Pipe column synchronous moving type control method and device, storage medium and terminal equipment

Abstract

The invention provides a pipe column synchronous moving type control method and device, a storage medium and terminal equipment, and relates to the technical field of pipe column moving control. The method comprises the steps that a pipe column moving instruction of a user is received, and after an elevator is controlled to move to a first position, a drill floor face mechanical arm is controlled to move to a second position and a racking platform mechanical arm is controlled to move to a third position; a racking platform manipulator and a drill floor manipulator are controlled to tightly hold the target drill column, an elevator is used for hanging the target drill column, the elevator is controlled to release the target drill column, the racking platform manipulator is controlled to move to a fourth position, and the drill floor manipulator is synchronously controlled to move to a fifth position; and controlling the racking platform manipulator and the drill floor manipulator to synchronously move so as to enable the target drill column to reach a target position specified by the tubular column moving instruction, controlling the racking platform manipulator and the drill floor manipulator to release the target drill column, and completing the moving control of the target drill column. According to the invention, the waiting time of equipment is effectively reduced, and the production efficiency is further improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipe string movement control, and specifically to a pipe string synchronous movement control method, a pipe string synchronous movement control device, a computer-readable storage medium and a terminal device. Background Art

[0002] The pipe handling system is a key technical system used in the oil drilling industry to automatically handle pipes such as drill pipes, oil pipes, drill chains or casings. With the growing demand of the oil industry for improving production efficiency, reducing labor costs and enhancing operational safety, the automation and intelligence level of the pipe handling system has become an important direction of technological development. At present, in most pipe handling systems, the operation mode adopted for drill string movement operations is push-and-help type, which has the advantages of simple operation steps and low control difficulty. However, due to the limitations of its design and operation mode, the second-level manipulator, drill table manipulator, top drive and winch must operate strictly according to the steps during operation. If the previous step is not completed, the next step cannot be executed. The equipment needs to wait at the specified location when not executing the task, which increases the execution time of the task and reduces the operation efficiency. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a pipe string synchronous movement control method, a pipe string synchronous movement control device, a computer-readable storage medium and a terminal device to solve the above-mentioned problems.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a synchronous movement control method of a pipe string, comprising:

[0005] Receiving a pipe string moving instruction from a user, and if it is determined that the user has control authority, controlling the winch of the target drilling rig to move the elevator to a first position, controlling the drill floor manipulator to move to a second position, and controlling the second-floor manipulator to move to a third position, wherein the elevator is used to suspend the target drill string;

[0006] When the elevator reaches the first position, the drill floor manipulator reaches the second position, and the second-level manipulator reaches the third position, control the second-level manipulator and the drill floor manipulator to hold the target drill string tightly;

[0007] Controlling the elevator to release the target drill string, controlling the second-level platform manipulator to move to a fourth position, and synchronously controlling the drilling floor manipulator to move to a fifth position, wherein the second-level platform manipulator and the drilling floor manipulator move along the same trajectory;

[0008] The second-level platform manipulator and the drilling surface manipulator are controlled to move synchronously so that the target drill string reaches the target position specified by the pipe string movement instruction, and the second-level platform manipulator and the drilling surface manipulator are controlled to release the target drill string to complete the movement control of the target drill string.

[0009] Optionally, the two-layer platform manipulator includes:

[0010] A base fixed on the second-tier platform;

[0011] a first slide rail fixed to the base;

[0012] a first sliding mechanism slidably connected to the first sliding rail;

[0013] a second slide rail fixedly connected to the first slide mechanism; and

[0014] A pipe string grabbing mechanism slidably connected to the second slide rail, the pipe string grabbing mechanism being used to hold the drill string tightly;

[0015] Wherein, the first slide rail is perpendicular to the drilling table, and the second slide rail is parallel to the drilling table.

