Control method and system of buffer manipulator

Abstract

The invention provides a control method and system of a buffer manipulator, and belongs to the technical field of petroleum drilling and production. The method comprises the following steps: executing a corresponding selected tube racking machine manipulator motion scheme on the basis of a selection instruction of a tube racking machine manipulator motion scheme recovered by a user side; monitoring the motion state information of the calandria machine manipulator in real time based on the selected calandria machine manipulator motion scheme, and identifying an abnormal motion state; and on the basis of the deviation relation between the abnormal motion state and the motion state planned by the corresponding selected tube racking machine manipulator motion scheme, the motion state of the tube racking machine manipulator is corrected to the motion state planned by the corresponding selected tube racking machine manipulator motion scheme until the tube racking machine manipulator reaches the target position. The whole-course automation of the drilling tool treatment is realized through the whole-course automation control of the pipe racking machine manipulator for grabbing the drilling tool, and the purpose of accurately adjusting the posture of the drilling tool is realized through the accurate control of the target position of the pipe racking machine manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of oil drilling, and in particular to a control method of a buffer manipulator, a control system of a buffer manipulator, a machine-readable storage medium and an electronic device. Background Art

[0002] The working conditions in the oil drilling industry are very difficult, and operators have to bear high-intensity labor and safety risks. Traditional drilling tool transfer mainly relies on large hooks or pneumatic winches. The impact force generated by inertia at the moment the drilling tool leaves the ramp is large, which can easily cause safety accidents. The current hydraulic control method simply adjusts the drilling tool speed and cannot effectively buffer the impact force, thus failing to effectively realize the automation and intelligence of drilling equipment.

[0003] The automation of drilling tool handling operations for oil drilling and workover rigs is an inevitable trend in the development of oil drilling machinery. With the gradual increase in the automation rate of drilling equipment, the demand for control in the automation of drilling tool handling operations is also increasing. It is required that the pipe laying machine can accurately control the position of the drill pipe when moving it, and automatically complete the actions of drilling tools entering and leaving the warehouse, and aligning the wellhead. Traditional hydraulically controlled or electro-hydraulic hybrid controlled pipe laying machines require manual adjustment throughout the process, and cannot accurately control the position of the drilling tools, and cannot achieve automation.

[0004] Therefore, how to achieve full automation of drilling tool processing while accurately adjusting the posture of the drilling tool to complete actions such as aligning the drilling tool with the wellhead and placing the drilling tool in a regular manner is a problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a control method and system for a buffer manipulator, so as to at least solve the above-mentioned problem of how to accurately adjust the posture of the drill tool while realizing the full automation of the drill tool processing, so as to complete the actions of aligning the drill tool with the wellhead and placing the drill tool regularly.

[0006] In order to achieve the above-mentioned object, the first aspect of the present invention provides a control method of a buffer manipulator, which is applied to a pipe laying machine manipulator, and the method comprises: According to the initial position and target position of the manipulator of the pipe laying machine, a plurality of manipulator motion schemes of the pipe laying machine are obtained and compared, so as to transmit the optimal manipulator motion scheme of the pipe laying machine to the user end; Based on the selection instruction of the motion scheme of the manipulator of the pipe laying machine at the user end, the corresponding motion scheme of the manipulator of the pipe laying machine is executed; In the process of executing the motion plan of the pipe laying machine manipulator, the motion state information of the pipe laying machine manipulator is monitored in real time based on the selected motion plan of the pipe laying machine manipulator to identify abnormal motion state; Starting from the node where the abnormal motion state occurs, a correction plan is generated based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe laying machine manipulator motion plan; Based on the correction plan, the motion state of the pipe laying machine manipulator is corrected to the motion state planned by the selected pipe laying machine manipulator motion plan during the continued movement process until the pipe laying machine manipulator reaches the target position.

[0007] Optionally, the above-mentioned pipe laying machine manipulator includes a second-layer platform manipulator for picking up and placing drill rods and a drilling platform manipulator for clamping and moving drill rods, and the data information of the pipe laying machine manipulator movement plan includes the ideal speed values ​​corresponding to the movement of the second-layer platform manipulator and / or the drilling platform manipulator to each preset position; The identification rules of abnormal motion states include: The motion state of the pipe laying machine manipulator that deviates from the motion state planned by the corresponding pipe laying machine manipulator motion plan is regarded as an abnormal motion state; The rules that determine the specific content of the amendment plan include: Starting from the node where the abnormal motion state occurs, the second-level platform manipulator and / or drilling platform manipulator whose actual speed data is inconsistent with the ideal speed value of the corresponding preset position is taken as the manipulator to be adjusted, and the speed data of the manipulator to be adjusted at the nth preset position is predicted according to the actual speed data of the manipulator to be adjusted at the nth preset position, and based on the speed prediction result of the manipulator to be adjusted at the nth + mth preset position and the ideal speed value of the n+mth preset position, the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position is adjusted until the actual speed data of the manipulator to be adjusted is consistent with the ideal speed value of the corresponding preset position; wherein, when the manipulator to be adjusted moves to the preset adjustment cutoff position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

[0008] Optionally, the above-mentioned rules for predicting the speed data of the manipulator to be adjusted at the n+mth preset position include: Input the actual speed data of the manipulator to be adjusted at the nth preset position and the position data of the n+mth preset position into the pre-built speed prediction model to predict the speed data of the manipulator to be adjusted at the n+mth preset position; Among them, the construction rules of the speed prediction model include: The second-floor manipulator and the drilling platform manipulator are both used as target manipulators, and a data set is established using a plurality of speed data of the target manipulator in the process of moving according to the historical motion trajectory and the posture data corresponding to each speed data; wherein the posture data includes position data and posture data; The dynamic characteristics of the target manipulator are learned from the data set using a deep neural network, and the dynamic characteristics of the target manipulator are used as the input of the extended dynamic modal decomposition method. The posture data corresponding to various speed data are used as state quantities. Based on the Koopman operator, the Koopman operator model is trained to obtain the Koopman high-dimensional linear dynamic model; wherein the dynamic characteristics characterize the relationship between various motion state parameters of the target manipulator during the action process, and the motion state parameters at least include one or more of the acceleration data, kinetic energy data, potential energy data, running resistance data and speed data of each position during the action process; Based on the Koopman high-dimensional linear dynamics model, a speed prediction model is established; the speed prediction model shows the process of using the Koopman high-dimensional linear dynamics model to track the speed of the target manipulator in motion. The specific contents of the speed prediction model include: The known motion speed of the target manipulator at the first position is input into the Koopman high-dimensional linear dynamics model, and the state quantity of the target manipulator in the motion process is rolled optimized according to the extended dynamic modal decomposition method to determine the motion speed of the target manipulator at the unknown second position.

[0009] Optionally, the above rules for adjusting the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position include: A1: According to the speed prediction result of the manipulator to be adjusted at the n+mth preset position and the ideal speed value of the n+mth preset position, according to the manipulator acceleration motion rule, determine the ideal speed increase value corresponding to each preset position from the nth preset position to the n+mth preset position; A2: Generate a speed control instruction for the manipulator to be adjusted according to the ideal speed increase value corresponding to each preset position from the nth preset position to the n+mth preset position, so that the manipulator to be adjusted accelerates according to the manipulator acceleration motion rule; A3: According to the actual speed data of the manipulator to be adjusted at the nth preset position, the speed data of the manipulator to be adjusted at each preset position from the nth preset position to the n+mth preset position are predicted, and according to the ideal speed increase value corresponding to each preset position, the speed prediction result corresponding to each preset position is corrected; A4: Take the difference between the corrected speed prediction data and the actual speed data corresponding to each preset position as the first difference. If there is no situation where the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, the robot to be adjusted is controlled to continue moving to the n+mth preset position. Conversely, if the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, the robot to be adjusted at the sth preset position is taken as the robot to be adjusted at the nth preset position, and A1 to A4 are repeated to adjust the speed of the robot to be adjusted from the nth preset position to the n+mth preset position again, where s is a natural number.

