Remote control method and device for well control emergency rescue equipment

Abstract

The present invention discloses a remote control method and device for well control emergency rescue equipment. The method includes: constructing a remote control cabin and arranging a first broadband ad hoc network access system; installing a posture perception sensor system, an environmental detection and perception laser radar system, a visual sensor system, and a second broadband ad hoc network access system on the well control emergency rescue equipment; connecting operating status data, multi-channel high-definition video transmission signals, equipment posture and motion information, and well site rescue area scan data to the second broadband ad hoc network access system; acquiring the data through the first broadband ad hoc network access system; constructing a 3D model based on the structural model of the well control emergency rescue equipment and the equipment posture and motion information; generating a true-color point cloud 3D model based on the well site rescue area scan data; and displaying the multi-channel high-definition video transmission signals, operating status data, 3D model, and true-color point cloud 3D model on a display in the remote control cabin. The present invention can improve the control accuracy of well control emergency rescue equipment in harsh environments.

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] During the land development process, some dangerous situations are inevitable. At this time, individuals are required to operate well control and rescue equipment to rescue trapped people or valuable resources.

[0004] However, conducting emergency rescue operations in hazardous areas is inherently dangerous and involves complex situations. Backhoes are currently widely used in well control emergency rescue operations, including well control long-arm robots modified from long-arm excavators, rescue and demolition robots modified from small excavators, and rescue and obstacle removal robots modified from excavators. These are used to perform long-distance fire-related operations such as shearing, grabbing, and excavation. In the event of a well control fire, operating from within the cab is extremely risky.

[0005] Therefore, rescue operations are now mostly carried out using unmanned, unmanned well-controlled rescue equipment. For example, a 433Hz wireless remote control system is used to achieve short-range remote control operations. Existing remote control systems, such as document No. 202010170301.4, disclose a remote control and monitoring system for bulldozers. This system uses a remote control terminal to display multi-source data, including vehicle monitoring video, vehicle status, and collision warning data. The bulldozer is remotely controlled via the remote control terminal's smart touch display and operating handles. This system can capture 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, or high brightness in the rescue work area, pure visual perception is not effective. Moreover, pure visual perception cannot intuitively reflect changes in the surrounding terrain and vehicle posture. In areas with large terrain undulations such as mountainous areas, there is a risk of vehicle rollover. This leads to reduced control accuracy of well control and 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 and rescue equipment, comprising:

[0009] Build a remote control cabin based on well control and rescue equipment, and deploy the first broadband ad hoc network access system in the remote control cabin;

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

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

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

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

[0014] Connecting multiple high-definition video transmission signals and machine posture and 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 and motion information is data collected by the posture perception sensor system;

[0015] The scanning data of the well site rescue area collected by the environmental 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. 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 features in the well site rescue area based on the scanned data of the well site rescue area;

[0019] Multiple 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 one 4G / 5G CPE host, at least two filter units, and at least two antenna units;

[0021] A remote control cabin is built based on the well control and rescue equipment, and the first broadband ad hoc network access system is deployed in the remote control cabin, including:

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

[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 is connected to the CPE host through the filter unit.

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

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

[0026] A tilt sensor is installed on the turntable of the well control and rescue equipment;

[0027] A tilt sensor is installed on the boom of the well control and rescue equipment;

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

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

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

[0031] Connect the data processing touch screen computer to the GNSS antenna and four tilt sensors.

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

[0033] The laser radar on the environment detection and perception laser radar system scans the environment of the well control and rescue equipment and calibrates 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 3D 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 3D model;

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

[0037] The optional environmental detection and perception LiDAR system includes three LiDARs, three LiDAR protection mechanisms, and a LiDAR point cloud processing industrial computer. The three LiDARs include two high-resolution LiDARs and one wide-angle LiDAR.

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

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

[0040] 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 and rescue equipment;

[0041] A wide-viewing angle laser radar is vertically installed on the counterweight of the well control and rescue equipment. The outside of the three laser radars are equipped with a laser radar protection mechanism that can be raised and lowered.