[0016] Optionally, the two-layer platform manipulator further includes:

[0017] a second sliding mechanism;

[0018] One end of the base extends outside the platform body of the second-layer platform, and the other end of the base is fixedly connected to the platform body of the second-layer platform;

[0019] One end of the first slide rail is fixedly connected to one end of the base fixed to the body of the second-layer platform, and the other end of the first slide rail is fixedly connected to the body of the second-layer platform;

[0020] One end of the second slide rail is slidably connected to one end of the base extending outside the second-layer platform body through the second sliding mechanism in a direction perpendicular to the drilling table surface, and the other end of the second slide rail is fixedly connected to the first sliding mechanism.

[0021] Optionally, controlling the drill floor manipulator to move to the second position includes:

[0022] Analyzing the second position to obtain a horizontal movement component and a vertical movement component of the pipe string grabbing mechanism;

[0023] controlling the pipe column grabbing mechanism to move horizontally along the second slide rail according to the horizontal movement component; and

[0024] The first sliding mechanism and the second sliding mechanism are synchronously controlled to move vertically along the first sliding rail according to the vertical movement component.

[0025] Optionally, before controlling the winch of the target drilling rig to move the elevator to the first position, controlling the drilling floor manipulator to move to the second position, and controlling the second-level table manipulator to move to the third position, the method further includes:

[0026] Allocate control authority of the winch, the drilling floor manipulator and the second-floor manipulator to the user;

[0027] After controlling the elevator to release the target drill string, the method further includes:

[0028] The control authority of the user over the winch is recovered to release the user from occupying the winch.

[0029] Optionally, the second position and the third position are on different horizontal planes, and the projection positions of the second position and the third position on the same horizontal plane are the same;

[0030] After controlling the elevator to release the target drill string, the method further includes:

[0031] Determine the moving path from the second-level platform manipulator to the fourth position or the moving path from the drilling platform manipulator to the fifth position as the target moving path;

[0032] Controlling the second-layer platform manipulator to move to the fourth position, and synchronously controlling the drilling platform manipulator to move to the fifth position, comprises:

[0033] The second-level platform manipulator and the drilling surface manipulator are synchronously controlled to move along the target moving path, so that the second-level platform manipulator reaches the fourth position and the drilling surface manipulator reaches the fifth position.

[0034] Optionally, controlling the second-level platform manipulator and the drilling floor manipulator to release the target drill string includes:

[0035] Control the drill floor manipulator to release the target drill string, and after a preset delay, control the second-floor manipulator to release the target drill string; or

[0036] The second-level platform manipulator is controlled to release the target drill string, and after the preset delay, the drill floor manipulator is controlled to release the target drill string.

[0037] Optionally, after receiving a pipe string movement instruction from a user, the method further includes:

[0038] Acquire user information of the user, wherein the user information includes a user ID of the user;

[0039] Determining that the user has control authority includes:

[0040] Determine whether there is a user identifier that is the same as the user identifier of the user in a preset authority configuration table, wherein the authority configuration table at least includes user identifiers of different users;

[0041] If there is a user ID identical to the user ID of the user in the permission configuration table, randomly determine any wireless terminal device in the well site corresponding to the target drilling rig as the target wireless terminal device, and return the access address of the target wireless terminal device to the user;

[0042] Determine whether the user has control authority according to the result of the user's access to the target wireless terminal device.

[0043] Optionally, determining whether the user has control authority according to the access result of the user to the target wireless terminal device includes:

[0044] receiving a first timestamp and a second timestamp sent by the target wireless terminal device, generating a random number if the first timestamp and the second timestamp meet a preset condition, encrypting the random number by using a preset first key to obtain an encryption result, and returning the encryption result to the user, wherein the first timestamp is a timestamp when the user sends an access request to the target wireless terminal device, and the second timestamp is a timestamp when the target wireless terminal device receives the access request; and

[0045] A decryption result sent by the user is received. If the decryption result matches the random number, it is determined that the user has control authority, and the decryption result is obtained by the user after decrypting the encryption result using a preset second key.

[0046] Optionally, the preset conditions include:

[0047] The time difference between the second timestamp and the first timestamp is less than a preset timestamp threshold.

