Control method and system for buffer manipulator

Abstract

The present invention provides a control method and system for a buffer manipulator, belonging to the field of oil drilling technology. The method includes: based on the user end, recovering the selection instruction of the pipe-laying machine manipulator motion plan, executing the corresponding selected pipe-laying machine manipulator motion plan; based on the selected pipe-laying machine manipulator motion plan, real-time monitoring of the motion state information of the pipe-laying machine manipulator and identifying abnormal motion states; 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, correcting the motion state of the pipe-laying machine manipulator to the motion state planned by the corresponding selected pipe-laying machine manipulator motion plan until the pipe-laying machine manipulator reaches the target position. By fully automated control of the pipe-laying machine manipulator that grabs the drill tool, full automation of the drill tool processing is achieved, and by accurately controlling the target position of the pipe-laying machine manipulator, the purpose of accurately adjusting the posture of the drill tool is achieved.

Description

Technical Field

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

[0002] Working conditions in the oil drilling industry are extremely harsh, and operators face high labor intensity and safety risks. Traditional drill tool transfer relies primarily on a large hook or pneumatic winch. The moment the drill tool leaves the ramp, the inertia generates a large impact force, which can easily lead to safety accidents. Current hydraulic control methods simply adjust the drill tool speed, but are unable to effectively mitigate impact forces, thus failing to achieve the automation and intelligentization of drilling equipment.

[0003] The automation of drilling tool handling for oil drilling and workover rigs is an inevitable trend in the development of oil drilling machinery. As the automation rate of drilling equipment gradually increases, the demand for control in this automated operation is also increasing. Tube racking machines are required to precisely control the position of drill pipes and automatically complete operations such as loading and unloading drill tools and aligning them with the wellhead. Traditional hydraulically controlled or electro-hydraulic hybrid control tube racking machines require manual adjustment throughout the entire process, making it impossible to precisely control the position of drill tools and achieving 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 an urgent problem that needs to be solved. 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 to at least solve the above-mentioned problem of how to accurately adjust the posture of the drill tool while realizing full automation of drill tool processing to complete actions such as aligning the drill tool with the wellhead and placing the drill tool in a regular manner.

[0006] In order to achieve the above-mentioned object, the first aspect of the present invention provides a control method for a buffer robot, which is applied to a pipe laying machine robot. The method comprises:

[0007] According to the initial position and target position of the pipe laying machine manipulator, multiple pipe laying machine manipulator motion plans are obtained and compared to transmit the optimal pipe laying machine manipulator motion plan to the user end;

[0008] Based on the selection instruction of the motion plan of the pipe-laying machine manipulator at the user end, the corresponding motion plan of the pipe-laying machine manipulator is executed;

[0009] 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 states;

[0010] 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 selected pipe laying machine robot motion plan;

[0011] Based on the correction plan, the motion state of the pipe laying machine robot is corrected to the motion state planned by the selected pipe laying machine robot motion plan during the continued movement process until the pipe laying machine robot reaches the target position.

[0012] Optionally, the pipe racking machine manipulator includes a second-level platform manipulator for picking up and placing drill rods and a drilling platform manipulator for clamping and moving the drill rods, and the data information of the pipe racking machine manipulator movement plan includes the ideal speed values ​​corresponding to the second-level platform manipulator and / or the drilling platform manipulator moving to each preset position;

[0013] The identification rules for abnormal motion states include:

[0014] 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;

[0015] The rules that determine the specific content of the amendment plan include:

[0016] 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. 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 cutoff position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

[0017] Optionally, the above-mentioned rules for predicting the speed data of the manipulator to be adjusted at the n+mth preset position include:

[0018] 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;

[0019] The construction rules of the speed prediction model include:

[0020] The second-floor manipulator and the drilling floor manipulator are both used as target manipulators. A data set is established using multiple speed data of the target manipulators during their movement according to historical motion trajectories and the corresponding posture data of each speed data; the posture data includes position data and posture data;

[0021] A deep neural network is used to learn the dynamic characteristics of the target manipulator from the data set. 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 velocity data are used as state quantities. Based on the Koopman operator, a Koopman operator model is trained to obtain a Koopman high-dimensional linear dynamic model. The dynamic characteristics characterize the relationship between various motion state parameters of the target manipulator during the motion process. The motion state parameters include at least one or more of acceleration data, kinetic energy data, potential energy data, running resistance data, and velocity data at each position during the motion process.

[0022] 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 during movement. The specific contents of the speed prediction model include:

[0023] The motion speed of the target manipulator at the known first position is input into the Koopman high-dimensional linear dynamics model, and the state quantity of the target manipulator during 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.

[0024] Optionally, the above-mentioned rules for adjusting the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position include:

[0025] A1: Based on the predicted speed of the manipulator to be adjusted at the n+mth preset position and the ideal speed value at the n+mth preset position, and in accordance with the manipulator acceleration motion rule, determine the ideal speed increase value corresponding to each preset position between the nth preset position and the n+mth preset position;

[0026] A2: Generate a speed control instruction for the manipulator to be adjusted based on the ideal speed increase values ​​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;

[0027] A3: Based on 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 between the nth preset position and the n+mth preset position are predicted. Based on the ideal speed increase value corresponding to each preset position, the speed prediction result corresponding to each preset position is corrected;

[0028] A4: The difference between the corrected speed prediction data and the actual speed data corresponding to each preset position is taken 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 manipulator 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 manipulator to be adjusted at the sth preset position is used as the manipulator to be adjusted at the nth preset position, and A1 to A4 are repeated to adjust the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position again, where s is a natural number.

