209] After the true color point cloud data is thinned, it is imported into the Unity 3D engine. This image contains the point cloud data of the world coordinates of all objects in the scene. The regional terrain it contains is used as the digital twin 3D base (true color point cloud 3D model) for the robot operation.

[0210] Step 2: Install tilt sensors on the boom, rocker, dipper arm, and upper turntable of the well control rescue equipment based on the excavator modification; install laser radar, GNSS antenna, and broadband ad hoc network access system antenna on the top of the cockpit;

[0211] Step 3: Connect the real-time tilt sensor data, RTK positioning coordinate data, well control rescue equipment operation status data, lidar point cloud image, and well control rescue equipment monitoring image data of the well control rescue equipment to the broadband ad hoc network access system at the well control rescue equipment end, and transmit the above data to the remote control cabin through the Mesh wireless ad hoc network.

[0212] Step 4: Build a 3D model based on the actual kinematic model and appearance structure of the excavator, and place the model in the digital twin 3D base map.

[0213] Step 5: Data is bound to the node joints of the 3D model of the well control rescue equipment according to the parameters collected by the corresponding motion nodes of the inclination sensor. Data is bound to the vehicle head orientation of the 3D model of the well control rescue equipment according to the heading angle parameters of the well control rescue equipment collected by the offset of the GNSS antenna. Data is bound to the vehicle rotation parameters of the 3D model of the well control rescue equipment according to the rotation angle parameters collected by the central rotary encoder. Based on the data in this step, the real-time drive of the 3D model animation of the well control rescue equipment is completed.

[0214] According to the operating status data of the well control and rescue equipment collected by the CAN-to-Ethernet device, the status parameter items bound to the machines in the digital twin scene drive their real-time display.

[0215] Step 6: Generate a live point cloud image of the scene based on the real-time scanning of the surrounding environment by the LiDAR. In the image, based on the coordinate comparison between different objects, mark the real-time distances between different objects on the image.

[0216] Step 7: At the remote control cabin end, the first broadband ad hoc network access system sends the data sent by the well control rescue equipment end to the corresponding remote control cabin industrial computer through the switch.

[0217] Step 8: Remotely control the industrial computer at the cabin end. The digital twin system displays the real-time digital twin image, laser point cloud image, and video image of the well control and rescue equipment end, and remotely controls the rescue based on the above images.

[0218] Step 9: The control quantities of the remote control cabin control panel and handle are collected by the acquisition system, summarized by the industrial computer, and sent to the receiving end of the well control and rescue equipment through the broadband self-organizing network system. The well control and rescue equipment converts the Ethernet control instructions into CAN control signals to control the operation of the well control and rescue equipment.