[0048] Optionally, the method is characterized in that generating a random number comprises:

[0049] Generate a first random number and a second random number;

[0050] The random number is encrypted by using a preset first key to obtain an encryption result, including:

[0051] Encrypting the first random number using a first encryption algorithm by using the first key to obtain a first encryption result; and

[0052] The first encryption result and the second random number are encrypted using the first key and a second encryption algorithm to obtain a second encryption result.

[0053] Optionally, the decryption result includes:

[0054] A third random number and a fourth random number;

[0055] The decryption result matches the random number, including:

[0056] The third random number is the same as the first random number, and the fourth random number is the same as the second random number.

[0057] In a second aspect of the present application, a pipe string synchronous movement control device is provided, comprising:

[0058] A first control module is configured to receive a pipe string movement instruction from a user, and when it is determined that the user has control authority, control the winch of the target drilling rig to move the elevator to a first position, control the drill floor manipulator to move to a second position, and control the second floor manipulator to move to a third position, wherein the elevator is used to suspend the target drill string;

[0059] A second control module is configured to control the second-level platform manipulator and the drilling floor manipulator to hold the target drill string tightly when the elevator reaches the first position, the drilling floor manipulator reaches the second position, and the second-level platform manipulator reaches the third position;

[0060] a third control module, configured to control the elevator to release the target drill string, control the second-level platform manipulator to move to a fourth position, and synchronously control the drilling floor manipulator to move to a fifth position, wherein the second-level platform manipulator and the drilling floor manipulator move along the same trajectory;

[0061] The fourth control module is configured to control the second-level platform manipulator and the drilling surface manipulator to move synchronously so that the target drill string reaches the target position specified by the pipe string movement instruction, controls the second-level platform manipulator and the drilling surface manipulator to release the target drill string, and completes the movement control of the target drill string.

[0062] In a third aspect of the present application, a computer-readable storage medium is provided, which stores a computer program which, when executed by a processor, causes the processor to execute the above-mentioned tubing synchronous movement control method.

[0063] In a fourth aspect of the present application, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned synchronous tubing movement control method when executing the computer program.

[0064] The embodiments provided in this application have the following beneficial effects:

[0065] The present application replaces an ordinary push-and-support type second-level platform manipulator with a load-bearing second-level platform manipulator that can lift the drill string and withstand a large load, and through an optimized control method, associates the second-level platform manipulator with the drill table manipulator when controlling the drill string to perform movement operations, so that the second-level platform manipulator and the drill table manipulator operate synchronously, thereby effectively reducing the waiting time of the equipment and further improving production efficiency.

[0066] Other features and advantages of the embodiments or implementations of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0068] Figure 1 A method flow chart of a pipe string synchronous movement control method according to an embodiment of the present application is schematically shown;

[0069] Figure 2 The schematic diagram of the structure of the two-layer platform manipulator in the embodiment of the present application is shown schematically;

[0070] Figure 3 The schematic diagram of the control logic of the pipe string movement of the embodiment of the present application is schematically shown;

[0071] Figure 4 The main interface diagram of the pipe string movement control system according to the embodiment of the present application is schematically shown;

[0072] Figure 5 The schematic diagram of the second-tier table manipulator operation interface of the embodiment of the present application is schematically shown;

[0073] Figure 6 A schematic diagram of the drilling table manipulator operation interface of an embodiment of the present application is schematically shown;

[0074] Figure 7 The following schematically shows a schematic diagram of a drill-down linkage operation interface of an embodiment of the present application;

[0075] Figure 8 A schematic block diagram of a pipe string synchronous movement control device according to an embodiment of the present application is schematically shown;

[0076] Fig. 9 A schematic diagram of the structure of a terminal device according to an embodiment of the present application is shown schematically.

[0077] Description of Reference Numerals

[0078] 10-terminal device, 100-processor, 101-memory, 102-computer program. DETAILED DESCRIPTION

[0079] The specific implementation of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present application, and is not used to limit the embodiment of the present application.