[0010] Optionally, the above-mentioned determination rules of the manipulator to be adjusted include: In the process of executing the motion plan of the pipe laying machine manipulator, when the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at x consecutive preset positions are consistent with the ideal speed value of the corresponding preset position, and the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+1th preset position are inconsistent with the ideal speed value of the corresponding preset position, detect whether the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position are consistent with the ideal speed value of the corresponding preset position, where x is a natural number; If the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is consistent with the ideal speed value of the corresponding preset position, the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+1th preset position is determined as the measurement error value; if the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is inconsistent with the ideal speed value of the corresponding preset position, the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is used as the manipulator to be adjusted.

[0011] Optionally, the above-mentioned pipe laying machine manipulator includes a second-layer platform manipulator for taking and placing the drill rod and a drilling platform manipulator for clamping and moving the drill rod; Before executing the pipe laying machine manipulator motion plan, the method also includes: According to the pipe laying machine manipulator motion scheme selected by the user, the controlled object is determined; wherein the controlled object is the second-layer platform manipulator and / or the drilling platform manipulator; According to the motion characteristics of the controlled object, multiple process objects are established in the PLC to reflect the action status of the controlled object in the preset axial direction.

[0012] Optionally, the above-mentioned pipe laying machine manipulator includes a second-layer platform manipulator for taking and placing the drill rod and a drilling platform manipulator for clamping and moving the drill rod; Before executing the pipe laying machine manipulator motion plan, the method also includes: The telescopic structure of the second-floor manipulator and the telescopic structure of the drilling platform manipulator are linearized respectively, including: Obtain a first cam curve corresponding to the second-stage manipulator and a second cam curve corresponding to the drilling platform manipulator, and interpolate the first cam curve and the second cam curve respectively; wherein the first cam curve is generated based on the motion relationship between the main shaft and the slave shaft in the electronic cam of the second-stage manipulator, and the second cam curve is generated based on the motion relationship between the main shaft and the slave shaft in the electronic cam of the drilling platform manipulator; According to the interpolated first cam curve and the interpolated second cam curve, cam movement operations between the main axis and the slave axis corresponding to the second-level platform manipulator and cam movement operations between the main axis and the slave axis corresponding to the drilling platform manipulator are performed; based on the cam movement operation results corresponding to the second-level platform manipulator, a linear conversion is performed on the relationship between the motion position and the motion speed corresponding to the telescopic structure of the second-level platform manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the second-level platform manipulator; based on the cam movement operation results corresponding to the drilling platform manipulator, a linear conversion is performed on the relationship between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator.

[0013] Optionally, the above-mentioned transmission of the optimal pipe laying machine manipulator motion plan to the user end includes: The optimal pipe laying machine manipulator motion scheme corresponding to each preset motion type is transmitted to the user end; wherein the preset motion types include motion types in which the second-layer platform manipulator and the drilling platform manipulator act independently and motion types in which the second-layer platform manipulator and the drilling platform manipulator act synchronously, and the selection instruction of the pipe laying machine manipulator motion scheme is an independent motion operation instruction or a synchronous motion operation instruction; Execute the selected pipe laying machine robot motion plan, including: In response to the independent action operation instruction, the second-floor manipulator and the drilling floor manipulator are respectively independently acted. In response to the synchronous action running instruction, a plan for synchronous action of the second-level platform manipulator and the drilling floor manipulator is executed.

[0014] Optionally, after determining that the selection instruction of the pipe laying machine manipulator motion scheme is a synchronous action running instruction, the method further includes: Establishing relative synchronization of related axes between the second-floor manipulator and the drilling floor manipulator, and defining the dynamic characteristics of the related axes using preset parameters according to the dynamic characteristics of the related axes; Establish the absolute gear synchronous motion of the relevant axes between the second-level platform manipulator and the drilling platform manipulator, and set the synchronous position and synchronous direction.

[0015] Optionally, the acquisition rules of the above-mentioned pipe laying machine manipulator motion plan include: The initial position and target position of the pipe laying machine manipulator are input into the pre-built manipulator motion model to perform simulated motion of the pipe laying machine manipulator. Based on the simulated motion results, a variety of pipe laying machine manipulator motion schemes are obtained, and the pipe laying machine manipulator motion information corresponding to each pipe laying machine manipulator motion scheme is determined; wherein the pipe laying machine manipulator motion information includes at least the motion speed and motion time of the second-level platform manipulator, and the motion speed and motion time of the drilling platform manipulator.

[0016] Optionally, the construction rules of the above robot motion model include: According to the structural data of the pipe laying machine manipulator, a dynamic three-dimensional model of the pipe laying machine manipulator is constructed, and a structured program framework for being triggered by an action execution signal is configured for the dynamic three-dimensional model of the pipe laying machine manipulator; According to the historical motion data of the manipulator of the pipe laying machine, multiple running posture data of the dynamic three-dimensional model and running posture change data between the associated running postures are configured to obtain the dynamic three-dimensional model after the posture configuration; Based on the neural network algorithm and the dynamic 3D model after posture configuration, the initial motion model is established; The historical motion data of the pipe laying machine robot is input into the initial motion model as a training sample to generate corresponding action execution signals based on the historical motion data of the pipe laying machine robot, so as to trigger the structured program framework of the dynamic three-dimensional model, so that the dynamic three-dimensional model simulates the motion according to the historical motion data of the pipe laying machine robot, so as to train the initial motion model and obtain the robot motion model.

[0017] Optionally, the above rules for transmitting the optimal pipe laying machine manipulator motion plan to the user end include: A comprehensive comparison is made of the optimal pipe laying machine manipulator motion plans corresponding to each preset motion type, and the optimal pipe laying machine manipulator motion plans corresponding to each preset motion type are sorted from high to low according to the motion index value, and the sorting results and the optimal pipe laying machine manipulator motion plans corresponding to each preset motion type are transmitted to the user end.

[0018] A second aspect of the present invention provides a control system for a buffer manipulator, which is deployed on a pipe laying machine manipulator, and the system comprises: The motion scheme generation module is used to obtain and compare multiple motion schemes of the pipe laying machine manipulator according to the initial position and target position of the pipe laying machine manipulator, so as to transmit the optimal motion scheme of the pipe laying machine manipulator to the user end; A selection instruction execution module is used to execute the corresponding selected pipe laying machine manipulator motion plan based on the selection instruction of the pipe laying machine manipulator motion plan recovered by the user end; The abnormal motion state identification module is used to monitor the motion state information of the pipe laying machine manipulator in real time based on the selected pipe laying machine manipulator motion plan during the execution of the pipe laying machine manipulator motion plan to identify the abnormal motion state; A correction scheme generating module is used to generate a correction scheme starting from the occurrence node of the abnormal motion state based on the deviation relationship between the abnormal motion state and the motion state planned by the motion scheme of the corresponding selected pipe laying machine manipulator; The correction scheme execution module is used to correct the motion state of the pipe laying machine manipulator to the motion state planned by the selected pipe laying machine manipulator motion scheme based on the correction scheme during the continued movement process, until the pipe laying machine manipulator reaches the target position.

[0019] In a third aspect of the present invention, a machine-readable storage medium is provided, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the control method of the buffer robot.

[0020] In a fourth aspect of the present invention, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the buffer robot when executing the computer program.