[0219] In this embodiment, a remote control cabin is first constructed according to the control mode and cab layout of the well control rescue equipment. A 4G / 5G CPE host, at least two filter units, and at least two antenna units are arranged in the remote control cabin as the first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit. An inclination sensor is set on the turntable of the well control rescue equipment, an inclination sensor is set on the boom of the well control rescue equipment, an inclination sensor is set on the arm of the well control rescue equipment, an inclination sensor is set on the rocker of the well control rescue equipment, and a data solution touch all-in-one machine is set in the cockpit of the well control rescue equipment, and the data solution touch all-in-one machine is connected to the GNSS antenna and the four inclination sensors. A high-resolution laser radar is set on the top of the cab armor of the well control rescue equipment, a high-resolution laser radar is set on the top of the external armor of the engine compartment on the other side of the excavator arm of the well control rescue equipment, and a wide-angle laser radar is set vertically on the counterweight of the well control rescue equipment. The three laser radars are all provided with a laser radar protection mechanism that can be lifted and displaced. The laser radar point cloud processing industrial control computer is installed inside the actual vehicle cab of the well control rescue equipment, and the laser radar point cloud processing industrial control computer is connected to the three laser radars. At least three cameras are set on the well control rescue equipment. Two antennas are set at the rear of the cab armor of the well control rescue equipment, and the sMesh host is set inside the cab of the well control rescue equipment. The antenna is connected to the sMesh host through a filter. Next, the operating status data of the well control rescue equipment is obtained through the CAN bus, and the above operating status data is converted into Ethernet data through the CAN to Ethernet tool; the operating status data converted into Ethernet data is connected to the second broadband self-organizing network access system. The multi-channel high-definition video transmission signals and the posture and motion information of the equipment are connected to the second broadband self-organizing network access system, wherein the multi-channel high-definition video transmission signals are data collected by the visual sensor system, the posture and motion information of the equipment is data collected by the posture perception sensor system, and the well site rescue area scanning data collected by the environment detection perception laser radar system are connected to the second broadband self-organizing network access system. The data of the second broadband self-organizing network access system is transmitted to the first broadband self-organizing network access system through the Mesh wireless self-organizing network. After the remote control cabin obtains the above data, a 3D model is constructed according to the structural model of the well control rescue equipment and the posture and motion information of the equipment, and the 3D model represents the real-time posture of the well control rescue equipment. A true color point cloud three-dimensional model of the terrain and objects in the well site rescue area is generated according to the scanning data of the well site rescue area. The multi-channel high-definition video transmission signals, the operating status data, the 3D model, and the true color point cloud three-dimensional model are displayed on the display of the remote control cabin so that the rescue staff can operate. The laser radar on the environment detection perception laser radar system scans the environment of the well control rescue equipment and calibrates the first distance between it and the marker.The coordinate data of the well control rescue equipment is determined by using GNSS antennas, satellites and real-time dynamic positioning technology. Coordinates are generated in the true color point cloud 3D model based on the coordinate data of the well control rescue equipment, and the second distance is calculated based on the coordinates of the markers in the true color point cloud 3D model. Correction is performed based on the first distance and the second distance.

[0220] The current action of the well control and rescue equipment is determined through the machine posture motion information, the visualization environment is determined through multi-channel high-definition video image transmission signals, the internal operation details of the well control and rescue equipment are grasped through the operation status data, and finally a virtual true-color point cloud three-dimensional model is formed through the scanning data of the well site rescue area. This enables the rescue workers in the remote control cabin to work effectively in a variety of harsh rescue environments, thereby improving the control accuracy of the well control and rescue equipment in harsh environments.

[0221] Secondly, by integrating the posture perception sensor system, the environmental detection perception lidar system, the first broadband self-organizing network access system, the second broadband self-organizing network access system and the visual sensor system, the well control and rescue equipment has the conditions for remote and precise operation in a network-free environment, which improves the environmental perception capability in the special environment of well control and rescue, and enables the well control and rescue equipment to have accurate guidance and positioning capabilities.

[0222] This method protects the laser radar, ensures the service life of the laser radar in a high temperature environment, and saves high costs.

[0223] This method improves the intuitive presentation of status data and position and posture data of well control and rescue equipment through digital twins, and makes a huge upgrade to the existing remote control of the remote control cabin.

[0224] See also Figure 3 The present invention provides an embodiment of a remote control device for well control and rescue equipment, comprising:

[0225] The first construction unit 301 is used to construct a remote control cabin according to the well control rescue equipment and arrange a first broadband ad hoc network access system in the remote control cabin;

[0226] The first setting unit 302 is used to set a posture perception sensor system on the well control rescue equipment;

[0227] The second setting unit 303 is used to set an environment detection and perception laser radar system on the well control rescue equipment;

[0228] The third setting unit 304 is used to set the visual sensor system and the second broadband ad hoc network access system on the well control rescue equipment;

[0229] The first access unit 305 is used to access the operation status data to the second broadband ad hoc network access system;

[0230] The second access unit 306 is used to access the multi-channel high-definition video transmission signal and the machine posture motion information to the second broadband ad hoc network access system, where the multi-channel high-definition video transmission signal is the data collected by the visual sensor system, and the machine posture motion information is the data collected by the posture perception sensor system;