[0080] In order to solve the above problems, Figure 1 As shown, the first aspect of the present application provides a pipe string synchronous movement control method, which is applied to a pipe string synchronous movement control system, and the method includes:

[0081] S100, receiving a pipe string moving instruction from a user, and if it is determined that the user has control authority, controlling the winch of the target drilling rig to move the elevator to a first position, controlling the manipulator on the drilling floor to move to a second position, and controlling the manipulator on the second floor to move to a third position, the elevator being used to suspend the target drill string;

[0082] S200, when the elevator reaches the first position, the drilling floor manipulator reaches the second position, and the second-floor manipulator reaches the third position, control the second-floor manipulator and the drilling floor manipulator to hold the target drill string tightly;

[0083] S300, control the elevator to release the target drill string, control the second-layer platform manipulator to move to the fourth position, and synchronously control the drilling floor manipulator to move to the fifth position, wherein the second-layer platform manipulator and the drilling floor manipulator move along the same trajectory;

[0084] S400, control the second-level platform manipulator and the drilling floor manipulator to move synchronously so that the target drill string reaches the target position specified by the pipe string movement instruction, control the second-level platform manipulator and the drilling floor manipulator to release the target drill string, and complete the movement control of the target drill string.

[0085] The present application replaces an ordinary push-and-support type second-level platform manipulator with a load-bearing second-level platform manipulator that can lift the drill string and withstand a large load, and through an optimized control method, associates the second-level platform manipulator with the drill table manipulator when controlling the drill string to perform movement operations, so that the second-level platform manipulator and the drill table manipulator operate synchronously, thereby effectively reducing the waiting time of the equipment and further improving production efficiency.

[0086] It can be understood that the tubing handling system is one of the main auxiliary systems for drilling engineering and drilling operations. It is mainly used for automated management of equipment systems for tubing such as drill pipes, oil pipes, drill chains or casings. These systems usually include multiple automated equipment to collaboratively complete the transportation, connection and discharge of tubing, thereby improving operational efficiency and reducing the difficulty and risk of manual operation. Among them, automated equipment usually includes: power catwalks, drill table manipulators, second-floor manipulators, top drives, iron drillers and other equipment. Since there are a large number of equipment in the tubing handling system and the operation is relatively complicated, the tubing synchronous movement control system of the present application can be integrated into the driller control system as a subsystem. When operating the equipment, the driller can realize the automatic movement of the tubing through the touch screen and handle on the driller's chair. The synchronous transfer type is an operation mode relative to the push-support type. In the push-support type, when the drill string is taken or placed, the drawworks and top drive system are responsible for lifting or lowering the drill string, and the second-level platform manipulator and the drill table manipulator are responsible for pushing and supporting the drill string, and they act in sequence to move the drill string to the designated position; the synchronous transfer type: when the drill string is taken or placed, the second-level platform manipulator can directly lift the drill string, and the second-level platform manipulator and the drill table manipulator act at the same time to move the drill string to the designated position.