[0021] Through the above technical scheme, a control method and system for a buffer manipulator are provided to obtain and compare a plurality of motion schemes of a pipe laying machine manipulator, which take the initial position of the pipe laying machine manipulator as the starting point of the motion of the pipe laying machine manipulator and the target position of the pipe laying machine manipulator as the end point of the motion of the pipe laying machine manipulator, so as to transmit the optimal motion scheme of the pipe laying machine manipulator to the user end. Thus, in terms of selecting the motion scheme of the pipe laying machine manipulator, it is effectively ensured that the selected motion scheme of the pipe laying machine manipulator is optimized for accurately controlling the pipe laying machine manipulator to the target position. And the user can select the motion scheme of the pipe laying machine manipulator according to his actual situation, thereby facilitating the actual use of the user. According to the selection instruction of the motion scheme of the pipe laying machine manipulator recovered by the user end, the corresponding selected motion scheme of the pipe laying machine manipulator is executed. In the process of executing the motion scheme of the pipe laying machine manipulator, the motion state information of the pipe laying machine manipulator is monitored and fed back in real time based on the selected motion scheme of the pipe laying machine manipulator to identify abnormal motion states. Starting from the node where the abnormal motion state occurs, a correction scheme is generated based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe-climbing machine manipulator motion scheme, and the motion state of the pipe-climbing machine manipulator is corrected to the motion state planned by the corresponding selected pipe-climbing machine manipulator motion scheme during the continued motion process until the pipe-climbing machine manipulator reaches the target position. The method and system realize the full automation of drilling tool processing through the full automation control of the pipe-climbing machine manipulator that grabs the drilling tool, and realizes the precise adjustment of the drilling tool posture through the precise control of the target position of the pipe-climbing machine manipulator, and completes the actions of aligning the drilling tool with the wellhead and placing the drilling tool regularly.

[0022] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a flow chart of a control method of a buffer manipulator provided by one embodiment of the present invention; Figure 2 is a block diagram of a control system of a buffer manipulator provided in one embodiment of the present invention; Figure 3 It is a schematic diagram of single-axis control of a pipe laying machine manipulator provided in one embodiment of the present invention; Figure 4 is a schematic diagram of manual control of a manipulator provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of automatic control of a pipe laying machine provided by one embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of an electronic device provided by a preferred embodiment of the present invention.

[0024] Description of Reference Numerals 10 - electronic device, 100 - processor, 101 - memory, 102 - computer program. DETAILED DESCRIPTION

[0025] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0026] Figure 1 FIG. 1 is a flow chart of a control method of a buffer manipulator provided by an embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides a control method for a buffer manipulator, which is applied to a pipe laying machine manipulator, and the method includes: S110: acquiring and comparing a plurality of motion schemes of the manipulator of the pipe laying machine according to the initial position and the target position of the manipulator of the pipe laying machine, so as to transmit the optimal motion scheme of the manipulator of the pipe laying machine to the user end; Specifically, the initial position of the pipe laying machine manipulator is used as the starting point of the movement route of the pipe laying machine manipulator, and the target position of the pipe laying machine manipulator is used as the end point of the movement route of the pipe laying machine manipulator, and multiple movement schemes of the pipe laying machine manipulator are obtained, and after comparing all the movement schemes of the pipe laying machine manipulator, the optimal movement scheme of the pipe laying machine manipulator is transmitted to the user end. Therefore, in terms of selecting the movement scheme of the pipe laying machine manipulator, it is effectively ensured that the selected movement scheme of the pipe laying machine manipulator is optimized for accurately adjusting the pipe laying machine manipulator to the target position.

[0027] In some implementations of the present embodiment, the pipe laying machine manipulator includes a second-level table manipulator for picking up and placing drill rods and a drilling table manipulator for clamping and moving drill rods; the acquisition rules of the above-mentioned pipe laying machine manipulator motion plan include: inputting the initial position and target position of the pipe laying machine manipulator into a pre-built manipulator motion model, simulating the movement of the pipe laying machine manipulator, and obtaining a plurality of pipe laying machine manipulator motion plans based on the simulated motion results, and determining the pipe laying machine manipulator motion information corresponding to each pipe laying machine manipulator motion plan; wherein the pipe laying machine manipulator motion information includes at least the movement speed and movement time of the second-level table manipulator, and the movement speed and movement time of the drilling table manipulator.

[0028] Specifically, the manipulator motion model uses the initial position of the pipe laying machine manipulator as the starting point of the pipe laying machine manipulator motion route, and the target position of the pipe laying machine manipulator as the end point of the pipe laying machine manipulator motion route, and simulates the motion of the pipe laying machine manipulator to obtain multiple pipe laying machine manipulator motion schemes. The method of simulating motion by the manipulator motion model can ensure the comprehensiveness of the obtained pipe laying machine manipulator motion scheme, thereby further ensuring that the pipe laying machine manipulator motion scheme obtained by the user end is the optimal scheme.

[0029] In some implementations of this embodiment, the construction rules of the above-mentioned manipulator motion model include: According to the structural data of the pipe laying machine manipulator, a dynamic three-dimensional model of the pipe laying machine manipulator is constructed, and a structured program framework for being triggered by an action execution signal is configured for the dynamic three-dimensional model of the pipe laying machine manipulator; Specifically, by using the action execution signal to trigger the structured program framework, the dynamic three-dimensional model can perform corresponding actions according to the action execution signal.

[0030] According to the historical motion data of the manipulator of the pipe laying machine, multiple running posture data of the dynamic three-dimensional model and running posture change data between the associated running postures are configured to obtain the dynamic three-dimensional model after the posture configuration; Specifically, by configuring the running posture data of the dynamic three-dimensional model and the running posture change data between the running postures, the dynamic three-dimensional model can be made closer to the movement of the real pipe laying machine manipulator.

[0031] An initial motion model is established based on the dynamic three-dimensional model after neural network algorithm and posture configuration; the historical motion data of the pipe laying machine manipulator is input into the initial motion model as a training sample to generate corresponding action execution signals according to the historical motion data of the pipe laying machine manipulator, so as to trigger the structured program framework of the dynamic three-dimensional model, so that the dynamic three-dimensional model simulates the motion according to the historical motion data of the pipe laying machine manipulator, so as to train the initial motion model and obtain the manipulator motion model.

[0032] Among them, the optimal pipe-laying machine manipulator motion scheme transmitted to the user end may be the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type. In some implementations of the present embodiment, the above-mentioned rule for transmitting the optimal pipe-laying machine manipulator motion scheme to the user end includes: comprehensively comparing the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type, sorting the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type from high to low according to the motion index value, and then transmitting the sorting result and the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type to the user end. Therefore, through the sorting result and the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type, not only can the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type be intuitively displayed to the user, but also the superiority and inferiority ranking between the optimal pipe-laying machine manipulator motion schemes corresponding to each preset motion type can be displayed, thereby further facilitating the user to select the pipe-laying machine manipulator motion scheme.

[0033] S120: Based on the selection instruction of the pipe laying machine manipulator motion scheme recovered by the user end, the corresponding selected pipe laying machine manipulator motion scheme is executed; S130: During the execution of the pipe laying machine manipulator motion plan, the motion state information of the pipe laying machine manipulator is monitored in real time based on the selected pipe laying machine manipulator motion plan to identify abnormal motion state; S140: Starting from the node where the abnormal motion state occurs, a correction plan is generated based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe laying machine manipulator motion plan; S150: Based on the correction plan, during the continued movement, the movement state of the pipe laying machine manipulator is corrected to the movement state planned by the selected movement plan of the pipe laying machine manipulator until the pipe laying machine manipulator reaches the target position.

[0034] Specifically, the method obtains and compares a plurality of pipe laying machine manipulator motion schemes with the initial position of the pipe laying machine manipulator as the starting point of the movement of the pipe laying machine manipulator and the target position of the pipe laying machine manipulator as the end point of the movement of the pipe laying machine manipulator, so as to transmit the optimal pipe laying machine manipulator motion scheme to the user end. Thus, in terms of selecting the pipe laying machine manipulator motion scheme, it is effectively ensured that the selected pipe laying machine manipulator motion scheme is optimized for accurately controlling the pipe laying machine manipulator to the target position. And the user can select the pipe laying machine manipulator motion scheme according to their actual situation, thereby facilitating the actual use of the user. According to the selection instruction of the pipe laying machine manipulator motion scheme recovered by the user end, the corresponding selected pipe laying machine manipulator motion scheme is executed. In the process of executing the pipe laying machine manipulator motion scheme, the motion state information of the pipe laying machine manipulator is monitored and fed back in real time based on the selected pipe laying machine manipulator motion scheme to identify abnormal motion states. Starting from the node where the abnormal motion state occurs, a correction scheme is generated based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe-climbing machine manipulator motion scheme. During the continued motion process, the motion state of the pipe-climbing machine manipulator is corrected to the motion state planned by the corresponding selected pipe-climbing machine manipulator motion scheme until the pipe-climbing machine manipulator reaches the target position. This method realizes the full automation of drilling tool processing through the full automation control of the pipe-climbing machine manipulator that grabs the drilling tool. Through the precise control of the target position of the pipe-climbing machine manipulator, the posture of the drilling tool is precisely adjusted, and the drilling tool is aligned with the wellhead and the drilling tool is placed regularly.