[0231] The third access unit 307 is used to access the well site rescue area scanning data collected by the posture perception sensor system to the second broadband ad hoc network access system;

[0232] A transmission unit 308, configured to transmit data of the second broadband self-organizing network access system to the first broadband self-organizing network access system;

[0233] The second construction unit 309 is used to construct a 3D model according to the structural model of the well control and rescue equipment and the posture and motion information of the equipment, and the 3D model represents the real-time posture of the well control and rescue equipment;

[0234] A generating unit 310 is used to generate a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the well site rescue area scanning data;

[0235] The display unit 311 is used to display multiple high-definition video transmission signals, operating status data, 3D models, and true-color point cloud three-dimensional models on the display of the remote control cabin so that rescue workers can operate them.

[0236] See also Figure 4 The present invention provides an embodiment of a remote control device for well control and rescue equipment, comprising:

[0237] The first construction unit 401 is used to construct a remote control cabin according to the well control rescue equipment, and arrange a first broadband ad hoc network access system in the remote control cabin;

[0238] Optionally, the first broadband ad hoc network access system includes 1 4G / 5G CPE host, at least 2 filter units, and at least 2 antenna units;

[0239] The first construction unit 401 is specifically:

[0240] Construct a remote control cabin based on the control mode of well control and rescue equipment and the layout of the cab;

[0241] A 4G / 5G CPE host, at least two filter units, and at least two antenna units are arranged in the remote control cabin as the first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit.

[0242] The first setting unit 402 is used to set a posture perception sensor system on the well control rescue equipment;

[0243] Optional, the posture perception sensor system includes 4 tilt sensors, 1 data solution touch all-in-one machine and 2 GNSS antennas;

[0244] The first setting unit 402 includes:

[0245] An inclination sensor is installed on the turntable of the well control rescue equipment;

[0246] An inclination sensor is installed on the boom of the well control rescue equipment;

[0247] A tilt sensor is installed on the boom of the well control rescue equipment;

[0248] A tilt sensor is installed on the joystick of the well control rescue equipment;

[0249] The data solution touch integrated machine is installed in the cockpit of the well control and rescue equipment;

[0250] Connect the data solution touch all-in-one computer to the GNSS antenna and four inclination sensors.

[0251] The second setting unit 403 is used to set an environment detection and perception laser radar system on the well control rescue equipment;

[0252] Optional, the environment detection and perception laser radar system includes 3 laser radars, 3 laser radar protection mechanisms and 1 laser radar point cloud processing industrial computer. Among the 3 laser radars, there are 2 high-resolution laser radars and 1 wide-viewing angle laser radar;

[0253] The second setting unit 403 includes:

[0254] A high-resolution laser radar is installed on the top of the cab mecha of the well control and rescue equipment;

[0255] A high-resolution laser radar is installed on the top of the external armor of the engine compartment on the other side of the excavator arm of the well control rescue equipment;

[0256] A wide-angle laser radar is vertically installed on the counterweight of the well control rescue equipment, and the outside of the three laser radars are equipped with a laser radar protection mechanism that can be lifted and displaced;

[0257] The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the well control and rescue equipment, and the laser radar point cloud processing industrial computer is connected to three laser radars.

[0258] The third setting unit 404 is used to set the visual sensor system and the second broadband ad hoc network access system on the well control rescue equipment;

[0259] Optionally, the visual sensor system is a 360-degree camera group, the 360-degree camera group includes at least 3 cameras, and the second broadband ad hoc network access system includes 1 sMesh host, 2 filters, and 2 antennas;

[0260] The third setting unit 404 includes:

[0261] Set up at least 3 cameras on the well control and rescue equipment;

[0262] Two antennas are installed at the rear of the cab of the well control rescue equipment;

[0263] The sMesh host is arranged inside the cab of the well control rescue equipment, and the antenna is connected to the sMesh host through a filter.