[0087] The traditional two-layer manipulator is a push-type manipulator. The manipulator fingers can only hold the drill string but cannot clamp it. The lifting or lowering of the drill string must be achieved through a winch and a top drive. As a result, the existing drill string movement operation must be carried out strictly according to the steps. The equipment must wait at a designated location when not performing a task, which affects the further improvement of the operation efficiency. Figure 2As shown, in the present application, the second-layer platform manipulator is a load-bearing second-layer platform manipulator that can lift the drill string and can withstand a large load, wherein the second-layer platform manipulator includes: a base fixed on the second-layer platform; a first slide rail fixed to the base; a first sliding mechanism slidably connected to the first slide rail, wherein the first sliding mechanism can adopt an existing hydraulic lifting mechanism, and the first sliding mechanism can move on the first slide rail; a second slide rail fixedly connected to the first sliding mechanism, wherein the first slide rail is perpendicular to the drilling table surface, and the second slide rail is parallel to the drilling table surface; and a pipe column grabbing mechanism slidably connected to the second slide rail, the pipe column grabbing mechanism is used to hold the drill string, wherein the pipe column grabbing mechanism includes a mechanical arm, a mechanical arm base and a pipe column clamping device, wherein one end of the mechanical arm base is slidably connected to the second slide rail, one end of the mechanical arm is rotatably connected to the other end of the mechanical arm base, and the other end of the mechanical arm is rotatably connected to the pipe column. The column clamping device is connected, wherein the column clamping device includes a first clamping part and a second clamping part, both of which are provided with clamping grooves, and the clamping grooves of the first clamping part are arranged opposite to the clamping grooves of the second clamping part, and the structure formed when the clamping grooves of the first clamping part and the clamping grooves of the second clamping part are enclosed matches the cross-sectional structure of the drill string, the first clamping part and the second clamping part are fixed on the mechanical arm through the column clamping mechanism bracket, and the first clamping part and the second clamping part are driven by a motor or hydraulic method to realize the closing operation and separation operation of the first clamping part and the second clamping part, when the first clamping part and the second clamping part are closed, the clamping grooves of the first clamping part and the clamping grooves of the second clamping part are enclosed to clamp the drill string, and when the first clamping part and the second clamping part are separated, the clamping grooves of the first clamping part and the clamping grooves of the second clamping part are separated to release the drill string. It can be understood that the column clamping device can also adopt an existing structure, such as an elevator clamping structure, which is not limited here. The second-layer platform manipulator also includes: a second sliding mechanism; one end of the base extends outside the platform body of the second-layer platform, and the other end of the base is fixedly connected to the platform body of the second-layer platform; one end of the first slide rail is fixedly connected to one end of the base fixed to the platform body of the second-layer platform, and the other end of the first slide rail is fixedly connected to the platform body of the second-layer platform; one end of the second slide rail is slidably connected to one end of the base extending outside the platform body of the second-layer platform through the second sliding mechanism in a direction perpendicular to the drilling table surface, and the other end of the second slide rail is fixedly connected to the first sliding mechanism. Among them, the second sliding mechanism includes a pulley assembly fixed on the base and a lifting winch fixedly installed on the second-layer platform or the drilling table surface, one end of the second slide rail is fixedly connected to the steel rope, and the steel rope is connected to the lifting winch through the pulley assembly, so that when controlling the vertical movement of the second-layer platform manipulator, the synchronous vertical movement of the second-layer platform manipulator can be controlled by synchronously controlling the hydraulic lifting mechanism and the lifting winch.

[0088] like Figure 3As shown, after the operating conditions are met, the user can generate a pipe string moving instruction through the human-machine interface. After receiving the pipe string moving instruction, the pipe string moving instruction is parsed to obtain the first position of the elevator, the second position of the drill floor manipulator and the third position of the second-floor manipulator. First, the elevator is controlled to move to the first position, wherein the elevator is used to hang the drill string. It can be understood that when the pipe string is moved, the drill string is first lifted by the winch and the top drive installed on the drilling rig in cooperation with the elevator, so that the lower end of the drill string is higher than the drill floor of the drilling rig rig, so that the second-floor manipulator and the drill floor manipulator can grab the drill string. This position is the first position of the elevator. At the same time, the drill floor manipulator is controlled to move to the second position. In step S100, the drill floor manipulator is controlled to move to the second position, including: parsing the second position to obtain the horizontal movement component and the vertical movement component of the pipe string grabbing mechanism; controlling the pipe string grabbing mechanism to move horizontally along the second slide rail according to the horizontal movement component; and synchronously controlling the first sliding mechanism and the second sliding mechanism to move vertically along the first slide rail according to the vertical movement component. It can be understood that the second position in the movement instruction is decomposed into a horizontal movement component and a vertical movement component of the pipe string grabbing mechanism, the manipulator base is controlled to move horizontally along the second slide rail with the horizontal movement component, and the hydraulic lifting mechanism is controlled to control the second slide rail to move vertically along the first slide rail along the vertical movement component, so as to control the pipe string grabbing mechanism to reach the second position, for example, the second position is. Similarly, the drilling floor manipulator is controlled to reach the third position, for example, the third position is the initial position closest to the wellhead.

