A stack-type multi-tube automatic lowering device and control method

Abstract

A stack-type multi-tube automatic lowering device and control method, belonging to the field of well repair technology in oil production engineering, includes an automated host, a lifting manipulator, a luffing arm, a length measuring device, an automatic make-up and breakout device, and a control system. The automated host is erected around the wellhead, and the lifting manipulator is relatively fixedly connected to the automated host. The lifting manipulator, the luffing arm, and the length measuring device are all connected to the control system. The luffing arm and the lifting manipulator achieve pipe string handover via a mechanical holding mechanism. The luffing arm grabs the pipe string in a horizontal position, and the pipe string is placed horizontally on the luffing arm. The length measuring device measures the pipe string length online in real time and transmits the pipe string length data to the control system via the CAN bus. The luffing arm then transfers the pipe string to the lifting manipulator for transportation to the wellhead. After the automatic make-up and breakout device completes the make-up operation, the automated host automatically lowers the pipe string into the well according to the calculated data. The present invention enables multiple pipes to be simultaneously online and waiting to be lowered into the well, thereby improving overall operational efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated well repair in oil production engineering of the petroleum industry, and in particular relates to a stack-type multi-tube automatic running device and a control method thereof. Background Art

[0002] During oil and gas well repair operations, after a string is removed from the well and replaced after inspection, it must be lowered back into the well. Currently, whether for minor repairs or pressurized operations, the industry mostly uses a single string lowering method using a work machine. Most operations are manual: a single string is transferred from a pipe rack to the wellhead using a lifting tool, manually aligned and made-up, and then lowered into the well. Once fully lowered, an elevator is placed at the wellhead, and a second string is transferred to the wellhead, and the process is repeated. This method has two problems: first, the efficiency of single-string operations is low; second, each process is manually operated, which is labor-intensive and poses safety risks. Summary of the Invention

[0003] In order to solve the above-mentioned problems, the present invention proposes: a stack-type multi-tube automatic running device, including an automated main engine, a lifting manipulator, a luffing arm, a length measuring device, a control system and an automatic make-up and breakout device. The automated main engine is set up around the wellhead, and the lifting manipulator, the luffing arm, the length measuring device and the automatic make-up and breakout device are all connected to the control system.

[0004] Furthermore, the lifting manipulator includes a second manipulator, a lifting mechanism, and a horizontal rotation drive mechanism. The second manipulator is arranged on the lifting mechanism, the bottom end of the lifting mechanism is arranged on the base platform, and the top end of the lifting mechanism is arranged with a horizontal rotation drive mechanism.

[0005] Furthermore, the luffing arm includes a clamping manipulator and a displacement device, and one end of the clamping manipulator is arranged on the base platform through the displacement device.

[0006] Furthermore, when the luffing arm is in a horizontal position, the pipe string is placed horizontally on the luffing arm, and the length measuring device measures the pipe string length online in real time through a pressure sensor and a position sensor, and transmits the pipe string length data to the control system through a CAN bus.

[0007] Furthermore, the control system is a PLC program control system, including a data temporary storage library, an automatic running program, automatically reading data in the data temporary storage library, and automatically eliminating expired data after the data is used.

[0008] A control method based on a stacked multi-pipe automatic running device, wherein the automated main engine is supported around the wellhead, the lifting manipulator is relatively fixedly connected to the automated main engine, and the luffing arm and the lifting manipulator realize the pipe string handover through a mechanical clamping mechanism. That is, after the luffing arm transforms the pipe string from a horizontal state to a vertical state, the clamping mechanism of the lifting manipulator clamps the pipe string, and the clamping mechanism of the luffing arm releases the pipe string, completing the pipe string handover.

[0009] Furthermore, when the luffing arm is in a horizontal position, the pipe string is placed horizontally on the luffing arm, and the length measuring device measures the pipe string length online in real time through pressure and position sensors, and transmits the pipe string length data to the control system through the CAN bus. A data temporary library is set in the control system. After the data temporary library receives the first pipe string length data, the data is stored in the first position. The data in the first position is the current valid pipe lowering data. The data is transmitted to the automatic pipe lowering program through the CAN bus, and the automatic pipe lowering operation of the first pipe string is completed through electro-hydraulic control. After the automatic pipe lowering operation of the first pipe string is completed, the control system issues a The data clearing command for the first pipe string clears the length data of the first pipe string. During the running of the first pipe string, the length measuring device measures the length data of the second pipe string and transmits it to the data temporary storage library, which is arranged in the second position. Once the data of the first pipe string is cleared, the data in the second position will be pushed to the first position. Similarly, the data in the third position will be pushed to the second position. After the data in the second position is pushed to the first position, the length data of the second pipe string has been transmitted to the automatic pipe running program. Under the control of the automatic pipe running program, the second and third pipe strings are waiting to be run into the pipe string, so that the continuous pipe running operation can be carried out.