[0035] In some implementations of the present embodiment, the above-mentioned pipe laying machine manipulator includes a second-layer platform manipulator for picking up and placing drill rods and a drilling platform manipulator for clamping and moving drill rods. The data information of the motion plan of the pipe laying machine manipulator includes the ideal speed values ​​corresponding to the movement of the second-layer platform manipulator and / or the drilling platform manipulator to each preset position; the identification rules of abnormal motion state include: treating the motion state of the pipe laying machine manipulator that deviates from the motion state planned by the corresponding pipe laying machine manipulator motion plan as an abnormal motion state; the rules for determining the specific content of the correction plan include: starting from the node where the abnormal motion state occurs, treating the second-layer platform manipulator that has actual speed data inconsistent with the ideal speed value of the corresponding preset position as an abnormal motion state. The first manipulator and / or the drilling platform manipulator are used as the manipulator to be adjusted, and the speed data of the manipulator to be adjusted at the nth preset position is predicted according to the actual speed data of the manipulator to be adjusted at the nth preset position; based on the speed prediction result of the manipulator to be adjusted at the n+mth preset position and the ideal speed value of the n+mth preset position, the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position is adjusted until the actual speed data of the manipulator to be adjusted is consistent with the ideal speed value of the corresponding preset position; wherein, when the manipulator to be adjusted moves to the preset adjustment cut-off position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

[0036] Specifically, the method uses the ideal speed value corresponding to the movement of the second-layer platform manipulator and / or the drilling platform manipulator to each preset position as a reference, and uses the second-layer platform manipulator and / or the drilling platform manipulator whose actual speed data is inconsistent with the ideal speed value of the corresponding preset position as the manipulator to be adjusted corresponding to the abnormal motion state, and adjusts the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position according to the speed prediction result of the manipulator to be adjusted at the n+mth preset position and the ideal speed value of the n+mth preset position. During the speed adjustment process, if the actual speed data of the manipulator to be adjusted is consistent with the ideal speed value of the corresponding preset position, the subsequent movement process of the manipulator to be adjusted is continuously monitored, and when the abnormal motion state occurs again, the speed of the manipulator to be adjusted is adjusted again. During the speed adjustment process, if the manipulator to be adjusted moves to the preset adjustment cut-off position and the manipulator to be adjusted is still in an abnormal motion state at this time, it means that the manipulator of the pipe laying machine has quality deformation, structural damage or program problems, and the movement of the manipulator of the pipe laying machine is stopped immediately.

[0037] In some implementations of this embodiment, the above-mentioned rules for predicting the speed data of the manipulator to be adjusted at the n+mth preset position include: Input the actual speed data of the manipulator to be adjusted at the nth preset position and the position data of the n+mth preset position into the pre-built speed prediction model to predict the speed data of the manipulator to be adjusted at the n+mth preset position; Specifically, the speed prediction model can be based on the actual speed data of the robot to be adjusted at the nth preset position, and perform rolling optimization on the state quantity of the target robot during the movement according to the extended dynamic modal decomposition method to predict the speed data of the robot to be adjusted at the n+mth preset position.

[0038] Among them, the construction rules of the speed prediction model include: taking the second-level platform manipulator and the drilling platform manipulator as the target manipulator, and using the multiple speed data of the target manipulator in the process of moving according to the historical motion trajectory and the posture data corresponding to each speed data to establish a data set; wherein the posture data includes position data and posture data; using a deep neural network to learn the dynamic characteristics of the target manipulator from the data set, using the dynamic characteristics of the target manipulator as the input of the extended dynamic modal decomposition method, using the posture data corresponding to various speed data as state quantities, based on the Koopman operator, training the Koopman operator model, and obtaining the Koopman high-dimensional linear dynamic model; wherein the dynamic characteristics characterize the various motion states of the target manipulator during the action process The relationship between parameters, the motion state parameters at least include one or more of the acceleration data, kinetic energy data, potential energy data, running resistance data and speed data of each position during the action process; based on the Koopman high-dimensional linear dynamics model, a speed prediction model is established; the speed prediction model shows the process of using the Koopman high-dimensional linear dynamics model to achieve speed tracking of the target manipulator in the motion process, and the specific content of the speed prediction model includes: inputting the known motion speed of the target manipulator at the first position into the Koopman high-dimensional linear dynamics model, so as to perform rolling optimization on the state quantity of the target manipulator in the motion process according to the extended dynamic modal decomposition method, so as to determine the motion speed of the unknown target manipulator at the second position.

[0039] In some implementations of this embodiment, the above rules for adjusting the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position include: A1: According to the speed prediction result of the manipulator to be adjusted at the n+mth preset position and the ideal speed value of the n+mth preset position, according to the manipulator acceleration motion rule, determine the ideal speed increase value corresponding to each preset position from the nth preset position to the n+mth preset position; Among them, the manipulator acceleration movement rule can be a uniform acceleration movement rule. Exemplarily, the method first assumes that the manipulator to be adjusted moves in accordance with uniform acceleration, thereby calculating the ideal speed increase value corresponding to each preset position from the nth preset position to the n+mth preset position. It should be noted that in the actual movement process of the manipulator to be adjusted, if the manipulator to be adjusted does not move in accordance with uniform acceleration, in order to ensure that the actual speed data of the manipulator to be adjusted at the n+mth preset position can be consistent with the ideal speed value, the first difference between the corrected speed prediction data and the actual speed data corresponding to each preset position will not exist in the case where the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold. If the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, it means that the manipulator to be adjusted at the sth preset position needs to be used as the manipulator to be adjusted at the nth preset position according to step A4 to adjust the speed again.

[0040] A2: Generate a speed control instruction for the manipulator to be adjusted according to the ideal speed increase value corresponding to each preset position between the nth preset position and the n+mth preset position, so that the manipulator to be adjusted accelerates according to the manipulator acceleration motion rule; A3: Predict the speed data of the manipulator to be adjusted at each preset position between the nth preset position and the n+mth preset position according to the actual speed data of the manipulator to be adjusted at the nth preset position, and correct the speed prediction result corresponding to each preset position according to the ideal speed increase value corresponding to each preset position; Specifically, the actual speed data of the robot to be adjusted at the nth preset position is input into the speed prediction model, and the speed data of the robot to be adjusted at each preset position from the nth preset position to the n+mth preset position is predicted.

[0041] A4: Take the difference between the corrected speed prediction data and the actual speed data corresponding to each preset position as the first difference. If there is no situation where the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, the robot to be adjusted is controlled to continue moving to the n+mth preset position. Conversely, if the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, the robot to be adjusted at the sth preset position is taken as the robot to be adjusted at the nth preset position, and A1 to A4 are repeated to adjust the speed of the robot to be adjusted from the nth preset position to the n+mth preset position again, where s is a natural number.

[0042] In some implementations of the present embodiment, the determination rule of the above-mentioned manipulator to be adjusted includes: in the process of executing the pipe laying machine manipulator movement plan, when the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at x consecutive preset positions are consistent with the ideal speed value of the corresponding preset position, and the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+1th preset position are inconsistent with the ideal speed value of the corresponding preset position, the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is detected. Whether the ideal speed value is consistent, x is a natural number; if the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is consistent with the ideal speed value of the corresponding preset position, the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+1th preset position is determined to be the measurement error value; if the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is inconsistent with the ideal speed value of the corresponding preset position, the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is used as the manipulator to be adjusted.