[0089] In step S200, after determining that the elevator reaches the first position, the drilling floor manipulator reaches the second position, and the second-floor manipulator reaches the third position, the second-floor manipulator and the drilling floor manipulator are controlled to hold the target drill string. It can be understood that the second-floor manipulator and the drilling floor manipulator can be controlled to hold the target drill string after the elevator reaches the first position and the drilling floor manipulator and the second-floor manipulator reach the waiting position, and the second-floor manipulator and the drilling floor manipulator are automatically triggered to hold the target drill string, or the user can control through a human-machine interface or a remote control device, which is not limited here. Among them, the second position and the third position are on different horizontal planes, and the second position and the third position have the same projection position on the same horizontal plane, that is, the second position and the third position are on the same vertical line at different heights, and the second position and the third position are the arrival positions of the designated points on the second-floor manipulator and the drilling floor manipulator, respectively.

[0090] Among them, before controlling the winch of the target drilling rig to move the elevator to the first position, controlling the drill table manipulator to move to the second position, and controlling the second-level table manipulator to move to the third position, the method of the present application also includes: allocating the control authority of the winch, the drill table manipulator and the second-level table manipulator to the user. It can be understood that after determining that the current user has the control authority, the control authority of the winch, the drill table manipulator and the second-level table manipulator is allocated to the current user, so that the current user occupies the control authority of the winch, the drill table manipulator and the second-level table manipulator. Before the current user's control authority to the above-mentioned equipment is released, the above-mentioned equipment cannot be controlled by other users. In step S300, after controlling the elevator to release the target drill string, the method of the present application also includes: recovering the user's control authority over the winch to release the user's occupation of the winch. When the elevator is opened and the target drill string is released, since the second-level platform manipulator can hold the drill string tightly, and in the present application, after the elevator releases the target drill string, the control of the associated second-level platform manipulator and the drilling table manipulator can be automatically or manually selected through the human-computer interaction interface, thereby realizing synchronous control of the second-level platform manipulator and the drilling table manipulator.

[0091] After controlling the elevator to release the target drill string, the method of the present application further includes: determining the moving path of the second-layer platform manipulator to the fourth position or the moving path of the drilling floor manipulator to the fifth position as the target moving path, for example, when the second-layer platform manipulator holds the target drill string tightly and the drilling floor manipulator holds the target drill string, it is necessary to control the manipulator to move the target drill string to the target position, for example, when it is necessary to place the target drill string above the wellhead, or to place the target drill string above the lifting device of the transfer trolley so as to store the target drill string in the root box, by associating the control of the second-layer platform manipulator with the control of the drilling floor manipulator, Since the second-level platform manipulator and the drilling surface manipulator are on the same vertical line and the second-level platform manipulator and the drilling surface manipulator move synchronously, the movement trajectories of the drilling surface manipulator and the second-level platform manipulator are the same, that is, the movement path of the second-level platform manipulator to the fourth position is the same as the movement path of the drilling surface manipulator to the fifth position. Therefore, one of the movement paths is randomly determined as the target movement path, and the second-level platform manipulator and the drilling surface manipulator are synchronously controlled to move along the target movement path, so that the second-level platform manipulator reaches the fourth position, and the drilling surface manipulator is controlled to reach the fifth position.

[0092] When the second-floor manipulator reaches the fourth position and the drilling surface manipulator reaches the fifth position, the second-floor manipulator is controlled to move down to the target position, such as reaching the lifting device of the transfer vehicle, and after the target drill string is tightly held by the lifting device, the second-floor manipulator and the drilling surface manipulator are controlled to release to release the target drill string. Specifically, it includes: controlling the drilling surface manipulator to release the target drill string, and after a preset delay, controlling the second-floor manipulator to release the target drill string; or controlling the second-floor manipulator to release the target drill string, and after a preset delay, controlling the drilling surface manipulator to release the target drill string. Among them, controlling the second-floor manipulator and the drilling surface manipulator to release the target drill string at different times can effectively avoid accidents such as the drill string falling or falling due to the failure of the target drill string to be properly held or connected, thereby improving the safety of the drill string during transportation.