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

[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 and rescue equipment, including:

[0045] Install at least three cameras on the well control and rescue equipment;

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

[0047] The sMesh host is set 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 operating status data to the second broadband ad hoc network access system includes:

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

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

[0051] The operating 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 ad hoc network access system to the first broadband ad hoc 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] The first construction unit is configured to construct a remote control cabin based on the well control and rescue equipment, and to 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 and rescue equipment;

[0057] The second setting unit is used to set the environment detection and perception laser radar system on the well control and 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, configured to access the operating status data to a second broadband ad hoc network access system;

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

[0061] The third access unit is used to connect 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, configured to transmit 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 based on 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;

[0064] 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 based on the scanned data of the well site rescue area;

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

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

[0067] The first building block is specifically:

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

[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 is connected to the CPE host through the filter unit.

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

[0071] The first setting unit includes:

[0072] A tilt sensor is installed on the turntable of the well control and rescue equipment;

[0073] A tilt sensor is installed on the boom of the well control and rescue equipment;

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

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

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

[0077] Connect the data processing touch screen computer to the GNSS antenna and four tilt sensors.

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

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

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

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

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

[0083] The optional environmental detection and perception LiDAR system includes three LiDARs, three LiDAR protection mechanisms, and a LiDAR point cloud processing industrial computer. The three LiDARs include two high-resolution LiDARs and one wide-angle LiDAR.

[0084] The second setting unit includes:

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

[0086] 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 and rescue equipment;

[0087] A wide-viewing angle laser radar is vertically installed on the counterweight of the well control and rescue equipment. The outside of the three laser radars are equipped with a laser radar protection mechanism that can be raised and lowered.

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

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

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

[0093] The sMesh host is set 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 operating status data of well control and rescue equipment through CAN bus;

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

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

[0098] Optionally, a transmission unit including:

[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 and output units, and buses;

[0102] The processor is connected to the memory, input and output units, 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 having a program stored thereon. When the program is executed on a computer, the method for remotely controlling well control and rescue equipment according to the first aspect and any optional method according to the first aspect is executed.

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

[0106] The present invention first requires constructing a remote control cabin based on well control and rescue equipment and deploying a first broadband ad hoc network access system within the cabin to enable control and information exchange. A posture perception sensor system is installed on the well control and rescue equipment to collect and upload parameters of the equipment in various postures. An environmental detection and perception laser radar system is also installed on the well control and rescue equipment to enable the equipment to collect environmental data via the laser radar. A visual sensor system and a second broadband ad hoc network access system are also installed on the well control and rescue equipment. The visual sensor system enables the well control and rescue equipment to capture real-time environmental video, while the second broadband ad hoc network access system enables information exchange. Next, operating status data is connected to the second broadband ad hoc network access system. Multi-channel high-definition video transmission signals and tool posture and motion information are connected to the second broadband ad hoc network access system. The multi-channel high-definition video transmission signals are data collected by the visual sensor system, the tool posture and motion information is data collected by the posture perception sensor system, and scan data of the well site rescue area collected by the environmental detection and perception laser radar system is connected to the second broadband ad hoc network access system. After all collected parameters are uploaded to the second broadband ad hoc network access system, the data from the second broadband ad hoc network access system can be transmitted to the first broadband ad hoc network access system on the remote control cabin side. After the remote control cabin acquires the above data, it constructs a 3D model based on the well control and rescue equipment's structural model and tool posture and motion information. The 3D model represents the real-time posture of the well control and rescue equipment. A true-color point cloud 3D model of the well site rescue area's terrain and features is generated based on the well site rescue area scan data. Multiple high-definition video transmission signals, operating status data, the 3D model, and the true-color point cloud 3D model are displayed on the remote control cabin's display, enabling rescue personnel to operate the equipment. Tool posture and motion information is used to determine the current operation of the well control and rescue equipment, while the multiple high-definition video transmission signals determine the visualization environment. The operating status data is used to understand the internal operating details of the well control and rescue equipment. Finally, a virtual true-color point cloud 3D model is generated based on the well site rescue area scan data. This enables rescue personnel in the remote control cabin to effectively operate in various harsh rescue environments, improving the control accuracy of the well control and rescue equipment in these harsh environments. 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 according to the present invention;

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

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

[0110] Figure 2-3 This 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 according to 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 particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[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 preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0116] It will also be understood that the term "and / or" used in the present description and 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" in the present specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present invention. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[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 clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0122] The method of the present invention can be applied to a server, device, terminal or other device with logic processing capability, and the present invention does not limit this. For ease of description, the following description is based on an example in which the execution subject is a terminal.