[0029] Optionally, the above-mentioned determination rules of the manipulator to be adjusted include:

[0030] During the execution of the pipe laying machine manipulator motion plan, when the actual speed data of the second-level 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-level 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-level 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;

[0031] If the actual speed data of the second-floor platform manipulator and / or the drilling floor 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-floor platform manipulator and / or the drilling floor manipulator at the x+1th preset position is determined to be the measurement error value; if the actual speed data of the second-floor platform manipulator and / or the drilling floor manipulator at the x+2th preset position is inconsistent with the ideal speed value of the corresponding preset position, the second-floor platform manipulator and / or the drilling floor manipulator at the x+2th preset position is used as the manipulator to be adjusted.

[0032] Optionally, the pipe laying machine manipulator includes a second-layer platform manipulator for taking and placing the drill rods and a drill floor manipulator for clamping and moving the drill rods;

[0033] Before executing the pipe laying machine manipulator motion plan, the method further includes:

[0034] Determine the controlled object according to the pipe laying machine manipulator motion scheme selected by the user; wherein the controlled object is the second-level platform manipulator and / or the drilling platform manipulator;

[0035] 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.

[0036] Optionally, the pipe laying machine manipulator includes a second-layer platform manipulator for taking and placing the drill rods and a drill floor manipulator for clamping and moving the drill rods;

[0037] Before executing the pipe laying machine manipulator motion plan, the method further includes:

[0038] The telescopic structure of the second-floor manipulator and the telescopic structure of the drilling floor manipulator are linearized separately, including:

[0039] Obtain a first cam curve corresponding to the second-deck manipulator and a second cam curve corresponding to the drilling floor 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 master axis and the slave axis in the electronic cam of the second-deck manipulator, and the second cam curve is generated based on the motion relationship between the master axis and the slave axis in the electronic cam of the drilling floor manipulator;

[0040] According to the interpolated first cam curve and the interpolated second cam curve, cam motion operations are performed between the main axis and the slave axis corresponding to the second-level 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-level platform manipulator, the relationship between the motion position and the motion speed corresponding to the telescopic structure of the second-level platform manipulator is linearly converted to obtain the 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 motion operation results corresponding to the drilling platform manipulator, the relationship between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator is linearly converted to obtain the linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator.

[0041] Optionally, the above-mentioned transmission of the optimal pipe laying machine robot motion plan to the user end includes:

[0042] The optimal pipe-laying machine manipulator motion plan corresponding to each preset motion type is transmitted 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 motion operation instruction or a synchronous motion operation instruction;

[0043] Execute the selected pipe laying machine robot motion plan, including:

[0044] In response to the independent action operation instruction, the second-floor manipulator and the drilling floor manipulator are respectively independently moved.

[0045] 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.

[0046] Optionally, after determining that the selection instruction for the pipe laying machine manipulator motion scheme is a synchronous action operation instruction, the method further includes:

[0047] Establish relative synchronization of related axes between the second-floor manipulator and the drilling floor manipulator, and define the dynamic characteristics of related axes using preset parameters according to the dynamic characteristics of related axes;

[0048] 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.

[0049] Optionally, the rules for obtaining the motion plan of the pipe laying machine manipulator include:

[0050] 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 at least includes the motion speed and motion time of the second-level platform manipulator, and the motion speed and motion time of the drilling platform manipulator.

[0051] Optionally, the construction rules of the above-mentioned manipulator motion model include:

[0052] 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;

[0053] According to the historical motion data of the pipe laying machine manipulator, 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;

[0054] Establish an initial motion model based on the neural network algorithm and the dynamic 3D model after posture configuration;

[0055] 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 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 to train the initial motion model and obtain the robot motion model.

[0056] Optionally, the above-mentioned rules for transmitting the optimal pipe laying machine robot motion plan to the user end include:

[0057] A comprehensive comparison is made of the optimal pipe laying machine robot motion plans corresponding to each preset motion type, and the optimal pipe laying machine robot motion plans corresponding to each preset motion type are sorted from high to low according to the motion index values. The sorting results and the optimal pipe laying machine robot motion plans corresponding to each preset motion type are transmitted to the user end.

[0058] A second aspect of the present invention provides a control system for a buffer robot, which is deployed on a pipe laying machine robot. The system includes:

[0059] The motion plan generation module is used to obtain and compare multiple motion plans of the pipe laying machine manipulator based on the initial position and target position of the pipe laying machine manipulator, so as to transmit the optimal motion plan of the pipe laying machine manipulator to the user end;

[0060] 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;

[0061] 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;

[0062] A correction scheme generating module is used to generate a correction scheme starting from the node where the abnormal motion state occurs and based on the deviation relationship between the abnormal motion state and the motion state planned by the motion scheme of the corresponding pipe laying machine manipulator;

[0063] The correction scheme execution module is used to correct the motion state of the pipe laying machine robot to the motion state planned by the selected pipe laying machine robot motion scheme based on the correction scheme during the continued movement process, until the pipe laying machine robot reaches the target position.