[0093] In the present application, in order to prevent the drilling equipment from being maliciously controlled, in step S100, after receiving the string movement instruction from the user, the method further includes: obtaining user information of the user, the user information including the user identification of the user; determining that the user has control authority, including:

[0094] S110, determining whether there is a user ID that is the same as the user ID of the user in a preset permission configuration table, wherein the permission configuration table at least includes user IDs of different users. For example, after a user requests to execute a pipe string movement operation through a human-computer interaction interface or a remote command, first determine whether the current user is in a pre-configured permission configuration table, wherein the permission configuration table stores user IDs that are allowed to control drilling equipment.

[0095] S120. If there is a user ID that is the same as the user ID of the user in the permission configuration table, randomly determine any wireless terminal device in the well site corresponding to the target drilling rig as the target wireless terminal device, and return the access address of the target wireless terminal device to the user. If it is determined that the current user is allowed to control the drilling equipment, in order to further prevent the user information from being stolen, the present application pre-sets multiple wireless terminal devices at different locations in the well site. When the current user is determined to be a whitelist user, the access address of one of the wireless terminal devices is randomly returned to the user.

[0096] S130, determining whether the user has control authority according to the user's access result to the target wireless terminal device, including:

[0097] S1301, receiving a first timestamp and a second timestamp sent by a target wireless terminal device, if the first timestamp and the second timestamp meet a preset condition, generating a random number, encrypting the random number by using a preset first key, obtaining an encryption result, and returning the encryption result to the user, wherein the first timestamp is the timestamp when the user sends an access request to the target wireless terminal device, and the second timestamp is the timestamp when the target wireless terminal device receives the access request; for example, after receiving the access address of the target wireless terminal device, the user initiates an access request through the address, and the access request includes a user identifier and a request time, and after receiving the access request, the target wireless terminal device generates a received access request. The timestamp of the time is calculated, and the time difference between the second timestamp and the first timestamp is calculated. If the time difference is less than the preset timestamp threshold, it is considered that the first timestamp and the second timestamp meet the preset conditions. If the time difference is greater than the preset timestamp threshold, it is considered that the current user is not in the legal area, and an error message is returned to the current user, prohibiting the current user from controlling the drilling equipment. In this way, by configuring multiple wireless terminal devices at different positions in the well site, when identifying the user, the access address of the corresponding wireless terminal device is randomly returned to the user, and the legitimacy of the user is judged according to the user's access request time and the access request reception time, which can effectively avoid remote malicious control of the drilling equipment. When it is determined that the current user is in the legal area, a random number is further generated, and the random number is encrypted by the preset first key to obtain the encryption result, and the encryption result is returned to the user.

[0098] Among them, generating a random number includes: generating a first random number and a second random number; encrypting the random number by presetting a first key to obtain an encryption result, including: encrypting the first random number by using a first encryption algorithm by using the first key to obtain a first encryption result; and encrypting the first encryption result and the second random number by using a second encryption algorithm by using the first key to obtain a second encryption result. For example, two random numbers are randomly generated, and the two random numbers are encrypted twice by using different encryption algorithms respectively, wherein the first key and the second key are symmetric keys, and the first encryption algorithm and the second encryption algorithm are both symmetric encryption algorithms, for example, encryption algorithms such as DES, 3DES, TDEA, Blowfish, RC2, RC4, RC5, IDEA, SKIPJACK, etc. are not limited to this here.

[0099] S1302, receiving the decryption result sent by the user, if the decryption result matches the random number, it is determined that the user has control authority, and the decryption result is obtained after the user decrypts the encryption result by using the preset second key. Among them, the decryption result includes: a third random number and a fourth random number; the decryption result matches the random number, including: the third random number is the same as the first random number, and the fourth random number is the same as the second random number. When the user receives the encryption result, the encryption result is decrypted by the second encryption algorithm respectively to obtain the third random number and the fourth random number encrypted by the first encryption algorithm and the first key, and then the third random number encrypted by the first encryption algorithm and the first key is decrypted by the first encryption algorithm to obtain the decrypted third random number. If the third random number and the fourth random number are the same as the first random number and the second random number, respectively, it is determined that the current user is legal and the control authority can be assigned to the current user.