[0043] Specifically, when the actual speed data of the second-level platform manipulator and / or the drilling platform manipulator at a preset position is inconsistent with the ideal speed value of the corresponding preset position, the actual speed data of the second-level platform manipulator and / or the drilling platform manipulator at the adjacent preset position is detected to see whether they are consistent with the ideal speed value of the corresponding preset position. By comparing the actual speed data of the two times with the ideal speed value of the corresponding preset position, it is possible to accurately determine whether the pipe laying machine manipulator is in an abnormal motion state, thereby avoiding the existence of unexpected values ​​due to instrument failure and further improving the accuracy of determining the manipulator to be adjusted.

[0044] In some implementations of the present embodiment, the above-mentioned pipe laying machine manipulator includes a second-layer table manipulator for picking up and placing drill rods and a drilling table manipulator for clamping and moving drill rods; before executing the motion plan of the pipe laying machine manipulator, the method also includes: determining the controlled object according to the motion plan of the pipe laying machine manipulator selected by the user end; wherein the controlled object is the second-layer table manipulator and / or the drilling table manipulator; according to the motion characteristics of the controlled object, establishing multiple process objects in the PLC to reflect the action state of the controlled object in the preset axial direction.

[0045] Specifically, this method can use a PLC with a positioning control function. According to the motion characteristics of the controlled object, multiple process objects are established in the PLC to reflect the action status of the controlled object in the preset axis. This realizes a process object-oriented (TO) control method, which is convenient for engineering, debugging and maintenance, and simplifies the work of machine manufacturers and users. Through the process object, functions such as positioning, constant speed, gear synchronization, cam synchronization, and kinematics solution can be realized.

[0046] Among them, the process objects established in the PLC may include: R1-AXIS1_Ymov: upper manipulator Y-axis position axis; R1-AXIS2_ExtRetSyn: upper manipulator telescopic synchronization axis; R1-AXIS3_Clamper: upper manipulator clamp position axis; R1-AXIS4_PushHold: upper manipulator push position axis; R1-AXIS5_Rot: upper manipulator rotation position axis; R1-AXIS6_PushHoldER: upper manipulator push telescopic axis; R1-AXIS7_Z_Epos: upper manipulator lifting position axis Position axis; R1-AXIS8_ExtRetSynSim: upper manipulator telescopic virtual axis; R2-AXIS1_YmovSyn: lower manipulator Y-axis position axis; R2-AXIS2_ExtRetSyn: lower manipulator telescopic synchronization axis; R2-AXIS3_Clamper: lower manipulator clamp position axis; R2-AXIS4_PushHold: lower manipulator push-hold clamp position axis; R2-AXIS5_RotSyn: lower manipulator rotation synchronization axis; R2-AXIS6_ExtRetSynSim: lower manipulator telescopic synchronization axis.

[0047] In some implementations of the present embodiment, the above-mentioned pipe laying machine manipulator includes a second-layer platform manipulator for picking up and placing drill rods and a drilling platform manipulator for clamping and moving drill rods; before executing the pipe laying machine manipulator motion plan, the method also includes: linearizing the telescopic structure of the second-layer platform manipulator and the telescopic structure of the drilling platform manipulator, respectively, including: obtaining a first cam curve corresponding to the second-layer platform manipulator and a second cam curve corresponding to the drilling platform manipulator, and interpolating the first cam curve and the second cam curve, respectively; wherein the first cam curve is generated based on the motion relationship between the main axis and the slave axis in the electronic cam of the second-layer platform manipulator, and the second cam curve is generated based on the motion relationship between the main axis and the slave axis in the electronic cam of the drilling platform manipulator; according to the interpolated first cam curve A cam curve and a second cam curve after interpolation are used to execute cam motion operations between the main axis and the slave axis corresponding to the second-layer platform manipulator and between the main axis and the slave axis corresponding to the drilling platform manipulator. Based on the cam motion operation results corresponding to the second-layer platform manipulator, a linear conversion is performed on the relationship between the motion position and the motion speed corresponding to the telescopic structure of the second-layer platform manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the second-layer platform manipulator. Based on the cam motion operation results corresponding to the drilling platform manipulator, a linear conversion is performed on the relationship between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator.

[0048] Specifically, the linearization processing of the telescopic structure of the second-level manipulator and the telescopic structure of the drilling platform manipulator is implemented as follows: the Cam curve generated according to the nonlinear action relationship of the mechanical structure, the second-level manipulator and the drilling platform manipulator use Cam1 curve (first cam curve) and Cam2 curve (second cam curve) respectively; the manipulator telescopic is realized by binding the virtual axis to the physical axis to achieve linear conversion. Among them, the implementation method of the linearization of the virtual axis binding the physical axis is as follows: the motion relationship between the virtual axis and the real axis is realized by an electronic cam. The advantages are that the machine has no impact, reduces vibration, reduces wear, and reduces downtime when replacing the cam curve. The Cam curve needs to be interpolated before using it. After the interpolation is completed, the gap between the defined cam interpolation points and segments can be closed; then the cam motion operation between the master axis and the slave axis can be started through the motion control command "MC_CamIn".

[0049] In some implementations of the present embodiment, the above-mentioned transmission of the optimal pipe laying machine manipulator motion plan to the user end includes: transmitting the optimal pipe laying machine manipulator motion plan corresponding to each preset motion type to the user end; wherein the preset motion types include motion types in which the second-level platform manipulator and the drilling platform manipulator act independently and motion types in which the second-level platform manipulator and the drilling platform manipulator act synchronously, and the selection instruction of the pipe laying machine manipulator motion plan is an independent action running instruction or a synchronous action running instruction; executing the corresponding selected pipe laying machine manipulator motion plan, including: in response to the independent action running instruction, executing the plan in which the second-level platform manipulator and the drilling platform manipulator act independently; in response to the synchronous action running instruction, executing the plan in which the second-level platform manipulator and the drilling platform manipulator act synchronously.

[0050] Specifically, the method receives independent action operation instructions and synchronous action operation instructions sent by the user end, selects the independent action or synchronous action mode of the pipe laying machine manipulator, and realizes the independent action or synchronous action control of the pipe laying machine manipulator.

[0051] In some implementations of the present embodiment, after determining that the selection instruction of the pipe laying machine manipulator motion scheme is a synchronous action running instruction, the method also includes: establishing relative synchronization of relevant axes between the second-level platform manipulator and the drilling platform manipulator, and defining the dynamic characteristics of the relevant axes using preset parameters according to the dynamic characteristics of the relevant axes; establishing absolute gear synchronous motion of the relevant axes between the second-level platform manipulator and the drilling platform manipulator, and setting the synchronous position and synchronous direction.

[0052] Among them, the related axes between the second-level platform manipulator and the drilling platform manipulator include the main axis and the slave axis. Specifically, the synchronization control method when the second-level platform manipulator and the drilling platform manipulator cooperate to transport the drilling tool is implemented as follows: ① The relative synchronization of the related axes between the second-level platform manipulator and the drilling platform manipulator is established through the MC_GearIn command. In the process of establishing synchronization, the dynamic characteristics of the slave axis use the parameters such as "Jerk", "Acceleration" and "Deceleration" to define the value. The electronic gear ratio is specified as the relationship between two integers (numerator / denominator) using the parameters "RatioNumerator" and "RatioDenominator". The command and input / output parameters are explained as follows: The synchronization duration and distance are related to the following parameters: the start time of the "MC_GearIn" command, the dynamic value of the slave axis at the beginning, the dynamic parameter setting of the synchronization command, and the dynamic value of the main axis. The transmission ratio can be specified as a positive or negative number. A positive number indicates that the main axis and the slave axis run in the same direction, and a negative number indicates that the main axis and the slave axis run in the opposite direction. The synchronization operation can be started when the main axis is in a stopped state or a moving state. For input acceleration and deceleration parameters: “>0”, the input value is effective, “=0” is not allowed, Configuration>Extended parameters>Dynamic defaults). For input Jerk parameters: “>0”, the input value is effective, “=0” uses a trapezoidal velocity profile, Configuration>Extended parameters>Dynamic defaults); ② Use the command “MC_GearInPos” to establish the absolute gear synchronous motion of the relevant axes between the second-level manipulator and the drilling platform manipulator. You can specify the synchronous position, establish the synchronization process by specifying the spindle running distance or dynamic response value, and define the direction of synchronization. Specifically, there are two ways to establish the absolute gear synchronization motion of the related axes between the second-level manipulator and the drilling platform manipulator as follows: (1) Synchronization based on the running distance of the master axis (SynProfileReference parameter = 0): When the running position of the master axis reaches "MasterSynPosition - MasterStartDistance", the slave axis starts to move. After the master axis runs the distance of "MasterStartDistance", the position reaches "MasterSynPosition" and the slave axis position reaches "SlaveSynPosition", the slave axis is synchronized with the master axis and runs at the same speed. (2) Synchronization based on dynamic response (SynProfileReference = 1): The system starts the slave axis according to the input dynamic response parameters. When the master axis runs to "MasterSynPosition" and the slave axis position reaches "SlaveSynPosition", the slave axis is synchronized with the master axis and runs at the same speed. It should be noted that the above absolute gear synchronization operation is synchronized before the synchronization position specified for the master and slave axes. Use the parameters "RatioNumerator" and "RatioDenominator" to specify the transmission ratio as a relationship between two integers (numerator / denominator). The numerator of the transmission ratio is specified as a positive or negative number. A positive number means that the master and slave axes run in the same direction, and a negative number means that the master and slave axes run in opposite directions. Synchronous operation can be started when the master axis is in a stopped state or in a moving state. For the input acceleration and deceleration parameters: ">0" when the input value is effective, "=0" is not allowed, Configuration>Extendedparameters>Dynamic defaults). For the input Jerk parameters: ">0" when the input value is effective, "=0" uses a trapezoidal velocity profile, Configuration>Extended parameters>Dynamic defaults).