[0064] In a third aspect of the present invention, a machine-readable storage medium is provided. The machine-readable storage medium stores instructions, which, when executed by a processor, configure the processor to execute the control method of the buffer robot.

[0065] 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. When the processor executes the computer program, the control method of the buffer robot is implemented.

[0066] Through the above technical solution, a control method and system for a buffer manipulator are provided to obtain and compare a plurality of pipe machine manipulator motion schemes with the initial position of the pipe machine manipulator as the starting point of the pipe machine manipulator movement and the target position of the pipe machine manipulator as the end point of the pipe machine manipulator movement, so as to transmit the optimal pipe machine manipulator motion scheme to the user end. Thus, in terms of selecting the pipe machine manipulator motion scheme, it is effectively ensured that the selected pipe machine manipulator motion scheme is optimized for accurately controlling the pipe machine manipulator to the target position. And the user can select the pipe 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 machine manipulator motion scheme recovered by the user end, the corresponding selected pipe machine manipulator motion scheme is executed. In the process of executing the pipe machine manipulator motion scheme, the motion state information of the pipe machine manipulator is monitored and fed back in real time based on the selected pipe 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-cutter manipulator motion scheme. During the continued motion process, the motion state of the pipe-cutter manipulator is corrected to the motion state planned by the corresponding selected pipe-cutter manipulator motion scheme until the pipe-cutter manipulator reaches the target position. This method and system achieves full automation of drilling tool handling through fully automated control of the pipe-cutter manipulator that grasps the drilling tool. By accurately controlling the target position of the pipe-cutter manipulator, the posture of the drilling tool can be precisely adjusted, and actions such as drilling tool alignment with the wellhead and regular placement of drilling tools can be completed.

[0067] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] 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 detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0069] Figure 1 This is a flow chart of a control method for a buffer manipulator provided by one embodiment of the present invention;

[0070] Figure 2 This is a block diagram of a control system for a buffer manipulator provided in one embodiment of the present invention;

[0071] Figure 3 This is a schematic diagram of single-axis control of a pipe laying machine manipulator provided by one embodiment of the present invention;

[0072] Figure 4 This is a schematic diagram of manual control of a manipulator provided by one embodiment of the present invention;

[0073] Figure 5 This is a schematic diagram of automatic control of a pipe laying machine provided by one embodiment of the present invention;

[0074] Figure 6 It is a schematic diagram of the structure of an electronic device provided by a preferred embodiment of the present invention.

[0075] Description of Reference Numerals

[0076] 10-Electronic device, 100-Processor, 101-Memory, 102-Computer program. DETAILED DESCRIPTION

[0077] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0078] Figure 1 This is a flow chart of a control method for a buffer manipulator provided by one embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides a control method for a buffer robot, which is applied to a pipe laying machine robot. The method includes:

[0079] S110: obtaining and comparing 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;

[0080] Specifically, the initial position of the pipe machine manipulator is used as the starting point of the pipe machine manipulator's movement route, and the target position of the pipe machine manipulator is used as the end point of the pipe machine manipulator's movement route. Multiple pipe machine manipulator movement plans are obtained, and after comparing all the pipe machine manipulator movement plans, the optimal pipe machine manipulator movement plan is transmitted to the user end. In this way, in terms of selecting the pipe machine manipulator movement plan, it is effectively ensured that the selected pipe machine manipulator movement plan is optimized for accurately adjusting the pipe machine manipulator to the target position.

[0081] In some implementations of this embodiment, the pipe laying machine manipulator includes a second-level platform manipulator for picking up and placing drill rods and a drilling platform manipulator for clamping and moving drill rods; the above-mentioned pipe laying machine manipulator motion plan acquisition rules include: inputting the initial position and target position of the pipe laying machine manipulator into a pre-built manipulator motion model, performing simulated movement of the pipe laying machine manipulator, and obtaining a plurality of pipe laying machine manipulator motion plans based on the simulated movement 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 platform manipulator, and the movement speed and movement time of the drilling platform manipulator.

[0082] Specifically, the robot motion model uses the initial position of the pipe machine robot as the starting point of the pipe machine robot's motion path and the target position of the pipe machine robot as the end point of the pipe machine robot's motion path. It simulates the movement of the pipe machine robot to obtain multiple pipe machine robot motion schemes. Using the robot motion model to simulate movement can ensure the comprehensiveness of the obtained pipe machine robot motion schemes, thereby further ensuring that the pipe machine robot motion scheme obtained by the user end is the optimal scheme.

[0083] In some implementations of this embodiment, the construction rules of the manipulator motion model include:

[0084] 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;

[0085] 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.

[0086] According to the historical motion data of the pipe laying machine manipulator, 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;

[0087] Specifically, by configuring the running posture data of the dynamic three-dimensional model and the running posture change data between each running posture, the dynamic three-dimensional model can be made closer to the movement of the actual pipe laying machine manipulator.

[0088] 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 robot 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 robot 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 to train the initial motion model and obtain the robot motion model.

[0089] 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 this 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 results and the optimal pipe-laying machine manipulator motion scheme corresponding to each preset motion type to the user end. Therefore, through the sorting results 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 ranking of 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.