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

[0124] 101. Construct a remote control cabin based on the well control and rescue equipment, and deploy 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 and rescue equipment. Specifically, it needs to be constructed according to the control method and cab layout of the well control and rescue equipment, so that the rescue workers can adapt to the remote control cabin and the well control and 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. The display bracket above the control panel fixes 1 to 6 display screens together, and the walking mechanism control pedal is located below.

[0127] The first broadband ad hoc 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 well control and 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 well control and rescue equipment;

[0133] The visual sensor system can be a variety of shooting devices, such as: a camera, a mobile phone, a still 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 operating status data to the second broadband ad hoc network access system;

[0136] When the well control and rescue equipment is working or in a standby state, various operating data of the well control and 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, working voltage, pump pressure, engine water temperature, fuel level, safety handle status, fault alarm, total fuel consumption, boom raising, 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 tool posture and 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 tool posture and motion information is data collected by the posture perception sensor system;

[0139] When well control and rescue equipment enters the rescue area, the visual sensor system begins collecting video of the environment around the equipment, namely, multiple high-definition video transmission signals. In addition, the posture perception sensor system also collects information corresponding to the working position of each tool of the well control and rescue equipment.

[0140] Finally, multiple 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. Connect the well site rescue area scanning data collected by the environmental detection and perception laser radar system to the second broadband ad hoc network access system;

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

[0143] 108. Transmitting data from the second broadband ad hoc network access system to the first broadband ad hoc 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 and rescue equipment and the posture and motion information of the equipment. The 3D model represents the real-time posture of the well control and rescue equipment.

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

[0147] 110. Generate a true color point cloud 3D model of the terrain and features 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, the true color point cloud three-dimensional model of the terrain and objects in the well site rescue area is obtained through processing, where the point cloud coordinates are in the world coordinate system.

[0149] 111. Multiple channels of high-definition video transmission signals, operating status data, 3D models, and true-color point cloud 3D models are displayed on the display of the remote control cabin, allowing rescue workers to operate them.

[0150] In this embodiment, the industrial computer in the remote control cabin is equipped with a digital twin program. The digital twin implementation consists of three components: a true-color point cloud 3D model of the well site rescue operation area; a 3D model; and position and posture data of the well control rescue equipment, the motion angles of each operating component, and real-time status data. Furthermore, the 3D model is embedded in the true-color point cloud 3D model of the rescue operation area, integrating the equipment's posture and motion information and real-time operating status data.

[0151] The middle part of the three parts displays the digital twin program screen. The upper translucent status bar of the digital twin screen in the middle contains the name of the well control and rescue equipment, the well control and rescue equipment ID, the well control and rescue equipment coordinates, the well control and 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 and rescue equipment. The middle part is the real-time twin screen of the well control and rescue equipment, with movement angles marked around each component of the 3D model of the well control and 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 image, the upper part shows the main perspective facing the operation surface, and the lower part shows the stitched panoramic image.

[0153] The upper left screen displays images detected by the environmental detection and perception LiDAR system, including at least a real-time LiDAR point cloud mosaic and the LiDAR protection switch status. The lower left screen displays the gear position, operating time, voltage, safety handle status, fault alarms, and network delay information of the well control and rescue equipment.

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

[0155] In this embodiment, a remote control cabin is first constructed based on the well control and rescue equipment, and a first broadband ad hoc network access system is deployed within the cabin to enable control and information exchange. A posture perception sensor system is installed on the well control and rescue equipment to collect and upload parameters of the equipment in various postures. An environmental detection and perception lidar system is also installed on the well control and rescue equipment to collect environmental data via the lidar. A visual sensor system and a second broadband ad hoc network access system are also installed on the well control and rescue equipment. The visual sensor system enables the well control and rescue equipment to capture real-time environmental video, while the second broadband ad hoc network access system enables information exchange. Next, operating status data is connected to the second broadband ad hoc network access system, and multi-channel high-definition video transmission signals and tool posture and motion information are connected to the second broadband ad hoc network access system. The multi-channel high-definition video transmission signals are data collected by the visual sensor system, the tool posture and motion information is data collected by the posture perception sensor system, and the well site rescue area scan data collected by the environmental detection and perception lidar system is connected to the second broadband ad hoc network access system. After all collected parameters are uploaded to the second broadband ad hoc network access system, the data from the second broadband ad hoc network access system can be transmitted to the first broadband ad hoc network access system on the remote control cabin side. After the remote control cabin acquires the above data, it constructs a 3D model based on the well control and rescue equipment's structural model and tool posture and motion information. The 3D model represents the real-time posture of the well control and rescue equipment. A true-color point cloud 3D model of the well site rescue area's terrain and features is generated based on the well site rescue area scan data. Multiple high-definition video transmission signals, operating status data, the 3D model, and the true-color point cloud 3D model are displayed on the remote control cabin's display, enabling rescue personnel to operate the equipment. Tool posture and motion information is used to determine the current operation of the well control and rescue equipment, while the multiple high-definition video transmission signals determine the visualization environment. The operating status data is used to understand the internal operating details of the well control and rescue equipment. Finally, a virtual true-color point cloud 3D model is generated based on the well site rescue area scan data. This enables rescue personnel in the remote control cabin to effectively operate in various harsh rescue environments, improving the control accuracy of the well control and rescue equipment in these harsh environments.