[0264] The first access unit 405 is used to access the operation status data to the second broadband ad hoc network access system;

[0265] Optionally, the first access unit 405 includes:

[0266] Obtain the operating status data of well control and rescue equipment through the CAN bus;

[0267] Convert the above operating status data into Ethernet data through the CAN to Ethernet tool;

[0268] The operation status data converted into Ethernet data is connected to the second broadband ad hoc network access system.

[0269] The second access unit 406 is used to access the multi-channel high-definition video transmission signal and the machine posture motion information to the second broadband ad hoc network access system, where the multi-channel high-definition video transmission signal is the data collected by the visual sensor system, and the machine posture motion information is the data collected by the posture perception sensor system;

[0270] The third access unit 407 is used to access the well site rescue area scanning data collected by the posture perception sensor system to the second broadband ad hoc network access system;

[0271] A transmission unit 408, configured to transmit data of the second broadband self-organizing network access system to the first broadband self-organizing network access system;

[0272] Optionally, the transmission unit 408 includes:

[0273] The data of the second broadband self-organizing network access system is transmitted to the first broadband self-organizing network access system through the Mesh wireless self-organizing network.

[0274] The second construction unit 409 is used to construct a 3D model according to the structural model of the well control and rescue equipment and the posture and motion information of the equipment, and the 3D model represents the real-time posture of the well control and rescue equipment;

[0275] A generating unit 410 is used to generate a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the well site rescue area scanning data;

[0276] Display unit 411, used to display multiple high-definition video transmission signals, operation status data, 3D models, and true color point cloud three-dimensional models on the display of the remote control cabin, so that emergency workers can operate;

[0277] The calibration unit 412 is used to scan the environment of the well control rescue equipment through the laser radar on the environment detection perception laser radar system and calibrate the first distance between the equipment and the marker;

[0278] A determination unit 413 is used to determine the coordinate data of the well control rescue equipment using a GNSS antenna, a satellite and a real-time dynamic positioning technology;

[0279] The calculation unit 414 is used to generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control rescue equipment, and calculate the second distance according to the coordinates of the marker in the true color point cloud three-dimensional model;

[0280] The correction unit 415 is used to perform correction according to the first distance and the second distance.

[0281] See also Figure 5 , the present invention provides an electronic device, comprising:

[0282] Processor 501 , memory 503 , input / output unit 502 , and bus 504 .

[0283] The processor 501 is connected to the memory 503 , the input / output unit 502 , and the bus 504 .

[0284] The memory 503 stores a program, and the processor 501 calls the program to execute the following steps: Figure 1 , Figure 2-1 , Figure 2-2 and Figure 2-3 Remote control method in.

[0285] The present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed on a computer, Figure 1 , Figure 2-1 , Figure 2-2 and Figure 2-3 Remote control method in.

[0286] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the described systems, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0287] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0288] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0289] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0290] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A remote control method for well control rescue equipment, characterized in that: include: Building a remote control cabin according to the well control rescue equipment, and arranging a first broadband ad hoc network access system in the remote control cabin; A posture perception sensor system is provided on the well control rescue equipment; An environment detection and perception laser radar system is provided on the well control and rescue equipment; A visual sensor system and a second broadband ad hoc network access system are provided on the well control rescue equipment; Accessing the operation status data to the second broadband ad hoc network access system; Connecting multiple high-definition video transmission signals and machine posture motion information to the second broadband ad hoc network access system, wherein the multiple high-definition video transmission signals are data collected by the visual sensor system, and the machine posture motion information is data collected by the posture perception sensor system; Accessing the well site rescue area scanning data collected by the environment detection and perception laser radar system to the second broadband ad hoc network access system; Transmitting data of the second broadband self-organizing network access system to the first broadband self-organizing network access system; Constructing a 3D model according to the structural model of the well control and rescue equipment and the posture and motion information of the equipment, wherein the 3D model represents the real-time posture of the well control and rescue equipment; Generating a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the well site rescue area scanning data; The multi-channel high-definition video transmission signals, the operating status data, the 3D model, and the true-color point cloud three-dimensional model are displayed on the display of the remote control cabin so that rescue workers can operate them.