[0090] S120: Based on the user-side instruction for selecting a motion plan for the pipe-laying machine manipulator, executing the selected motion plan for the pipe-laying machine manipulator;

[0091] 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 states;

[0092] S140: Starting from the node where the abnormal motion state occurs, generating a correction plan based on the deviation relationship between the abnormal motion state and the motion state planned by the selected pipe laying machine robot motion plan;

[0093] S150: Based on the correction plan, the movement state of the pipe laying machine robot is corrected to the movement state planned by the selected pipe laying machine robot movement plan during the continued movement process, until the pipe laying machine robot reaches the target position.

[0094] Specifically, the method obtains and compares a plurality of pipe machine manipulator motion schemes with the initial position of the pipe machine manipulator as the starting point of the pipe machine manipulator movement and the target position of the pipe machine manipulator as the end point of the pipe machine manipulator movement, so as to transmit the optimal pipe machine manipulator motion scheme to the user end. Thus, in terms of selecting the pipe machine manipulator motion scheme, it is effectively ensured that the selected pipe machine manipulator motion scheme is optimized for accurately controlling the pipe machine manipulator to the target position. And the user can select the pipe 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 machine manipulator motion scheme recovered by the user end, the corresponding selected pipe machine manipulator motion scheme is executed. In the process of executing the pipe machine manipulator motion scheme, the motion state information of the pipe machine manipulator is monitored and fed back in real time based on the selected pipe 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 selected pipe-cutter manipulator motion scheme. During the continued motion process, the motion state of the pipe-cutter manipulator is corrected to the motion state planned by the selected pipe-cutter manipulator motion scheme until the pipe-cutter manipulator reaches the target position. This method achieves full automation of drill tool handling through fully automated control of the pipe-cutter manipulator that grasps the drill tool. By accurately controlling the target position of the pipe-cutter manipulator, the posture of the drill tool can be precisely adjusted, and actions such as alignment of the drill tool with the wellhead and regular placement of the drill tool can be completed.

[0095] 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 pipe laying machine manipulator motion 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 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 is inconsistent with the ideal speed value of the corresponding preset position as the abnormal motion state. The platform manipulator and / or the drilling platform manipulator are used as the manipulator to be adjusted. 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 the n+mth preset position is predicted. 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 cutoff position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

[0096] Specifically, the method uses the ideal speed value corresponding to the movement of the second-level platform manipulator and / or the drilling platform manipulator to each preset position as a reference, and uses the second-level 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. 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, the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position is adjusted. 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. 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 cutoff position and the manipulator to be adjusted is still in the abnormal motion state at this time, it means that the pipe laying machine manipulator has quality deformation, structural damage or program problems, and the movement of the pipe laying machine manipulator is immediately stopped.

[0097] 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:

[0098] 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;

[0099] Specifically, the speed prediction model can be based on the actual speed data of the manipulator to be adjusted at the nth preset position, and the state quantity of the target manipulator during the movement process can be rolled optimized according to the extended dynamic modal decomposition method to predict the speed data of the manipulator to be adjusted at the n+mth preset position.

[0100] 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, the dynamic characteristics of the target manipulator are used as the input of the extended dynamic modal decomposition method, and 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 various motion states of the target manipulator during the action process The relationship between parameters, the motion state parameters include at least 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 achieve speed tracking of the target manipulator during the motion process. 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, and performing rolling optimization on the state quantity of the target manipulator during the motion process according to the extended dynamic modal decomposition method to determine the motion speed of the unknown target manipulator at the second position.

[0101] In some implementations of this embodiment, the above-mentioned rules for adjusting the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position include:

[0102] A1: Based on the predicted speed of the manipulator to be adjusted at the n+mth preset position and the ideal speed value at the n+mth preset position, and in accordance with the manipulator acceleration motion rule, determine the ideal speed increase value corresponding to each preset position between the nth preset position and the n+mth preset position;

[0103] Wherein, the acceleration motion rule of the manipulator can be a rule of uniform acceleration motion. Exemplarily, the method first assumes that the manipulator to be adjusted is moving in accordance with uniform acceleration motion, thereby calculating the ideal speed increase value corresponding to each preset position between the nth preset position and the n+mth preset position. It should be noted that during the actual movement of the manipulator to be adjusted, if the manipulator to be adjusted is not moving in accordance with uniform acceleration motion, 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 have a situation 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 perform speed adjustment again.

[0104] A2: Based on the ideal speed increase values ​​corresponding to each preset position between the nth preset position and the n+mth preset position, a speed control instruction for the manipulator to be adjusted is generated, so that the manipulator to be adjusted accelerates according to the manipulator acceleration motion rule; A3: Based on 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 between the nth preset position and the n+mth preset position are predicted, and the speed prediction results corresponding to each preset position are corrected according to the ideal speed increase values ​​corresponding to each preset position;

[0105] Specifically, the actual speed data of the manipulator to be adjusted at the nth preset position is input into the speed prediction model, and the speed data of the manipulator to be adjusted at each preset position from the nth preset position to the n+mth preset position is predicted.

[0106] A4: The difference between the corrected speed prediction data and the actual speed data corresponding to each preset position is taken 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 manipulator 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 manipulator to be adjusted at the sth preset position is used as the manipulator to be adjusted at the nth preset position, and A1 to A4 are repeated to adjust the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position again, where s is a natural number.