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

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

[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 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 access the switch together. The first broadband self-organizing network access system consists of a 4G / 5G CPE host, at least two filter units, and at least two antenna units. The antenna unit is located outside the cabin or in an area where the outdoor signal is unobstructed, 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, accessing the first broadband self-organizing network access system, and is connected to the industrial computer of the well control and 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. Install an inclination sensor on the turntable of the well control rescue equipment;

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

[0162] 205. Install an inclination sensor on the boom of the well control and rescue equipment;

[0163] 206. Install a tilt sensor on the joystick of the well control rescue equipment;

[0164] 207. Install the data solution touch all-in-one machine in the cockpit of the well control and rescue equipment;

[0165] 208. Connect the data solution touch all-in-one computer to the GNSS antenna and four tilt sensors;

[0166] In this embodiment, the posture perception sensor system consists of four tilt sensors, one data processing touch all-in-one computer, and two 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. 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 vehicle body. One inclination sensor is fixed on the arm. 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. 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. 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 of the rear counterweight block, so that the connecting line between the two antennas is at 90 degrees to the central axis of the vehicle boom. 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 within the well site.

[0169] The high-precision position of well control and rescue equipment within the wellsite is acquired using RTK technology. The ground base station utilizes real-time dynamic positioning (RTK) based on carrier phase observations, providing real-time, centimeter-level accuracy in the three-dimensional positioning of the base station within a specified coordinate system. The ground base station transmits its observations and station coordinates to the well control and rescue equipment via a data link. By utilizing the spatial correlation of observation errors between the base station and the rover (well control and rescue equipment), the majority of errors in the rover's (well control and rescue equipment) GNSS data are removed through differential analysis, 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. The heading angle value is assigned to the 3D model of the well control and rescue equipment, and the real-time direction of the well control and rescue equipment in the environment is presented in the digital twin program.

[0171] In this embodiment, the well control and rescue equipment, based on a modified excavator, has tilt sensors connected in series, with the rocker at the end. One end of the rocker sensor is connected to the boom sensor via a wiring harness, and the other end of the boom sensor is connected to the boom sensor via a wiring harness. The other end of the boom sensor is connected to the tilt sensor below the boom, which is then connected to the data processing touchscreen integrated circuit. Two GNSS antennas are connected in parallel to the data processing touchscreen integrated circuit. The data processing touchscreen integrated circuit packages the motion angle, position, and heading angle data from the four tilt sensors and sends them to the broadband ad hoc network access system at the remote control cabin via a switch.

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

[0174] 211. A wide-angle laser radar is vertically installed on the counterweight of the well control and rescue equipment. The outside of the three laser radars are all equipped with a laser radar protection mechanism that can be raised and lowered;

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

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

[0177] Three laser radars are mounted on the upper vehicle's turntable: two high-resolution and one wide-angle laser radar. One high-resolution laser radar is mounted on top of the cab's armor, while the other is located on top of the engine compartment's armor on the other side of the excavator's arm. Both radars are positioned at the same height from the ground, providing real-time detection and scanning of the forward, left, and right environments. The wide-angle laser radar is mounted vertically on the counterweight, providing real-time detection and scanning of the rearward image.