2. The remote control method according to claim 1, characterized in that: The first broadband ad hoc network access system includes a 4G / 5G CPE host, at least two filter units, and at least two antenna units; The remote control cabin is constructed according to the well control rescue equipment, and a first broadband ad hoc network access system is arranged in the remote control cabin, including: Construct a remote control cabin based on the control mode of well control and rescue equipment and the layout of the cab; A 4G / 5G CPE host, at least two filter units, and at least two antenna units are arranged in the remote control cabin as a first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit.

3. The remote control method according to claim 1, characterized in that: The posture perception sensor system includes 4 tilt sensors, 1 data solution touch all-in-one machine and 2 GNSS antennas; A posture perception sensor system is provided on the well control rescue equipment, including: A tilt sensor is arranged on the upper vehicle turntable of the well control rescue equipment; A tilt sensor is arranged on the boom of the well control rescue equipment; A tilt sensor is arranged on the boom of the well control rescue equipment; A tilt sensor is arranged on the rocker of the well control rescue equipment; The data solution touch integrated machine is arranged in the cockpit of the well control and rescue equipment; The data solving touch integrated machine is connected to the GNSS antenna and the four inclination sensors.

4. The remote control method according to claim 3, characterized in that: After generating a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the well site rescue area scanning data, the remote control method further includes: Scanning the environment of the well control rescue equipment through a laser radar on an environment detection perception laser radar system and calibrating a first distance to a marker; Using GNSS antennas, satellites and real-time dynamic positioning technology to determine the coordinate data of the well control rescue equipment; Generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control rescue equipment, and calculate a second distance according to the coordinates of the marker in the true color point cloud three-dimensional model; Calibration is performed according to the first distance and the second distance.

5. The remote control method according to claim 1, characterized in that: The environment detection and perception laser radar system includes three laser radars, three laser radar protection mechanisms and one laser radar point cloud processing industrial computer, wherein the three laser radars include two high-resolution laser radars and one wide-angle laser radar; An environment detection and perception laser radar system is provided on the well control rescue equipment, including: A high-resolution laser radar is installed on the top of the cab mecha of the well control and rescue equipment; A high-resolution laser radar is installed on the top of the external armor of the engine compartment on the other side of the excavator arm of the well control rescue equipment; A laser radar with a wide viewing angle is vertically arranged on the counterweight block of the well control rescue equipment, and a laser radar protection mechanism that can be lifted and displaced is arranged outside the three laser radars; The laser radar point cloud processing industrial computer is installed inside the actual vehicle cab of the well control and rescue equipment, and the laser radar point cloud processing industrial computer is connected to three laser radars.

6. The remote control method according to any one of claims 1 to 5, characterized in that: The visual sensor system is a 360-degree camera group, the 360-degree camera group includes at least 3 cameras, and the second broadband ad hoc network access system includes 1 sMesh host, 2 filters, and 2 antennas; A visual sensor system and a second broadband ad hoc network access system are arranged on the well control rescue equipment, including: At least three cameras are provided on the well control and rescue equipment; Two antennas are arranged at the rear of the cab of the well control rescue equipment; The sMesh host is arranged inside the cab of the well control rescue equipment, and the antenna is connected to the sMesh host through a filter.

7. The remote control method according to any one of claims 1 to 5, characterized in that: The step of accessing the operation status data to the second broadband ad hoc network access system includes: Acquiring the operating status data of the well control rescue equipment via the CAN bus; Convert the above operating status data into Ethernet data through the CAN to Ethernet tool; The operating status data converted into Ethernet data is connected to the second broadband ad hoc network access system.

8. The remote control method according to any one of claims 1 to 5, characterized in that: The method of transmitting data of the second broadband self-organizing network access system to the first broadband self-organizing network access system includes: The data of the second broadband self-organizing network access system is transmitted to the first broadband self-organizing network access system through the Mesh wireless self-organizing network.