[0107] In some implementations of this embodiment, the above-mentioned determination rules of the manipulator to be adjusted include: 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 are detected to be consistent with the ideal speed value of the corresponding preset position. Whether the ideal speed values ​​are consistent, x is a natural number; if the actual speed data of the second-level 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-level 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-level 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-level platform manipulator and / or the drilling platform manipulator at the x+2th preset position is used as the manipulator to be adjusted.

[0108] 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 accurately determined whether the pipe laying machine manipulator is in an abnormal movement state, avoiding the existence of unexpected values ​​due to instrument failure, and further improving the accuracy of determining the manipulator to be adjusted.

[0109] In some implementations of this embodiment, the above-mentioned pipe laying machine manipulator includes a second-level 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: determining the controlled object according to the pipe laying machine manipulator motion plan selected by the user end; wherein the controlled object is the second-level 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 state of the controlled object in the preset axial direction.

[0110] Specifically, this method utilizes a PLC with positioning control capabilities. Based on the motion characteristics of the controlled object, multiple process objects are created in the PLC to reflect the controlled object's motion status along a preset axis. This implements a process object (TO)-oriented control approach, facilitating engineering, commissioning, and maintenance, simplifying the work of machine manufacturers and users. Through process objects, functions such as positioning, speed control, gear synchronization, cam synchronization, and kinematics calculations can be implemented.

[0111] 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 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.

[0112] In some implementations of the present embodiment, the above-mentioned pipe laying machine manipulator includes a second-level 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-level platform manipulator and the telescopic structure of the drilling platform manipulator respectively, including: obtaining a first cam curve corresponding to the second-level 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 shaft and the slave shaft in the electronic cam of the second-level platform 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 A cam curve and a second cam curve after interpolation are used to execute cam motion operations between the main shaft and the slave shaft corresponding to the second-level platform manipulator and between the main shaft and the slave shaft corresponding to the drilling floor manipulator. Based on the cam motion 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 motion operation results corresponding to the drilling floor 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 floor manipulator to obtain a linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the drilling floor manipulator.

[0113] Specifically, the linearization of the telescopic structures of the second-level manipulator and the drilling platform manipulator is implemented as follows: Cam curves are generated based on the nonlinear motion relationships of the mechanical structures. The second-level manipulator uses Cam1 (the first cam curve) and the drilling platform manipulator uses Cam2 (the second cam curve), respectively. Manipulator telescopic movement is linearized by binding virtual axes to physical axes. The linearization of the virtual axis binding to the physical axis is implemented as follows: the motion relationship between the virtual and real axes is implemented using electronic cams. This has the advantages of being shock-free, reducing vibration and wear, and reducing downtime when changing cam curves. Cam curves must be interpolated before use. After interpolation, the gaps between the defined cam interpolation points and segments are closed. Cam motion operations between the master and slave axes can then be initiated using the motion control command "MC_CamIn."

[0114] 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 of independent movements of the second-level platform manipulator and the drilling platform manipulator and motion types of synchronous movements of the second-level platform manipulator and the drilling platform manipulator, and the selection instruction of the pipe laying machine manipulator motion plan is an independent action operation instruction or a synchronous action operation instruction; executing the corresponding selected pipe laying machine manipulator motion plan includes: in response to the independent action operation instruction, executing the plan of independent movements of the second-level platform manipulator and the drilling platform manipulator; in response to the synchronous action operation instruction, executing the plan of synchronous movement of the second-level platform manipulator and the drilling platform manipulator.

[0115] 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.

[0116] In some implementations of this embodiment, after determining that the selection instruction of the pipe laying machine manipulator motion scheme is a synchronous action operation instruction, the method also includes: establishing relative synchronization of the 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 based on 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.

[0117] The related axes between the deck manipulator and the drill floor manipulator include the master and slave axes. Specifically, the synchronization control method for the collaborative handling of drill tools between the deck manipulator and the drill floor manipulator is implemented as follows: ① Relative synchronization between the related axes of the deck manipulator and the drill floor manipulator is established using the MC_GearIn command. During synchronization, the dynamic characteristics of the slave axis are defined using parameters such as "Jerk," "Acceleration," and "Deceleration." The electronic gear ratio is specified as a relationship between two integers (numerator / denominator) using the "RatioNumerator" and "RatioDenominator" parameters. The command and input / output parameters are explained below: The synchronization duration and distance are related to the following parameters: the start time of the "MC_GearIn" command, the dynamic values ​​of the slave axis at the start, the dynamic parameter settings of the synchronization command, and the dynamic values ​​of the master axis. The gear ratio can be specified as a positive or negative number; a positive number indicates that the master and slave axes run in the same direction, while a negative number indicates that the master and slave axes run in opposite directions. Synchronization can be initiated when the master axis is stopped or in motion. For acceleration and deceleration parameters, values ​​entered when ">0" are valid, while values ​​"=0" are not permitted (Configuration > Extended parameters > Dynamic defaults). For Jerk parameters, values ​​entered when ">0" are valid, while "=0" uses a trapezoidal velocity profile (Configuration > Extended parameters > Dynamic defaults). ② Use the "MC_GearInPos" command to establish absolute gear-synchronized motion between the two-level manipulator and the drill floor manipulator. You can specify the synchronization position, establish the synchronization process by specifying the spindle travel distance or dynamic response value, and define the synchronization direction.