[0178] The lidar has an aluminum alloy protective mechanism that can be raised and lowered. There are two control switches for raising and lowering the protective mechanism: one inside the well control and rescue equipment cockpit and the other in the remote control cabin. The buttons in the cockpit are integrated into the vehicle's control panel and directly control the relays, which in turn control the protective mechanism's raising and lowering. The remote control cabin is connected to the broadband ad hoc network and sends raising and lowering control commands to the well control and rescue equipment's broadband ad hoc network access system. These commands are then connected to the lidar's industrial computer via a switch. The computer then sends the commands to the protective mechanism's relays, which in turn control the protective mechanism's raising and lowering control.

[0179] The LiDAR industrial computer is installed inside the vehicle's cab and carries a point cloud processing program and a control program for the protective mechanism. The LiDAR scans the surrounding environment in real time, generating a real-time point cloud image of the environment.

[0180] The LiDAR 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 well control and rescue equipment;

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

[0184] 215. Install the sMesh host inside the cab of the well control and rescue equipment, and connect the antenna to the sMesh host through a filter;

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

[0186] In this embodiment, the camera is connected to the DVR or switch, and the switch is then connected to the sMesh host via a network cable to achieve the transmission of the collected 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 using a CAN to Ethernet tool;

[0189] Connecting 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 the 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 raising, boom lowering, arm digging, arm unloading, bucket digging, bucket unloading, left travel, right travel, rotation signal, and vehicle rotation angle contained in the CAN bus, and then connected to the second broadband self-organizing network access system.

[0191] 218. Connecting the multi-channel high-definition video transmission signals and the tool posture and 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 tool posture and motion information is data collected by the posture perception sensor system;

[0192] 219. Connect the well site rescue area scanning data collected by the environmental 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 from 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 and 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 uses the 1.4GHz frequency band network radio transmission technology that can be set up at any time to form a MESH wireless self-organizing network, and converts the driver's operation into a control signal and sends it to the controller of the 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 and rescue equipment and the posture and motion information of the equipment. The 3D model represents the real-time posture of the well control and rescue equipment.

[0198] 222. Generate a true color point cloud 3D model of the terrain and features in the well site rescue area based on the scanned data of the well site rescue area;

[0199] 223. Display multiple high-definition video signals, operating status data, 3D models, and true-color point cloud 3D models on the display of the remote control cabin, allowing emergency workers to operate the system.

[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. Scan the environment of the well control and rescue equipment using the laser radar on the environmental detection and perception laser radar system and calibrate 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 3D model based on the coordinate data of the well control rescue equipment, and calculate the second distance based on the coordinates of the marker in the true color point cloud 3D model;

[0204] 227. Perform correction based on the first distance and the second distance.

[0205] In this embodiment, calibration based on the first and second distances refers to calibrating the actual position coordinates of the well control and rescue equipment. After calibration, the twin well control and rescue equipment in the true-color point cloud 3D model is aligned with the actual equipment position in the environment. The laser radar onboard the well control and rescue equipment scans the environment and calibrates the distance to the marker (the first distance). The distance between the well control and rescue equipment and the marker is measured within the digital twin program. The distance measurement method is to output the measured coordinate data after RTK positioning of the well control and rescue equipment in a stationary state. The measured coordinate data is then superimposed on the 3D laser point cloud of the well site area with world coordinate system information. Combined with high-precision 3D modeling of the well control and rescue equipment's size, shape, and motion posture, the coordinate comparison allows the system to measure the distance between the specified endpoint and the marker (the second distance). If the difference between the two sets of data is at the centimeter level, it indicates that the digital twin system and the posture perception sensor system meet the operational requirements and can guide the operation. If the difference between the two sets of data exceeds the decimeter level, it is necessary to check the sensor status to determine the surrounding operating environment obstruction. Then, recalibrate with the RTK base station. Once the error converges to the centimeter level, it indicates that the operation can be guided.

[0206] In this embodiment, the application scenario is well control emergency rescue operations. The well control long-arm robot, the emergency rescue and demolition robot, and the emergency obstacle removal robot work together to complete long-distance fire obstacle removal, shearing, grabbing, excavating, obstacle removal, old wellhead cutting, wellhead flange stripping, etc. Among them, the well control long-arm robot, the emergency rescue and demolition robot, and the emergency obstacle removal robot are well control and 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 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 topography 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 and rescue equipment modified from the excavator; install a lidar, GNSS antenna, and broadband ad hoc network access system antenna on the top of the cab;