[0053] Figure 2 FIG. 1 is a block diagram of a control system of a buffer manipulator provided by an embodiment of the present invention. Figure 2As shown, an embodiment of the present invention provides a control system of a buffer manipulator, which is deployed on a pipe laying machine manipulator, and the system includes: a motion plan generation module, which is used to obtain and compare a plurality of pipe laying machine manipulator motion plans according to the initial position and target position of the pipe laying machine manipulator, so as to transmit the optimal pipe laying machine manipulator motion plan to the user end; a selection instruction execution module, which is used to recover the selection instruction of the pipe laying machine manipulator motion plan based on the user end, and execute the corresponding selected pipe laying machine manipulator motion plan; an abnormal motion state identification module, which is used to monitor the motion state information of the pipe laying machine manipulator in real time based on the selected pipe laying machine manipulator motion plan during the execution of the pipe laying machine manipulator motion plan, so as to identify the abnormal motion state; a correction plan generation module, which is used to generate a correction plan based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe laying machine manipulator motion plan, starting from the occurrence node of the abnormal motion state; a correction plan execution module, which is used to correct the motion state of the pipe laying machine manipulator to the motion state planned by the corresponding selected pipe laying machine manipulator motion plan during the continued movement based on the correction plan, until the pipe laying machine manipulator reaches the target position.

[0054] Specifically, the system acquires and compares a variety of pipe laying machine manipulator motion schemes with the initial position of the pipe laying machine manipulator as the starting point of the pipe laying machine manipulator motion and the target position of the pipe laying machine manipulator as the end point of the pipe laying machine manipulator motion, so as to transmit the optimal pipe laying machine manipulator motion scheme to the user end. Therefore, in terms of selecting the pipe laying machine manipulator motion scheme, it is effectively ensured that the selected pipe laying machine manipulator motion scheme is optimized for accurately controlling the pipe laying machine manipulator to the target position. And the user can select the pipe laying machine manipulator motion scheme according to their actual situation, thereby facilitating the actual use of the user. According to the selection instruction of the pipe laying machine manipulator motion scheme recovered by the user end, the corresponding selected pipe laying machine manipulator motion scheme is executed. In the process of executing the pipe laying machine manipulator motion scheme, the motion state information of the pipe laying machine manipulator is monitored and fed back in real time based on the selected pipe laying machine manipulator motion scheme to identify abnormal motion states. Starting from the node where the abnormal motion state occurs, a correction scheme is generated based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe-climbing machine manipulator motion scheme. During the continued motion, the motion state of the pipe-climbing machine manipulator is corrected to the motion state planned by the corresponding selected pipe-climbing machine manipulator motion scheme until the pipe-climbing machine manipulator reaches the target position. The system realizes the full automation of drilling tool processing through the full automation control of the pipe-climbing machine manipulator that grabs the drilling tool. Through the precise control of the target position of the pipe-climbing machine manipulator, the posture of the drilling tool is precisely adjusted, and the drilling tool is aligned with the wellhead and the drilling tool is placed regularly.

[0055] Figure 3This is a schematic diagram of single-axis control of a pipe laying machine manipulator provided by an embodiment of the present invention. Figure 4 is a schematic diagram of manual control of a manipulator provided by an embodiment of the present invention, Figure 5 FIG. 1 is a schematic diagram of automatic control of a pipe laying machine provided by an embodiment of the present invention. Figures 3 to 5 As shown, the control functions of the process flow in automatic mode are described as follows: 1. Drive reset: used for driver fault and alarm reset; 2. Manual: mode selection, the selected state is green; 3. Automatic: mode rotation, the selected state is green; 4. Auto start: process flow start button in automatic mode, green after the process is started; 5. Auto stop: the automatic process flow is displayed in red after stopping, and resets the automatic start when triggered; 6. Auto start: automatic process start button, which displays green after starting; 7. Cycle stop: the continuous operation of the current process flow stops. After starting, each time the process ends, the step number needs to be changed and the automatic start button needs to be manually triggered to start a new process; 8. Auto reset: clean up the automatic process action data after the automatic process flow is interrupted; 9. Step mode: in the automatic process flow start state, it pauses each time the step number is completed, waiting for the next step to be confirmed or canceling the step mode to enter the automatic process directly; 10. Next step: the start button for starting the next step in step mode.

[0056] This application also provides the hardware configuration of the manipulator drive. Specifically, the main control CPU of the manipulator adopts S7-1500T motion control CPU, which can realize more motion control functions. According to the requirements for the number and performance of process objects, different levels of T-CPU modules can be selected to adapt to applications from simple to complex, with the following features: 1. Standard, motion control and safety functions are integrated in one CPU; 2. Siemens SINAMICS drive is connected via PROFINET; 3. TIAPortal provides a unified and efficient engineering platform for controllers, drives, and HMI; 4. Intelligent and friendly configuration and debugging tools, such as cam editor, control panel and kinematic trajectory recording; 5. Motion control programming is based on the international standard PLCopen, and no professional knowledge is required; the manipulator adopts a control method oriented to process objects (TO), which is convenient for engineering, debugging and maintenance, and simplifies the work of machine manufacturers and users. Positioning, constant speed, gear synchronization, cam synchronization, kinematic solution and other functions can be easily realized through process objects. The robot is equipped with an explosion-proof servo motor, which is suitable for explosion-proof places; the driver of the robot has a maximum overload capacity of three times, and has the characteristics of strong flexibility, compact structure, strong overload capacity, and separation of the power unit and closed-loop control module, which can be excellently competent for various driving tasks. The software functions of the robot are implemented as follows: the control unit uses a PLC with positioning control function, and establishes a communication connection with the S120 driver using IRT (isochronous real-time synchronization) through 105 messages. The response time is about 1ms, and the jitter time is less than 1us, which can realize more motion control functions. Not only does it meet the automation of production, but it can also be competent for mid-end applications with more requirements for performance, flexibility and network capabilities. It can be used in complex motion control fields, such as cam synchronization, motion mechanism control, etc. The communication message has DSC function. DSC (dynamic servo control) is to transfer the position loop calculation and interpolation to the driver through the message, and use the fast calculated speed control clock to improve the dynamic responsiveness of the servo and improve the servo stiffness. This function is suitable for servo control tasks with high dynamics and complex motion. In summary, the pipe laying machine manipulator adopts a split structure and modular configuration scheme, with flexible on-site configuration. The upper and lower manipulators can act independently or collaboratively. This article explains the multi-axis servo control and function realization method of the manipulator in terms of manipulator operation method, hardware configuration, and software implementation. It briefly describes the linear conversion method of the manipulator telescopic structure through electronic cam. The upper and lower manipulators are designed as split structures, and the upper and lower manipulators are controlled through the built-in motion control instructions of the CPU to achieve synchronous movement of the upper and lower manipulators, accurately adjust the posture of the drill bit, complete the centering and regular placement, and realize the full automation of drill bit processing.