[0118] Specifically, there are two ways to establish absolute gear synchronization of the related axes between the second-level manipulator and the drilling floor manipulator: (1) Synchronization based on the master axis running distance (SynProfileReference parameter = 0): When the master axis running position reaches "MasterSynPosition - MasterStartDistance", the slave axis starts to move. After the master axis runs the distance "MasterStartDistance" and reaches the position "MasterSynPosition" and the slave axis position reaches "SlaveSynPosition", the slave axis synchronizes 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 synchronizes with the master axis and runs at the same speed.

[0119] It should be noted that the absolute gear synchronization described above is performed before the specified synchronization positions for the master and slave axes. The transmission ratio is specified as a relationship between two integers (numerator / denominator) using the "RatioNumerator" and "RatioDenominator" parameters. The numerator of the transmission ratio can be specified as a positive or negative number; a positive number indicates that the master and slave axes run in the same direction, while a negative number indicates that the master and slave axes run in opposite directions. Synchronization can be initiated while the master axis is stopped or in motion. For acceleration and deceleration parameters, a value of ">0" is valid; "=0" is not allowed (Configuration > Extended parameters > Dynamic defaults). For Jerk parameters, a value of ">0" is valid; "=0" uses a trapezoidal velocity profile (Configuration > Extended parameters > Dynamic defaults).

[0120] Figure 2 This is a block diagram of a control system for a buffer manipulator provided by one embodiment of the present invention. Figure 2As shown, an embodiment of the present invention provides a control system of a buffer robot, which is deployed on a pipe laying machine robot. The system includes: a motion plan generation module, which is used to obtain and compare multiple pipe laying machine robot motion plans based on the initial position and target position of the pipe laying machine robot, so as to transmit the optimal pipe laying machine robot motion plan to the user end; a selection instruction execution module, which is used to recover the selection instruction of the pipe laying machine robot motion plan based on the user end, and execute the corresponding selected pipe laying machine robot motion plan; an abnormal motion state identification module, which is used to monitor the motion state information of the pipe laying machine robot in real time based on the selected pipe laying machine robot motion plan during the execution of the pipe laying machine robot 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 robot 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 robot to the motion state planned by the corresponding selected pipe laying machine robot motion plan based on the correction plan during the continued movement, until the pipe laying machine robot reaches the target position.

[0121] Specifically, the system acquires and compares a variety of pipe machine manipulator motion schemes with the initial position of the pipe machine manipulator as the starting point of the pipe machine manipulator movement and the target position of the pipe machine manipulator as the end point of the pipe machine manipulator movement, so as to transmit the optimal pipe machine manipulator motion scheme to the user end. Thus, in terms of selecting the pipe machine manipulator motion scheme, it is effectively ensured that the selected pipe machine manipulator motion scheme is optimized for accurately controlling the pipe machine manipulator to the target position. And the user can select the pipe 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 machine manipulator motion scheme recovered by the user end, the corresponding selected pipe machine manipulator motion scheme is executed. In the process of executing the pipe machine manipulator motion scheme, the motion state information of the pipe machine manipulator is monitored and fed back in real time based on the selected pipe 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 rack manipulator motion plan. During the continued motion process, the motion state of the pipe rack manipulator is corrected to the motion state planned by the corresponding selected pipe rack manipulator motion plan until the pipe rack manipulator reaches the target position. The system realizes the full automation of drilling tool handling through the full automation control of the pipe rack manipulator that grasps the drilling tool. By accurately controlling the target position of the pipe rack manipulator, the posture of the drilling tool can be accurately adjusted, and the drilling tool can be aligned with the wellhead and the drilling tool can be placed in a regular manner.

[0122] Figure 3This is a schematic diagram of a single-axis control of a pipe laying machine manipulator provided by an embodiment of the present invention. Figure 4 This is a schematic diagram of manual control of a manipulator provided by an embodiment of the present invention. Figure 5 This is a schematic diagram of the 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: displays red after the automatic process flow stops, and resets the automatic start when triggered; 6. Auto start: automatic process start button, displays green after start; 7. Cycle stop: continuous operation of the current process flow is stopped. After starting, each time the process ends, the step number needs to be changed and the auto 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: start button for starting the next step in step mode.

[0123] This application also provides the hardware configuration of the manipulator drive. Specifically, the manipulator's control main CPU uses the 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 ranging from simple to complex. It has the following features: 1. Standard, motion control and safety functions are integrated into a single CPU; 2. Connection to Siemens SINAMICS drives via PROFINET; 3. TIA Portal provides a unified and efficient engineering platform for controllers, drives, and HMIs; 4. Intelligent and user-friendly configuration and debugging tools, such as cam editors, control panels, and kinematic trajectory recording; 5. Motion control programming is based on the international standard PLCopen and does not require professional knowledge. The manipulator adopts a process object (TO)-oriented control method, which facilitates engineering, debugging, and maintenance, simplifying 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. This robot is equipped with an explosion-proof servo motor, suitable for explosion-proof environments. Its drive boasts a maximum overload capacity of three times the rated load. It features high flexibility, a compact design, and a strong overload capability. Its power unit and closed-loop control module are separated, making it highly capable of handling a wide range of drive tasks. The robot's software functionality is implemented as follows: The control unit utilizes a PLC with positioning control capabilities, communicating with the S120 drive via IRT (Isochronous Real-Time) messages via 105 messages. This results in a response time of approximately 1ms and a jitter of less than 1us, enabling a wide range of motion control functions. This not only meets the needs of production automation but also addresses mid-range applications with demanding performance, flexibility, and network capabilities. It can be used in complex motion control applications such as cam synchronization and kinematic mechanism control. The communication messages include DSC (Dynamic Servo Control) functionality, which offloads position loop calculation and interpolation to the drive via messages. This leverages fast speed control clock calculations to improve servo dynamic responsiveness and stiffness, making it suitable for servo control tasks involving highly dynamic and complex motions. 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 move independently or work in collaboration. This article explains the multi-axis servo control and function implementation methods of the manipulator in terms of manipulator operation methods, hardware configuration, and software implementation. It briefly describes the linear conversion method of the manipulator's telescopic structure through electronic cams. The upper and lower manipulators are designed to be split, and the built-in motion control instructions of the CPU are used to realize the 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.