[0211] Step 3: Connect the real-time tilt sensor data, RTK positioning coordinate data, well control and rescue equipment operating status data, lidar point cloud images, and well control and rescue equipment monitoring screen data of the well control and rescue equipment to the broadband self-organizing network access system on the well control and rescue equipment side, and transmit the above data to the remote control cabin through the Mesh wireless self-organizing 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 corresponding joints of the well control and rescue equipment's 3D model based on the parameters collected by the tilt sensor's corresponding motion nodes. Data is also bound to the vehicle's head orientation based on the equipment's heading angle parameters collected by the GNSS antenna offset. Data is also bound to the vehicle's rotation parameters based on the rotation angle parameters collected by the central rotary encoder. The data from this step completes the real-time animation of the well control and rescue equipment's 3D model.

[0214] The operating status data of well control and rescue equipment collected by the CAN-to-Ethernet device is bound to the status parameter items of the machine in the digital twin scene to drive its 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. Within the image, based on the coordinate comparison between different objects, the real-time distances between different objects are marked 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 and rescue equipment end to the corresponding remote control cabin industrial computer through the switch.

[0217] Step 8: Remotely control the cabin-side industrial computer. 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. Based on the above images, remote control is performed for the rescue.

[0218] Step 9: The control values ​​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 based on the control method and cab layout of the well control and 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 a first broadband ad hoc network access system. The antenna units are located outside the remote control cabin and connected to the CPE host through the filter units. A tilt sensor is installed on the well control and rescue equipment's vehicle turntable, a tilt sensor is installed on the boom of the well control and rescue equipment, a tilt sensor is installed on the arm of the well control and rescue equipment, and a tilt sensor is installed on the joystick of the well control and rescue equipment. A data processing touchscreen integrated device is installed in the well control and rescue equipment's cab and connected to the GNSS antenna and four tilt sensors. A high-resolution laser radar is installed on the top of the cab of the well control and rescue equipment. Another high-resolution laser radar is installed on the top of the engine compartment on the other side of the excavator arm of the well control and rescue equipment. A wide-angle laser radar is installed vertically on the counterweight of the well control and rescue equipment. All three laser radars are equipped with a movable laser radar protection mechanism. An industrial computer for processing the laser radar point cloud is installed inside the cab of the well control and rescue equipment and connected to the three laser radars. At least three cameras are installed on the well control and rescue equipment. Two antennas are installed on the rear of the cab of the well control and rescue equipment. An sMesh host is installed inside the cab of the well control and rescue equipment, and the antennas are connected to the sMesh host through a filter. Next, the operating status data of the well control and rescue equipment is obtained via the CAN bus and converted into Ethernet data using a CAN-to-Ethernet tool. This converted operating status data is then connected to the second broadband ad hoc network access system. Multiple high-definition video signals and equipment posture and motion information are connected to a second broadband ad hoc network access system. The multiple high-definition video signals represent data collected by the visual sensor system, and the equipment posture and motion information is collected by the position perception sensor system. Data scanning the wellsite rescue area, collected by the environmental detection and perception LiDAR system, is also connected to the second broadband ad hoc network access system. Data from the second broadband ad hoc network access system is transmitted to the first broadband ad hoc network access system via a mesh wireless ad hoc network. After the remote control cabin acquires this data, a 3D model is constructed based on the structural model of the well control and rescue equipment and the equipment posture and motion information. The 3D model represents the real-time posture of the well control and rescue equipment. A true-color point cloud 3D model of the terrain and features in the well site rescue area is generated based on the well site rescue area scan data. The multiple high-definition video signals, operating status data, 3D model, and true-color point cloud 3D model are displayed on the remote control cabin's display, enabling rescue personnel to operate the equipment. The LiDAR on the environmental detection and perception LiDAR system scans the environment of the well control and rescue equipment and calibrates the first distance to the landmark.Using GNSS antennas and satellites, the coordinate data of well control and rescue equipment is determined using real-time dynamic positioning technology. Coordinates are generated within a true-color point cloud 3D model based on the equipment's coordinate data. A second distance is calculated based on the coordinates of landmarks within the true-color point cloud 3D model. Correction is performed based on the first and second distances.

[0220] The current action of the well control and rescue equipment is determined through the posture and motion information of the equipment, the visualization environment is determined through multi-channel high-definition video transmission signals, the internal operation details of the well control and rescue equipment are grasped through the operating status data, and finally a virtual true-color point cloud 3D 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, improving the environmental perception capability in the special environment of well control and rescue, and enabling the well control and rescue equipment to have precise 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 cabin remote control.