[0010] Furthermore, the length of the first pipe string is measured by the online length measuring device, and the data is stored in the data temporary storage library. The length data of the first pipe string is transmitted to the automatic pipe lowering program through the CAN bus. The automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes according to the pipe length data; the first pipe string is grabbed by the luffing arm and then handed over to the lifting manipulator for transportation to the wellhead. After the automatic make-up and breakout device completes the make-up operation, the automatic host automatically lowers the pipe string into the well according to the calculated data; during the process of the first pipe string automated host lowering the pipe, the online length measuring device synchronously measures the length data of the second pipe string, and also stores the data in the data temporary storage library. At this time, the database already has the length data of two pipe strings, and the data is temporarily stored in the database before the first pipe string is lowered; at this time, the luffing arm will After the second pipe string is handed over to the lifting manipulator, it returns again to measure the data of the third pipe string and stores the data of the third pipe string in the database. After the data storage is completed, the luffing arm transports the third pipe string to the waiting position, waiting for the handover with the second manipulator. At this time, the second manipulator carries the second pipe string and waits for the host to complete the lowering of the first pipe string at the waiting position, and then the pipe string is handed over to the host. When the lowering of the first pipe string is completed, the data temporary library clears the data of the first pipe string and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program of controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, repeats the lowering action of the first pipe string, and realizes continuous and automatic lowering of the pipe string.

[0011] The beneficial effects of the present invention are as follows: the present invention provides a stack-based multi-pipe automatic lowering control method, a pipe lowering control method based on an automated pressure-bearing operation device, and provides a pressure-bearing automated operation oil pipe auxiliary lifting device and control method. This method is the first of its kind in the industry. Compared with traditional manual pipe lowering technical methods, this method can realize multiple pipes waiting online to be lowered into the well at the same time, reducing the waiting time for pipe transportation and improving the overall operation efficiency. At the same time, it adopts a fully automated operation method to reduce manual labor intensity and reduce the safety risks of construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the composition of the stacked multi-tube automatic tube lowering equipment;

[0013] Figure 2 It is the control principle block diagram of the control system;

[0014] Figure 3 It is a schematic diagram of the structure of the lifting manipulator;

[0015] Figure 4 It is a schematic diagram of the luffing arm structure;

[0016] Figure 5 It is a schematic diagram of the automation host structure.

[0017] In the figure, 1. Automation host, 2. Lifting manipulator, 3. Luffing arm, 4. Length measuring device, 5. Control system, 6. Automatic hook-up and unhooking device, 4-1. Second manipulator, 4-2. Lifting mechanism, 4-3. Horizontal rotation drive mechanism, 3-1. Clamping manipulator, 3-2. Positioning device, 01. Derrick; 011. Upper crossbeam; 012. Lower crossbeam; 02. BOP; 03. Well pressure monitoring device; 04. Fixed slips; 05. Moving slips; 06. Lifting system; 061. Lifting cylinder; 062. Moving crossbeam. DETAILED DESCRIPTION

[0018] In order to make the technical means adopted and the objectives achieved by the present invention easy to understand, the present invention is further explained below in combination with specific embodiments. A stack-type multi-tube automatic running device includes an automated host 1, a lifting manipulator 2, a luffing arm 3, a length measuring device 4 and a control system 5. The automated host 1 is set up around the wellhead, and the lifting manipulator 2, the luffing arm 3, and the length measuring device 4 are all connected to the control system 5.

[0019] Among them, Figure 3 As shown, the lifting manipulator 2 includes a second manipulator 4-1, a lifting mechanism 4-2, and a horizontal rotation drive mechanism 4-3. The second manipulator 4-1 is arranged on the lifting mechanism 4-2, the bottom end of the lifting mechanism 4-2 is arranged on the base platform, and the top end of the lifting mechanism 4-2 is arranged with a horizontal rotation drive mechanism 4-3.

[0020] Among them, Figure 4 As shown, the variable amplitude arm 3 includes a clamping manipulator 3-1 and a displacement device 3-2, and one end of the clamping manipulator 3-1 is set on the base platform through the displacement device 3-2.