[0057] The control method and system of the buffer manipulator are widely applicable to various drilling equipment in the field of oil drilling and production, and are particularly suitable for use in drilling sites with harsh environments and harsh operating conditions. It not only improves the automation level and efficiency of drilling operations, but also greatly reduces labor intensity and safety hazards. With the increasing demand for automation and intelligent equipment in the oil industry, this technology has broad market application prospects and can be widely promoted in the industry.

[0058] The embodiment of the present invention further provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by the processor 100, the processor 100 is configured to execute the control method of the buffer robot described above.

[0059] Machine-readable storage media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0060] The embodiment of the present invention further provides an electronic device 10, which includes a memory 101, a processor 100, and a computer program 102 stored in the memory 101 and executable on the processor 100. When the processor 100 executes the computer program 102, the control method of the buffer robot is implemented.

[0061] like Figure 6 FIG. 1 is a schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 6 As shown, the electronic device 10 of this embodiment includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. When the processor 100 executes the computer program 102, the steps in the above method embodiment are implemented. Alternatively, when the processor 100 executes the computer program 102, the functions of each module / unit in the above device embodiment are implemented.

[0062] Exemplarily, the computer program 102 may be divided into one or more modules / units, one or more modules / units are stored in the memory 101, and are executed by the processor 100 to complete the present invention. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 102 in the electronic device 10. For example, the computer program 102 may be divided into a motion scheme generation module, a selection instruction execution module, an abnormal motion state recognition module, a correction scheme generation module, and a correction scheme execution module.

[0063] The electronic device 10 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device 10 may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic device 10 and does not constitute a limitation of the electronic device 10. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0064] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0065] The memory 101 may be an internal storage unit of the electronic device 10, such as a hard disk or memory of the electronic device 10. The memory 101 may also be an external storage device of the electronic device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 10. Further, the memory 101 may also include both an internal storage unit of the electronic device 10 and an external storage device. The memory 101 is used to store computer programs and other programs and data required by the electronic device 10. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0066] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0067] It should be understood by those skilled in the art that the embodiments of the present application may be provided as methods, systems, or computer program 102 products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program 102 product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0068] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program 102 products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by the computer program 102 instructions. These computer program 102 instructions can be provided to a processor 100 of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor 100 of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0069] These computer program 102 instructions may also be stored in a computer readable memory 101 that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory 101 produce an article of manufacture including an instruction device that implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0070] These computer program 102 instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0071] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0072] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for a buffer robot, characterized in that: Applied to a pipe laying machine manipulator, the method comprises: According to the initial position and target position of the manipulator of the pipe laying machine, a plurality of manipulator motion schemes of the pipe laying machine are obtained and compared, so as to transmit the optimal manipulator motion scheme of the pipe laying machine to the user end; Based on the selection instruction of the motion scheme of the manipulator of the pipe laying machine at the user end, the corresponding selected motion scheme of the manipulator of the pipe laying machine is executed; In the process of executing the motion plan of the pipe laying machine manipulator, the motion state information of the pipe laying machine manipulator is monitored in real time based on the selected motion plan of the pipe laying machine manipulator to identify abnormal motion state; Starting from the node where the abnormal motion state occurs, a correction plan is generated based on the deviation relationship between the abnormal motion state and the motion state planned by the corresponding selected pipe laying machine manipulator motion plan; Based on the correction scheme, the motion state of the pipe laying machine manipulator is corrected to the motion state planned by the selected motion scheme of the pipe laying machine manipulator during the continued motion process until the pipe laying machine manipulator reaches the target position.

2. The control method of the buffer robot according to claim 1, characterized in that: The pipe laying machine manipulator includes a second-layer platform manipulator for picking up and placing drill rods and a drilling platform manipulator for clamping and moving drill rods. The data information of the pipe laying machine manipulator movement plan includes the ideal speed values ​​corresponding to the second-layer platform manipulator and / or the drilling platform manipulator moving to each preset position; The identification rules of the abnormal motion state include: The motion state of the pipe laying machine manipulator that deviates from the motion state planned by the corresponding pipe laying machine manipulator motion plan is regarded as an abnormal motion state; The rules for determining the specific content of the amendment plan include: Starting from the node where the abnormal motion state occurs, the second-level platform manipulator and / or drilling platform manipulator whose actual speed data is inconsistent with the ideal speed value of the corresponding preset position is taken as the manipulator to be adjusted, and the speed data of the manipulator to be adjusted at the nth preset position is predicted according to the actual speed data of the manipulator to be adjusted at the nth preset position, and based on the speed prediction result of the manipulator to be adjusted at the nth + mth preset position and the ideal speed value of the n+mth preset position, the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position is adjusted until the actual speed data of the manipulator to be adjusted is consistent with the ideal speed value of the corresponding preset position; wherein, when the manipulator to be adjusted moves to the preset adjustment cutoff position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

3. The control method of the buffer robot according to claim 2, characterized in that: The rules for predicting the speed data of the manipulator to be adjusted at the n+mth preset position include: Input the actual speed data of the manipulator to be adjusted at the nth preset position and the position data of the n+mth preset position into the pre-built speed prediction model to predict the speed data of the manipulator to be adjusted at the n+mth preset position; The construction rules of the speed prediction model include: The second-floor manipulator and the drilling platform manipulator are both used as target manipulators, and a data set is established using a plurality of speed data of the target manipulator in the process of moving according to the historical motion trajectory and the posture data corresponding to each speed data; wherein the posture data includes position data and posture data; The dynamic characteristics of the target manipulator are learned from the data set using a deep neural network, the dynamic characteristics of the target manipulator are used as the input of the extended dynamic modal decomposition method, the posture data corresponding to various speed data are used as state quantities, and the Koopman operator model is trained based on the Koopman operator to obtain a Koopman high-dimensional linear dynamic model; wherein the dynamic characteristics characterize the relationship between various motion state parameters of the target manipulator during the action process, and the motion state parameters at least include one or more of acceleration data, kinetic energy data, potential energy data, running resistance data and speed data of each position during the action process; Based on the Koopman high-dimensional linear dynamics model, a speed prediction model is established; the speed prediction model demonstrates the process of using the Koopman high-dimensional linear dynamics model to track the speed of the target manipulator in motion. The specific contents of the speed prediction model include: The known motion speed of the target manipulator at the first position is input into the Koopman high-dimensional linear dynamics model, and the state quantity of the target manipulator in the motion process is rolled optimized according to the extended dynamic modal decomposition method to determine the motion speed of the target manipulator at the unknown second position.

4. The control method of the buffer robot according to claim 2, characterized in that: The rules for adjusting the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position include: A1: According to the speed prediction result of the manipulator to be adjusted at the n+mth preset position and the ideal speed value of the n+mth preset position, according to the manipulator acceleration motion rule, determine the ideal speed increase value corresponding to each preset position from the nth preset position to the n+mth preset position; A2: Generate a speed control instruction for the manipulator to be adjusted according to the ideal speed increase value corresponding to each preset position from the nth preset position to the n+mth preset position, so that the manipulator to be adjusted accelerates according to the manipulator acceleration motion rule; A3: According to the actual speed data of the manipulator to be adjusted at the nth preset position, the speed data of the manipulator to be adjusted at each preset position from the nth preset position to the n+mth preset position are predicted, and according to the ideal speed increase value corresponding to each preset position, the speed prediction result corresponding to each preset position is corrected; A4: Take the difference between the corrected speed prediction data and the actual speed data corresponding to each preset position as the first difference. If there is no situation where the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, the robot to be adjusted is controlled to continue moving to the n+mth preset position. Conversely, if the first difference corresponding to s consecutive preset positions is greater than the preset difference threshold, the robot to be adjusted at the sth preset position is taken as the robot to be adjusted at the nth preset position, and A1 to A4 are repeated to adjust the speed of the robot to be adjusted from the nth preset position to the n+mth preset position again, where s is a natural number.