[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 configured to construct a remote control cabin based on the well control and rescue equipment, and to deploy 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 and rescue equipment;

[0227] The second setting unit 303 is used to set an environment detection and perception laser radar system on the well control and 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 operating status data to the second broadband ad hoc network access system;

[0230] A second access unit 306 is configured to access the multi-channel high-definition video transmission signals and the tool posture and 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 tool posture and motion information is 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 into the second broadband ad hoc network access system;

[0232] The transmission unit 308 is configured to transmit the 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 based on 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;

[0234] A generating unit 310 is configured to generate a true color point cloud three-dimensional model of the terrain and features in the well site rescue area based on the scan data of the well site rescue area;

[0235] The display unit 311 is used to display multiple high-definition video 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 configured to construct a remote control cabin based on the well control and rescue equipment, and to deploy a first broadband ad hoc network access system in the remote control cabin;

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

[0239] The first construction unit 401 is specifically:

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

[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 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 and rescue equipment;

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

[0244] The first setting unit 402 includes:

[0245] A tilt sensor is installed on the turntable of the well control and rescue equipment;

[0246] A tilt sensor is installed on the boom of the well control and rescue equipment;

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

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

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

[0250] Connect the data processing touch screen computer to the GNSS antenna and four tilt sensors.

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

[0252] The optional environmental detection and perception LiDAR system includes three LiDARs, three LiDAR protection mechanisms, and a LiDAR point cloud processing industrial computer. The three LiDARs include two high-resolution LiDARs and one wide-angle LiDAR.

[0253] The second setting unit 403 includes:

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

[0255] 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 and rescue equipment;

[0256] A wide-viewing angle laser radar is vertically installed on the counterweight of the well control and rescue equipment. The outside of the three laser radars are equipped with a laser radar protection mechanism that can be raised and lowered.

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

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

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

[0263] The sMesh host is set 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 operating status data to the second broadband ad hoc network access system;

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

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

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

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

[0269] A second access unit 406 is configured to access the multi-channel high-definition video image transmission signals and the tool posture and motion information to the second broadband ad hoc network access system, wherein the multi-channel high-definition video image transmission signals are data collected by the visual sensor system, and the tool posture and motion information is 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 into the second broadband ad hoc network access system;

[0271] The transmission unit 408 is configured to transmit the 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 based on 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;

[0275] A generating unit 410 is configured to generate a true color point cloud three-dimensional model of the terrain and features in the well site rescue area based on the scan data of the well site rescue area;

[0276] Display unit 411, used to display multiple high-definition video 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;

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

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

[0279] a calculation unit 414 for generating coordinates in the true color point cloud 3D model based on the coordinate data of the well control and rescue equipment, and calculating a second distance based on the coordinates of the marker in the true color point cloud 3D model;

[0280] The correction unit 415 is configured 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 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, wherein a program is stored on the computer-readable storage medium, and when the program is executed on a computer, the program performs the following operations: Figure 1 、 Figure 2-1 、 Figure 2-2 and Figure 2-3 Remote control method in.

[0286] Those skilled in the art will 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 merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

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

[0289] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The integrated unit may be implemented in the form of hardware or 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, 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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or 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 various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A remote control method for well control and rescue equipment, characterized in that: include: Building a remote control cabin based on the well control and 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 and rescue equipment; An environmental detection and perception laser radar system is provided on the well control and rescue equipment; Setting a visual sensor system and a second broadband ad hoc network access system on the well control and rescue equipment; accessing the operating status data to the second broadband ad hoc network access system; Connecting multiple high-definition video transmission signals and tool posture and 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 tool posture and motion information is data collected by the posture perception sensor system; Accessing the well site rescue area scanning data collected by the environmental 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 based on 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 features in the well site rescue area based on the scan data of the well site rescue area; 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 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 method of constructing a remote control cabin based on well control and rescue equipment and arranging a first broadband ad hoc network access system in the remote control cabin includes: Construct a remote control cabin based on the control mode and cab layout of the well control and 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 a first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin and 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 processing touch all-in-one computer and 2 GNSS antennas; A posture perception sensor system is provided on the well control and rescue equipment, including: A tilt sensor is installed on the turntable of the well control and rescue equipment; A tilt sensor is installed on the boom of the well control and rescue equipment; A tilt sensor is arranged on the boom of the well control and rescue equipment; A tilt sensor is installed on the rocker of the well control and rescue equipment; The data solution touch integrated machine is arranged in the cockpit of the well control and rescue equipment; The data processing touch integrated machine is connected to the GNSS antenna and the four tilt 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 features in the well site rescue area based on the scan data of the well site rescue area, the remote control method further includes: Scanning the environment of the well control and rescue equipment by using a laser radar on an environment detection and 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 and 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; Correction is performed based on the first distance and the second distance.