[0021] When the luffing arm 3 is in a horizontal position, the pipe string is placed horizontally on the luffing arm 3 , and the length measuring device 4 measures the pipe string length online in real time through a pressure sensor and a position sensor, and transmits the pipe string length data to the control system 5 through the CAN bus.

[0022] The control system 5 is a PLC program control system, which includes a data temporary storage library, an automatic operation program, and automatically reads data in the data temporary storage library, and automatically eliminates expired data after the data is used.

[0023] Among them, Figure 5As shown, the automation host 1 includes a derrick 01, a blowout preventer 02, a well pressure monitoring device 03, fixed slips 04, floating slips 05, a lifting system 06 and a control system. The blowout preventer 02 is installed on the wellhead. The blowout preventer 02 at the wellhead is provided with a well pressure monitoring device 03 for real-time monitoring of changes in the wellhead casing pressure. The derrick 01 is erected around the wellhead. The derrick 01 is provided with an upper crossbeam 011 and a lower crossbeam 012. The lower crossbeam 012 is provided with fixed slips 04 for clamping the tubing. The upper crossbeam 011 is provided with a lifting system 06. The lifting system 06 is provided with floating slips 05 for clamping the tubing. The well pressure monitoring device 03 is connected to the control system, and the lifting system 06 is connected to the control system.

[0024] The derrick 01 is a load-bearing component. The derrick 01 is a load-bearing component of other parts. The structure is not limited, as long as it can meet the installation requirements of the well pressure monitoring device, working blowout preventer, pipe clamp detection device, fixed slips, floating slips, and lifting system.

[0025] The blowout preventer 02 is an annular blowout preventer or a single-gate blowout preventer. A well pressure monitoring device 03 for monitoring the working status of the blowout preventer is provided on the blowout preventer 02. The pressure sensor 3 on the well pressure monitoring device 03 feeds back to the control system.

[0026] The working BOPs include annular BOPs and single-ram working BOPs, with the number configured based on actual process requirements. Sensors are installed on the working BOPs as needed to monitor their operating status and provide timely feedback to the control system.

[0027] The well pressure monitoring device is installed on the wellhead blowout preventer assembly or the wellhead spool, and can monitor the wellhead casing pressure changes in real time.

[0028] The fixed slips 04 and the movable slips 05 are mechanical structures for clamping the pipe string, and opening and clamping sensors are provided thereon for monitoring the working status and providing timely feedback to the control system.

[0029] Among them, the lifting system 06 is composed of several lifting cylinders 061 and floating beams 062. The lifting cylinder 061 is installed on the upper beam 011 of the derrick 01, and the floating beam 062 is installed on the lifting cylinder 061. A floating cava 05 is set on the floating beam 062, and a displacement sensor is set on the floating beam 062 for feeding back the position information of the floating beam 062 to the control system in real time.

[0030] Among them, the control system is a PLC program control system, which controls the proportional hydraulic valve group through sensors, program language, and CAN bus communication to realize the movement of terminal components, thereby realizing real-time monitoring of pipe string data and real-time control of lifting height.

[0031] The method for the automated host 1 to control the lifting and lowering amplitude of the tubing based on changes in wellhead pressure is as follows: the derrick is supported around the wellhead, the blowout preventer is fixedly connected to the wellhead, the well pressure monitoring device is installed on the wellhead four-way or the balance four-way, and the well pressure monitoring device monitors the changes in the wellhead casing pressure in real time. When the well pressure monitoring device monitors the well pressure data, it transmits the data to the control system in real time. The control system automatically calculates the amplitude value based on the amplitude calculation module, and compares the calculated value with the data in the amplitude database. The optimal amplitude is selected from the database and input into the lifting cylinder lifting program. The control system automatically controls the lifting amplitude of the lifting cylinder in the lifting system according to the lifting program settings, and feeds back the amplitude information to the control system in real time through the lifting displacement sensor. The tubing lifting and lowering operation is completed with the alternating cooperation of the fixed slips and the floating slips.

[0032] This method, applied to automated tubing running operations and based on an automated pressurized operation device, monitors wellhead pressure in real time, automatically calculates the required tripping amplitude and speed via a remote PLC program, and automatically adjusts the tripping amplitude and speed during tubing string tripping using an electro-proportional hydraulic valve group and displacement sensors.