9. A remote control device for well control and rescue equipment, characterized in that: include: A first construction unit is used to construct a remote control cabin according to the well control rescue equipment, and to arrange a first broadband ad hoc network access system in the remote control cabin; A first setting unit is used to set a posture perception sensor system on the well control rescue equipment; A second setting unit is used to set an environment detection and perception laser radar system on the well control rescue equipment; A third setting unit is used to set a visual sensor system and a second broadband ad hoc network access system on the well control rescue equipment; A first access unit, used to access the operation status data to the second broadband ad hoc network access system; A second access unit is used to access the multi-channel high-definition video transmission signal and the machine posture motion information to the second broadband ad hoc network access system, wherein the multi-channel high-definition video transmission signal is the data collected by the visual sensor system, and the machine posture motion information is the data collected by the posture perception sensor system; A third access unit is used to access the well site rescue area scanning data collected by the posture perception sensor system to the second broadband self-organizing network access system; A transmission unit, configured to transmit data of the second broadband self-organizing network access system to the first broadband self-organizing network access system; A second construction unit is used to construct a 3D model according to the structural model of the well control and rescue equipment and the posture and motion information of the equipment, wherein the 3D model represents the real-time posture of the well control and rescue equipment; A generating unit, configured to generate a true color point cloud three-dimensional model of the terrain and objects in the well site rescue area according to the well site rescue area scanning data; The display unit is used to display the multi-channel high-definition video image transmission signals, the operating status data, the 3D model, and the true color point cloud three-dimensional model on the display of the remote control cabin so that the rescue workers can operate it.

10. The remote control device according to claim 9, characterized in that: The first broadband ad hoc network access system includes a 4G / 5G CPE host, at least two filter units, and at least two antenna units; The first building block is specifically: Construct a remote control cabin based on the control mode of well control and rescue equipment and the layout of the cab; A 4G / 5G CPE host, at least two filter units, and at least two antenna units are arranged in the remote control cabin as a first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin, and the antenna unit is connected to the CPE host through the filter unit.

11. The remote control device according to claim 9, characterized in that: The posture perception sensor system includes 4 tilt sensors, 1 data solution touch all-in-one machine and 2 GNSS antennas; The first setting unit includes: An inclination sensor is installed on the turntable of the well control rescue equipment; An inclination sensor is installed on the boom of the well control rescue equipment; A tilt sensor is installed on the boom of the well control rescue equipment; A tilt sensor is installed on the joystick of the well control rescue equipment; The data solution touch integrated machine is installed in the cockpit of the well control and rescue equipment; Connect the data solution touch all-in-one computer to the GNSS antenna and four inclination sensors.

12. The remote control device according to any one of claims 9 to 11, characterized in that: The remote control device also includes: A calibration unit, used for scanning the environment of the well control rescue equipment by a laser radar on the environment detection perception laser radar system and calibrating a first distance to the marker; A determination unit, used to determine coordinate data of well control and rescue equipment using a GNSS antenna, a satellite and real-time dynamic positioning technology; A calculation unit, used to generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control rescue equipment, and calculate the second distance according to the coordinates of the marker in the true color point cloud three-dimensional model; The correction unit is used to perform correction according to the first distance and the second distance.

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

14. The remote control device according to claim 9, characterized in that: The visual sensor system is a 360-degree camera group, the 360-degree camera group includes at least 3 cameras, and the second broadband ad hoc network access system includes 1 sMesh host, 2 filters, and 2 antennas; The third setting unit includes: Set up at least 3 cameras on the well control and rescue equipment; Two antennas are installed at the rear of the cab of the well control rescue equipment; The sMesh host is arranged inside the cab of the well control rescue equipment, and the antenna is connected to the sMesh host through a filter.

15. The remote control device according to claim 9, characterized in that: The first access unit includes: Obtain the operating status data of well control and rescue equipment through the CAN bus; Convert the above operating status data into Ethernet data through the CAN to Ethernet tool; The operation status data converted into Ethernet data is connected to the second broadband ad hoc network access system.

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