5. The remote control method according to claim 1, characterized in that: The environmental 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 the three laser radars, there are two high-resolution laser radars and one wide-angle laser radar. An environmental detection and perception laser radar system is provided on the well control and 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 mecha of the engine compartment on the other side of the excavator arm of the well control and rescue equipment; A wide-angle laser radar is vertically installed on the counterweight block of the well control and rescue equipment, and a laser radar protection mechanism that can be lifted and lowered is installed on the outside of 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 three cameras, and the second broadband ad hoc network access system includes one sMesh host, two filters, and two antennas; A visual sensor system and a second broadband ad hoc network access system are provided on the well control and rescue equipment, including: At least three cameras are provided on the well control and rescue equipment; Two antennas are arranged on the rear exterior of the cab of the well control and rescue equipment; The sMesh host is set 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 operating status data to the second broadband ad hoc network access system includes: Acquiring the operating status data of the well control and 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: 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 configured to construct a remote control cabin based on the well control and 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 and rescue equipment; A second setting unit is used to set an environment detection and perception laser radar system on the well control and 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 and rescue equipment; A first access unit, configured to access the operating status data to the second broadband ad hoc network access system; a second access unit, configured to access the second broadband ad hoc network access system with multiple high-definition video transmission signals and tool posture and motion information, wherein the multiple high-definition video transmission signals are data collected by the visual sensor system, and the tool posture and motion information is data collected by the posture perception sensor system; A third access unit is configured to connect the well site rescue area scanning data collected by the posture perception sensor system to the second broadband ad hoc 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 configured to construct a 3D model based on 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 features in the well site rescue area based on the scan data of the well site rescue area; 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 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 and cab layout of the well control and 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 a first broadband self-organizing network access system. The antenna unit is located outside the remote control cabin and 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 processing touch all-in-one computer and 2 GNSS antennas; The first setting unit includes: A tilt sensor is installed on the turntable of the well control and rescue equipment; A tilt sensor is installed on the boom of the well control and rescue equipment; A tilt sensor is installed on the boom of the well control and rescue equipment; A tilt sensor is installed on the joystick of the well control rescue equipment; The data solution touch all-in-one machine is installed in the cockpit of the well control and rescue equipment; Connect the data processing touch screen computer to the GNSS antenna and four tilt 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, configured to scan the environment of the well control and rescue equipment by a laser radar on the environment detection and perception laser radar system and calibrate a first distance to a marker; A determination unit, configured to determine coordinate data of the well control and rescue equipment using a GNSS antenna, a satellite, and real-time dynamic positioning technology; a calculation unit, configured to generate coordinates in the true color point cloud three-dimensional model according to the coordinate data of the well control and rescue equipment, and calculate a second distance according to the coordinates of the marker in the true color point cloud three-dimensional model; A 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 environmental detection and perception laser radar system includes three laser radars, three laser radar protection mechanisms, and a laser radar point cloud processing industrial computer. Among the three laser radars, there are 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 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 and rescue equipment; A wide-viewing angle laser radar is vertically installed on the counterweight of the well control and rescue equipment. The outside of the three laser radars are equipped with a laser radar protection mechanism that can be raised and lowered. The LiDAR point cloud processing industrial computer is installed inside the cab of the actual vehicle of the well control and rescue equipment, and the LiDAR point cloud processing industrial computer is connected to three LiDARs.

14. The remote control device according to claim 9, characterized in that: The visual sensor system is a 360-degree camera group, which includes at least three cameras. The second broadband ad hoc network access system includes one sMesh host, two filters, and two antennas. The third setting unit includes: Install at least three cameras on the well control and rescue equipment; Two antennas are installed on the rear exterior of the cab of the well control and rescue equipment; The sMesh host is set 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 operating status data of well control and rescue equipment through 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.

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