[0033] A control method based on a stacked multi-pipe automatic running device, wherein an automated main engine 1 is supported around a wellhead, a lifting manipulator 2 is relatively fixedly connected to the automated main engine 1, and a luffing arm 3 and the lifting manipulator 2 realize pipe string handover through a mechanical clamping mechanism. That is, after the luffing arm 3 transforms the pipe string from a horizontal state to a vertical state, the clamping mechanism of the lifting manipulator 2 clamps the pipe string, and the clamping mechanism of the luffing arm 3 releases the pipe string, completing the pipe string handover.

[0034] Among them, Figure 2As shown, when the luffing arm 3 is in a horizontal position, the pipe string is placed horizontally on the luffing arm 3, and the length measuring device 4 measures the pipe string length online in real time through pressure and position sensors, and transmits the pipe string length data through the CAN bus to the control system 5. A data temporary storage library is set in the control system 5. After the data temporary storage library receives the first pipe string length data, the data is stored in the first position. The data in the first position is the current valid pipe lowering data. The data is transmitted to the automatic pipe lowering operation program through the CAN bus. The automatic pipe lowering operation of the first pipe string is completed through electro-hydraulic control. After the automatic pipe lowering operation of the first pipe string is completed, the control system sends A command to clear the data of the first pipe string is issued to clear the length data of the first pipe string. During the process of running the first pipe string, the length measuring device 4 measures the length data of the second pipe string and transmits it to the data temporary storage library, which is arranged in the second position. Once the data of the first pipe string is cleared, the data in the second position will be pushed to the first position. Similarly, the data in the third position will be pushed to the second position. After the data in the second position is pushed to the first position, the length data of the second pipe string has been transmitted to the automatic pipe running program. Under the control of the automatic pipe running program, the second and third pipe strings are waiting to be run into the pipe string, so that the continuous pipe running operation can be carried out.

[0035] Among them, the length of the first pipe string is measured by the online length measuring device, and the data is stored in the data temporary storage library. The length data of the first pipe string is transmitted to the automatic pipe lowering program through the CAN bus. The automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes according to the pipe length data; the first pipe string is grabbed by the variable-length arm and then handed over to the lifting manipulator for transportation to the wellhead. After the automatic make-up and breakout device completes the make-up operation, the automatic host automatically lowers the pipe string into the well according to the calculated data; during the process of the first pipe string automated host lowering the pipe, the online length measuring device synchronously measures the length data of the second pipe string, and also stores the data in the data temporary storage library. At this time, the database already has the length data of two pipe strings. Before the first pipe string is lowered, the data is temporarily stored in the database; at this time, the variable-length arm will lower the second pipe string. After the two pipe strings are handed over to the lifting manipulator, it returns again to measure the data of the third pipe string and stores the data of the third pipe string in the database. After the data storage is completed, the luffing arm transports the third pipe string to the waiting position, waiting for the handover with the second manipulator. At this time, the second manipulator carries the second pipe string and waits for the host to complete the lowering of the first pipe string at the waiting position, and then the pipe string is handed over to the host. When the lowering of the first pipe string is completed, the data temporary library clears the data of the first pipe string and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program of controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, repeats the lowering action of the first pipe string, and realizes continuous and automatic lowering of the pipe string.

[0036] The present invention provides a method for controlling automatic pipe lowering based on stacked multiple pipes. The method is applied to automated pipe lowering operations and is based on an automated pressure-bearing operation device.

[0037] This method is applied to the automatic pipe lowering operation of an automated pressure-operated device: the length of the first pipe string is measured by an online length measuring device, and the data is stored in a temporary data storage library. The first pipe string length data is transmitted to the automatic pipe lowering program via the CAN bus. The automatic pipe lowering program automatically calculates the pipe lowering amplitude and the number of pipe lowering strokes based on the pipe length data. The first pipe string is transported to the wellhead by an automatic pipe transporter. After the automatic make-up and breakout device completes the make-up operation, the automated host automatically lowers the pipe string into the well according to the calculated data. During the process of the automated host lowering the first pipe string, the online length measuring device synchronously measures the length data of the second pipe string and also stores the data in the temporary data storage library. At this time, the database already has the length data of two pipe strings. Before the first pipe string is lowered, the data is temporarily stored in the database. At this time, the luffing arm on the automatic pipe transporter hands over the second pipe string to the lifting manipulator, then returns to measure the data of the third pipe string and stores the data of the third pipe string in the database. After the data storage is completed, the luffing arm on the automatic pipe transporter transports the third pipe string to the waiting position, waiting for the handover with the manipulator. At this time, the manipulator carries the second pipe string and waits in the waiting position for the host to complete the lowering of the first pipe string. Then, the pipe string is handed over to the host. After the first pipe string is lowered, the data temporary library clears the data of the first pipe string and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program for controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes based on the length data of the second pipe string, repeats the lowering action of the first pipe string, and realizes the continuous automatic lowering of the pipe string.