[0124] This control method and system for the buffer manipulator is widely applicable to various drilling equipment in the oil drilling field, and is particularly well-suited for use at drilling sites with harsh environments and demanding operating conditions. It not only improves the automation level and efficiency of drilling operations, but also significantly reduces labor intensity and safety hazards. With the increasing demand for automated and intelligent equipment in the oil industry, this technology has broad market application prospects and can be widely adopted within the industry.

[0125] An embodiment of the present invention further provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by the processor 100 , the processor 100 is configured to execute the above-mentioned control method for the buffer robot.

[0126] Machine-readable storage media includes permanent and non-permanent, removable and non-removable media that 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory media such as modulated data signals and carrier waves.

[0127] An 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.

[0128] 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 of the above-described method embodiment are implemented. Alternatively, when the processor 100 executes the computer program 102, the functions of the modules / units in the above-described device embodiment are implemented.

[0129] Exemplarily, the computer program 102 may be divided into one or more modules / units, one or more of which are stored in the memory 101 and executed by the processor 100 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing 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 plan generation module, a selection instruction execution module, an abnormal motion state identification module, a correction plan generation module, and a correction plan execution module.

[0130] 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 understand that Figure 6 This is merely an example of the electronic device 10 and does not constitute a limitation of the electronic device 10 . The electronic device 10 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.

[0131] 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. The general-purpose processor may be a microprocessor or any conventional processor.

[0132] The memory 101 can be an internal storage unit of the electronic device 10, such as the hard drive or memory of the electronic device 10. The memory 101 can also be an external storage device of the electronic device 10, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 10. Furthermore, the memory 101 can include both the 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 can also be used to temporarily store data that has been output or is about to be output.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and 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 into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into 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, and will not be repeated here.

[0134] Those skilled in the art will appreciate that embodiments of the present application may be provided as methods, systems, or computer program products 102. Thus, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product 102 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 code.

[0135] 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 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 produce 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 flowchart and / or block diagram. 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.

[0136] 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 The function specified in one or more boxes.

[0137] 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, whereby the instructions executed on the computer or other programmable device provide for implementing the process described in the flow chart. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0138] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0139] The above are merely 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 modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all 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 pipe laying machine manipulator includes a two-layer platform manipulator for taking and placing drill rods and a drill floor manipulator for clamping and moving the drill rods, the method includes: According to the initial position and target position of the pipe laying machine manipulator, multiple pipe laying machine manipulator motion plans are obtained and compared to transmit the optimal pipe laying machine manipulator motion plan to the user end; Based on the selection instruction of the movement plan of the pipe-laying machine manipulator at the user end, the movement plan of the pipe-laying machine manipulator corresponding to the selection is executed; 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 states; 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 selected pipe laying machine robot 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; The data information of the pipe laying machine manipulator movement plan includes the ideal speed values ​​corresponding to the movement of the second-level platform manipulator and / or the drilling platform manipulator 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 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. 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 cutoff position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

2. The control method of the buffer robot according to claim 1, 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 floor manipulator are both used as target manipulators. A data set is established using multiple speed data of the target manipulators during their movement according to historical motion trajectories and the posture data corresponding to each speed data; wherein the posture data includes position data and posture data; A deep neural network is used to learn the dynamic characteristics of the target manipulator from a data set. The dynamic characteristics of the target manipulator are used as input to an extended dynamic modal decomposition method. The posture data corresponding to various velocity data are used as state quantities. Based on the Koopman operator, a Koopman operator model is trained to obtain a Koopman high-dimensional linear dynamic model. The dynamic characteristics characterize the relationship between various motion state parameters of the target manipulator during the motion process. The motion state parameters include at least one or more of acceleration data, kinetic energy data, potential energy data, running resistance data, and velocity data at each position during the motion 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 a target manipulator during motion. The specific contents of the speed prediction model include: The motion speed of the target manipulator at the known first position is input into the Koopman high-dimensional linear dynamics model, and the state quantity of the target manipulator during 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.