5. The control method of the buffer robot according to claim 2, characterized in that: The determination rules of the manipulator to be adjusted include: In the process of executing the motion plan of the pipe laying machine manipulator, when the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at x consecutive preset positions are consistent with the ideal speed value of the corresponding preset position, and the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+1th preset position are inconsistent with the ideal speed value of the corresponding preset position, detect whether the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position are consistent with the ideal speed value of the corresponding preset position, where x is a natural number; If the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is consistent with the ideal speed value of the corresponding preset position, the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+1th preset position is determined as the measurement error value; if the actual speed data of the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is inconsistent with the ideal speed value of the corresponding preset position, the second-layer platform manipulator and / or the drilling platform manipulator at the x+2th preset position is used as the manipulator to be adjusted.

6. The control method of the buffer robot according to claim 1, characterized in that: The pipe laying machine manipulator includes a two-layer platform manipulator for taking and placing the drill pipe and a drilling platform manipulator for clamping and moving the drill pipe; Before executing the pipe laying machine manipulator motion plan, the method further includes: Determine the controlled object according to the pipe laying machine manipulator motion scheme selected by the user; wherein the controlled object is the second-layer platform manipulator and / or the drilling platform manipulator; According to the motion characteristics of the controlled object, multiple process objects are established in the PLC to reflect the action status of the controlled object in the preset axial direction.

7. The control method of the buffer robot according to claim 1, characterized in that: The pipe laying machine manipulator includes a two-layer platform manipulator for taking and placing the drill pipe and a drilling platform manipulator for clamping and moving the drill pipe; Before executing the pipe laying machine manipulator motion plan, the method further includes: The telescopic structure of the second-floor manipulator and the telescopic structure of the drilling platform manipulator are linearized respectively, including: Obtain a first cam curve corresponding to the second-stage manipulator and a second cam curve corresponding to the drilling platform manipulator, and interpolate the first cam curve and the second cam curve respectively; wherein the first cam curve is generated based on the motion relationship between the main shaft and the slave shaft in the electronic cam of the second-stage manipulator, and the second cam curve is generated based on the motion relationship between the main shaft and the slave shaft in the electronic cam of the drilling platform manipulator; According to the interpolated first cam curve and the interpolated second cam curve, cam movement operations between the main axis and the slave axis corresponding to the second-level platform manipulator and cam movement operations between the main axis and the slave axis corresponding to the drilling platform manipulator are performed; based on the cam movement operation results corresponding to the second-level platform manipulator, a linear conversion is performed on the relationship between the motion position and the motion speed corresponding to the telescopic structure of the second-level platform manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the second-level platform manipulator; based on the cam movement operation results corresponding to the drilling platform manipulator, a linear conversion is performed on the relationship between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator.

8. The control method of the buffer robot according to claim 1, characterized in that: The pipe laying machine manipulator includes a two-layer platform manipulator for taking and placing the drill pipe and a drilling platform manipulator for clamping and moving the drill pipe; The method of transmitting the optimal pipe laying machine manipulator motion plan to the user end includes: The optimal pipe laying machine manipulator motion scheme corresponding to each preset motion type is transmitted to the user end; wherein the preset motion types include motion types in which the second-layer platform manipulator and the drilling platform manipulator act independently and motion types in which the second-layer platform manipulator and the drilling platform manipulator act synchronously, and the selection instruction of the pipe laying machine manipulator motion scheme is an independent motion operation instruction or a synchronous motion operation instruction; The execution of the selected pipe laying machine manipulator motion plan includes: In response to the independent action operation instruction, the second-floor manipulator and the drilling floor manipulator are respectively independently acted. In response to the synchronous action running instruction, a plan for synchronous action of the second-level platform manipulator and the drilling floor manipulator is executed.

9. The control method of the buffer robot according to claim 8, characterized in that: After determining that the selection instruction of the pipe laying machine manipulator motion scheme is a synchronous action running instruction, the method further includes: Establishing relative synchronization of related axes between the second-floor manipulator and the drilling floor manipulator, and defining the dynamic characteristics of the related axes using preset parameters according to the dynamic characteristics of the related axes; Establish the absolute gear synchronous motion of the relevant axes between the second-level platform manipulator and the drilling platform manipulator, and set the synchronous position and synchronous direction.

10. The control method of the buffer robot according to claim 1, characterized in that: The pipe laying machine manipulator includes a two-layer platform manipulator for taking and placing the drill pipe and a drilling platform manipulator for clamping and moving the drill pipe; The rules for obtaining the motion plan of the pipe laying machine manipulator include: The initial position and target position of the pipe laying machine manipulator are input into the pre-built manipulator motion model to perform simulated motion of the pipe laying machine manipulator. Based on the simulated motion results, a variety of pipe laying machine manipulator motion schemes are obtained, and the pipe laying machine manipulator motion information corresponding to each pipe laying machine manipulator motion scheme is determined; wherein the pipe laying machine manipulator motion information includes at least the motion speed and motion time of the second-level platform manipulator, and the motion speed and motion time of the drilling platform manipulator.

11. The control method of the buffer robot according to claim 10, characterized in that: The construction rules of the manipulator motion model include: According to the structural data of the pipe laying machine manipulator, a dynamic three-dimensional model of the pipe laying machine manipulator is constructed, and a structured program framework for being triggered by an action execution signal is configured for the dynamic three-dimensional model of the pipe laying machine manipulator; According to the historical motion data of the manipulator of the pipe laying machine, multiple running posture data of the dynamic three-dimensional model and running posture change data between the associated running postures are configured to obtain the dynamic three-dimensional model after the posture configuration; Based on the neural network algorithm and the dynamic 3D model after posture configuration, the initial motion model is established; The historical motion data of the pipe laying machine robot is input into the initial motion model as a training sample to generate corresponding action execution signals based on the historical motion data of the pipe laying machine robot, so as to trigger the structured program framework of the dynamic three-dimensional model, so that the dynamic three-dimensional model simulates the motion according to the historical motion data of the pipe laying machine robot, so as to train the initial motion model and obtain the robot motion model.

12. The control method of the buffer robot according to claim 8, characterized in that: The rules for transmitting the optimal pipe laying machine manipulator motion plan to the user end include: A comprehensive comparison is made of the optimal pipe laying machine manipulator motion plans corresponding to each preset motion type, and the optimal pipe laying machine manipulator motion plans corresponding to each preset motion type are sorted from high to low according to the motion index value, and the sorting results and the optimal pipe laying machine manipulator motion plans corresponding to each preset motion type are transmitted to the user end.

13. A control system for a buffer robot, characterized in that: Deployed on a pipe laying machine manipulator, the system includes: The motion scheme generation module is used to obtain and compare multiple motion schemes of the pipe laying machine manipulator according to the initial position and target position of the pipe laying machine manipulator, so as to transmit the optimal motion scheme of the pipe laying machine manipulator to the user end; A selection instruction execution module is used to execute the corresponding selected pipe laying machine manipulator motion plan based on the selection instruction of the pipe laying machine manipulator motion plan recovered by the user end; The abnormal motion state identification module is used to monitor the motion state information of the pipe laying machine manipulator in real time based on the selected pipe laying machine manipulator motion plan during the execution of the pipe laying machine manipulator motion plan to identify the abnormal motion state; A correction scheme generating module is used to generate a correction scheme starting from the occurrence node of the abnormal motion state based on the deviation relationship between the abnormal motion state and the motion state planned by the motion scheme of the corresponding selected pipe laying machine manipulator; The correction scheme execution module is used to correct the motion state of the pipe laying machine manipulator to the motion state planned by the selected pipe laying machine manipulator motion scheme based on the correction scheme during the continued movement process, until the pipe laying machine manipulator reaches the target position.

14. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method of the buffer robot according to any one of claims 1 to 12.

15. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method of the buffer robot according to any one of claims 1 to 12 is implemented.

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