[0038] The automated pressure-operating device includes an automated host, a lifting manipulator, a luffing arm, an online length measuring device, and a control system.

[0039] The automated host can automatically complete the pipe string running operation according to the program settings;

[0040] The lifting manipulator 2 can automatically complete the lifting and transportation of the pipe string according to the program settings;

[0041] The luffing arm 3 can automatically complete the luffing and transportation of the pipe string according to the program setting;

[0042] The online length measuring device 4 can measure the length of the pipe string in real time and transmit the data to the control system;

[0043] The control system 5 is a PLC program control system, including a data temporary storage library and an automatic operation program, which can automatically read data in the data temporary storage library and automatically eliminate expired data after the data is used.

[0044] Reference Figure 1 As shown, the present invention provides a method for controlling automatic pipe lowering based on stacked multiple pipes, which is based on an automated pressure operation device.

[0045] The automated pressure-operated device includes an automated main engine 1 , a lifting manipulator 2 , a luffing arm 3 , a length measuring device 4 , a control system 5 and an automatic buckling and unbuckling device 6 .

[0046] During field use, the specific operation method is as follows: the automation host 1 is supported around the wellhead, the lifting manipulator 2 is fixedly connected to the automation host 1, and the luffing arm 3 and the lifting manipulator 2 use a mechanical gripping mechanism to transfer the pipe string. Specifically, after the luffing arm 3 shifts the pipe string from a horizontal to a vertical position, the lifting manipulator 2's gripping mechanism grips the pipe string, and the gripping mechanism of the luffing arm 3 releases the pipe string, completing the pipe string transfer. When the luffing arm 3 is in the horizontal position, the pipe string is placed horizontally on the luffing arm 3. The length measuring device 4 uses pressure and position sensors to measure the pipe string length online in real time. This pipe string length data is then transmitted to the control system 5 via the CAN bus. A data temporary storage is set up in the control system 5. After receiving the first pipe length data, the temporary storage stores the data in the first location. The data in the first location represents the current valid pipe string data. This data is transmitted to the automatic pipe string operation program via the CAN bus. Through electro-hydraulic control, the first pipe string is automatically lowered. After the first pipe string is automatically lowered, the control system issues a command to clear the first pipe string data. During the lowering of the first tubular string, the length measuring device 4 measures the length data of the second tubular string and transmits it to the data temporary storage, where it is placed in the second position. Once the data for the first tubular string is cleared, the data in the second position is moved to the first position. Similarly, the data in the third position is moved to the second position. After the data in the second position is moved to the first position, the length data of the second tubular string has been transmitted to the automatic tubular string lowering program. Under the control of the automatic tubular string lowering program, the second and third tubular strings are waiting to be lowered, allowing for continuous tubular string lowering. During the tubular string lowering operation, the length measuring device 4 cooperates with the luffing arm 3 and the lifting manipulator 2 to achieve continuous multi-tubular operation without interference, thus reducing waiting time for tubular string transfer and improving operational efficiency.