3. The control method of the buffer robot according to claim 1, 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: Based on the predicted speed of the manipulator to be adjusted at the n+mth preset position and the ideal speed value at the n+mth preset position, and in accordance with the manipulator acceleration motion rule, determine the ideal speed increase value corresponding to each preset position between the nth preset position and the n+mth preset position; A2: Generate a speed control instruction for the manipulator to be adjusted based on the ideal speed increase values ​​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: Based on 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 between the nth preset position and the n+mth preset position are predicted. Based on the ideal speed increase value corresponding to each preset position, the speed prediction result corresponding to each preset position is corrected; A4: The difference between the corrected speed prediction data and the actual speed data corresponding to each preset position is taken 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 manipulator 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 manipulator to be adjusted at the sth preset position is used as the manipulator to be adjusted at the nth preset position, and A1 to A4 are repeated to adjust the speed of the manipulator to be adjusted from the nth preset position to the n+mth preset position again, where s is a natural number.

4. The control method of the buffer robot according to claim 1, characterized in that: The determination rules of the manipulator to be adjusted include: During the execution of the pipe laying machine manipulator motion plan, when the actual speed data of the second-level 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-level 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-level 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-floor platform manipulator and / or the drilling floor 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-floor platform manipulator and / or the drilling floor manipulator at the x+1th preset position is determined to be the measurement error value; if the actual speed data of the second-floor platform manipulator and / or the drilling floor manipulator at the x+2th preset position is inconsistent with the ideal speed value of the corresponding preset position, the second-floor platform manipulator and / or the drilling floor manipulator at the x+2th preset position is used as the manipulator to be adjusted.

5. 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 rods and a drill floor manipulator for clamping and moving the drill rods; 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-level 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.

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 rods and a drill floor manipulator for clamping and moving the drill rods; 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 floor manipulator are linearized separately, including: Obtaining a first cam curve corresponding to the second-deck manipulator and a second cam curve corresponding to the drilling floor 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 master axis and the slave axis in the electronic cam of the second-deck manipulator, and the second cam curve is generated based on the motion relationship between the master axis and the slave axis in the electronic cam of the drilling floor manipulator; According to the interpolated first cam curve and the interpolated second cam curve, cam motion operations are performed between the main axis and the slave axis corresponding to the second-level 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-level platform manipulator, the relationship between the motion position and the motion speed corresponding to the telescopic structure of the second-level platform manipulator is linearly converted to obtain the 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 motion operation results corresponding to the drilling platform manipulator, the relationship between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator is linearly converted to obtain the linear conversion result between the motion position and the motion speed corresponding to the telescopic structure of the drilling platform manipulator.

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 rods and a drill floor manipulator for clamping and moving the drill rods; The method of transmitting the optimal pipe laying machine robot motion plan to the user end includes: The optimal pipe-laying machine manipulator motion plan corresponding to each preset motion type is transmitted to the user end; wherein the preset motion types include motion types in which the second-level platform manipulator and the drilling floor manipulator act independently and motion types in which the second-level platform manipulator and the drilling floor manipulator act synchronously, and the selection instruction of the pipe-laying machine manipulator motion plan 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 moved. 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.

8. The control method of the buffer robot according to claim 7, characterized in that: After determining that the selection instruction of the pipe laying machine manipulator motion scheme is a synchronous action operation instruction, the method further includes: Establish relative synchronization of related axes between the second-floor manipulator and the drilling floor manipulator, and define the dynamic characteristics of related axes using preset parameters according to the dynamic characteristics of 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.

9. 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 rods and a drill floor manipulator for clamping and moving the drill rods; The rules for obtaining the movement 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 at least includes the motion speed and motion time of the second-level platform manipulator, and the motion speed and motion time of the drilling platform manipulator.

10. The control method of the buffer robot according to claim 9, 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 pipe laying machine manipulator, 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; Establish an initial motion model based on the neural network algorithm and the dynamic 3D model after posture configuration; 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 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 to train the initial motion model and obtain the robot motion model.

11. The control method of the buffer robot according to claim 7, characterized in that: The rules for transmitting the optimal pipe laying machine robot motion plan to the user end include: A comprehensive comparison is made of the optimal pipe laying machine robot motion plans corresponding to each preset motion type, and the optimal pipe laying machine robot motion plans corresponding to each preset motion type are sorted from high to low according to the motion index values. The sorting results and the optimal pipe laying machine robot motion plans corresponding to each preset motion type are transmitted to the user end.

12. A control system for a buffer robot, characterized in that: Deployed on the pipe laying machine manipulator, the pipe laying machine manipulator includes a two-layer platform manipulator for taking and placing drill pipes and a drill floor manipulator for clamping and moving drill pipes. The system includes: The motion plan generation module is used to obtain and compare multiple motion plans of the pipe laying machine manipulator based on the initial position and target position of the pipe laying machine manipulator, so as to transmit the optimal motion plan 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 node where the abnormal motion state occurs and based on the deviation relationship between the abnormal motion state and the motion state planned by the motion scheme of the corresponding pipe laying machine manipulator; a correction scheme execution module, configured to correct the motion state of the pipe laying machine manipulator to the motion state planned by the selected motion scheme of the pipe laying machine manipulator based on the correction scheme during the continued motion process, until the pipe laying machine manipulator reaches the target position; The data information of the pipe laying machine manipulator movement plan includes the ideal speed values ​​corresponding to the movement of the second-level platform manipulator and / or the drilling platform manipulator 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 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. 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 cutoff position, the movement of the pipe laying machine manipulator is stopped, and n and m are both natural numbers.

13. 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 11.

14. 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 11 is implemented.

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