[0047] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed in the present invention, who makes equivalent replacements or changes based on the technical solutions and concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A control method based on a stacked multi-tube automatic lowering device, characterized in that: The invention comprises an automated host (1), a lifting manipulator (2), a luffing arm (3), a length measuring device (4), a control system (5) and an automatic hook-up and unhooking device (6). The automated host (1) is erected around a wellhead, and the lifting manipulator (2), the luffing arm (3), the length measuring device (4) and the automatic hook-up and unhooking device (6) are all connected to the control system (5). The automated host (1) is supported around the wellhead, and the lifting manipulator (2) is relatively fixedly connected to the automated host (1). The luffing arm (3) and the lifting manipulator (2) realize pipe string handover through a mechanical clamping mechanism, that is, after the luffing arm (3) changes the pipe string from a horizontal state to a vertical state, the clamping mechanism of the lifting manipulator (2) clamps the pipe string, and the clamping mechanism of the luffing arm (3) releases the pipe string, thereby completing the pipe string handover. When the luffing arm (3) is in a horizontal position, the pipe string is placed horizontally on the luffing arm (3), and the length measuring device (4) measures the length of the pipe string online in real time through pressure and position sensors, and transmits the pipe string length data to the control system (5) through the CAN bus. A data temporary storage library is set in the control system (5). After the data temporary storage library receives the first pipe length data, the data is stored in the first position. The data in the first position is the current valid pipe lowering data. The data is transmitted to the automatic pipe lowering operation program through the CAN bus. Through electro-hydraulic control, the automatic pipe lowering operation of the first pipe string is completed. After the automatic pipe lowering operation of the first pipe string is completed, the control system The system issues a data clearing command for the first pipe string to clear the length data of the first pipe string; during the process of lowering the first pipe string, the length measuring device (4) measures the length data of the second pipe string and transmits it to the data temporary storage library, which is arranged in the second position. Once the data of the first pipe string is cleared, the data in the second position will be pushed to the first position, and similarly, the data in the third position will be pushed to the second position; after the data in the second position is pushed to the first position, the length data of the second pipe string has been transmitted to the automatic pipe lowering operation program. Under the control of the automatic pipe lowering operation program, the second pipe string and the third pipe string are waiting to be lowered into the pipe string, so that the continuous pipe lowering operation can be carried out.

2. The control method based on the stacked multi-tube automatic lowering device according to claim 1, characterized in that: The lifting manipulator (2) comprises a second manipulator (4-1), a lifting mechanism (4-2), and a horizontal rotation drive mechanism (4-3); the second manipulator (4-1) is arranged on the lifting mechanism (4-2); the bottom end of the lifting mechanism (4-2) is arranged on a base platform; and the top end of the lifting mechanism (4-2) is arranged on the horizontal rotation drive mechanism (4-3).

3. The control method based on the stacked multi-tube automatic lowering device according to claim 1, characterized in that: The luffing arm (3) comprises a clamping manipulator (3-1) and a position shifting device (3-2); one end of the clamping manipulator (3-1) is arranged on a base platform via the position shifting device (3-2).

4. The control method based on the stacked multi-tube automatic lowering device according to claim 3, characterized in that: When the luffing arm (3) is in a horizontal position, the pipe string is placed horizontally on the luffing arm (3), and the length measuring device (4) measures the length of the pipe string online in real time through a pressure sensor and a position sensor, and transmits the pipe string length data to the control system (5) through a CAN bus.

5. The control method based on the stacked multi-tube automatic lowering device according to claim 4, characterized in that: The control system (5) is a PLC program control system, including a data temporary storage library, an automatic operation program, automatically reading data in the data temporary storage library, and automatically eliminating expired data after the data is used.

6. The control method based on the stacked multi-tube automatic lowering device according to claim 1, characterized in that: The first pipe string is measured by the online length measuring device (4), and the data is stored in the data temporary storage library. The first pipe string length data is transmitted to the pipe lowering automatic operation program through the CAN bus. The automatic pipe lowering program automatically calculates the pipe lowering amplitude and the pipe lowering stroke frequency according to the pipe length data; the first pipe string is grabbed by the luffing arm (3), and then handed over to the lifting manipulator (2) for transportation to the wellhead. After the automatic make-up and breakout device (6) completes the make-up operation, the automatic host (1) automatically lowers the pipe string into the well according to the calculated data; during the process of the first pipe string automatic host (1) lowering the pipe, the online length measuring device (4) synchronously measures the length data of the second pipe string and also stores the data in the data temporary storage library. At this time, the database already has the length data of two pipe strings. Before the first pipe string is lowered, the data is temporarily stored in the database; at this time, the luffing arm (3) After handing over the second pipe string to the lifting manipulator (2), it returns again to measure the data of the third pipe string and stores the data of the third pipe string in the database. After completing the data storage, the variable-length arm (3) transports the third pipe string to the waiting position to wait for handover with the second manipulator. At this time, the second manipulator carries the second pipe string and waits at the waiting position for the host to complete the lowering of the first pipe string. Then, the pipe string is handed over to the automated host (1); when the lowering of the first pipe string is completed, the data temporary library clears the data of the first pipe string and sets the data of the second pipe string as valid data. At the same time, the data of the second pipe string is passed to the automatic operation program for controlling the lowering of the pipe. The automatic lowering program recalculates the lowering amplitude and the number of lowering strokes according to the length data of the second pipe string, repeats the lowering action of the first pipe string, and realizes continuous automatic lowering of the pipe string.

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