[0100] It can be understood that in this application, the control of each drilling equipment can be manually controlled through the human-computer interaction interface. For example, after the driller's room is powered on, the user can enter the main interface by clicking anywhere on the human-computer interaction interface, such as Figure 4 As shown in the figure, this interface is mainly responsible for the centralized data interaction during the drilling operation. It is not possible to perform pipe string processing operations. By clicking the pipe "column processing system" in the bottom menu bar and then selecting the equipment interface, the second-floor manipulator, drill table manipulator, power catwalk, and iron roughneck can be operated separately; by clicking "Drilling" in the bottom menu bar, the automatic pipe string processing system can be operated in "Drilling linkage" and "Drilling linkage".

[0101] In the main interface, click "Pipeline Handling System" and select "Second-level Manipulator" to enter the operation interface of the second-level manipulator. Figure 5 As shown, in this interface, the working parameters of the second-layer platform manipulator can be configured and the second-layer platform manipulator can be independently controlled; at the same time, in this interface, the upper left part can set the working mode of the second-layer platform manipulator, the upper middle part selects the drill rod and displays the number of drill rods in the second-layer platform finger beam in real time during operation, the upper right part displays the status of the manipulator, the lower left part can set the manipulator parameters and interact with the operation process, and the lower right part is the right handle action instruction and feedback under this screen; before operating, you need to select the pipe column type, and then set the initial state of the finger beam in "Finger Beam Settings", and then return the motor to zero in "Motor Settings"; enable integrated control in the upper left workspace, select the control mode as automatic, and then select the working mode according to the actual situation. Click a row of finger beams in the upper middle workspace to set the manipulator target finger beam to the finger beam in that row.

[0102] like Figure 6As shown in the figure, the operation interface of the manipulator on the drilling table is roughly the same as that of the manipulator on the second-layer table. Before operating, it is necessary to enable the integrated control function in the upper left workspace. If the "target following" function is enabled, the target position of the manipulator on the drilling table will follow the target position of the manipulator on the second-layer table. Since the manipulator on the drilling table involves more target areas, the remaining targets reached by the stand box can be selected after the "target position". The pipe string type is consistent with the type selected in the operation interface of the manipulator on the second-layer table. The parameters of the stand box on the drilling table can be set in the "stand box setting" in the lower left workspace, and the motor can be returned to zero in the "motor setting".

[0103] Click "Drill Down" in the navigation bar at the bottom of the page and select "Drill Down Linkage" to enter the drill down linkage operation interface. Figure 7 As shown, the left work area mainly displays the parameters related to the big hook during operation. Click "Parameter Setting" to enter the page to set parameters such as tripping and drilling. "Manual Blowout Prevention" is to manually open the blowout prevention device. "Manipulator Confirmation" is to confirm that the manipulator can run when the operating conditions are met; the upper right work area is the equipment enablement area. If a certain device is required to participate in the linkage, the device needs to be enabled in this area; the middle work area is the main operation interface of the linkage operation. All blue buttons in the interface can open the corresponding parameter setting sub-screen. After each step of the process is completed, the driller needs to press the confirmation button on the handle. The lower right work area is the status feedback of the handle and button, which will automatically switch the control object and prompt according to the workflow.

[0104] The structure of the pull-up linkage operation interface is basically the same as that of the drill-down linkage operation interface. The difference lies in the work flow area in the middle of the interface. The parameters set in the drill-down linkage comprehensive interface will be synchronously mapped to this operation interface.

[0105] like Figure 8 As shown, in a second aspect of the present application, a pipe string synchronous movement control device is provided, comprising:

[0106] The first control module is configured to receive a pipe string movement instruction from a user, and when it is determined that the user has control authority, control the winch of the target drilling rig to move the elevator to a first position, control the drill floor manipulator to move to a second position, and control the second floor manipulator to move to a third position, wherein the elevator is used to suspend the target drill string;

[0107] The second control module is configured to control the second-floor manipulator and the drilling floor manipulator to hold the target drill string tightly when the elevator reaches the first position, the drilling floor manipulator reaches the second position, and the second-floor manipulator reaches the third position;

[0108] A third control module is configured to control the elevator to release the target drill string, control the second-level platform manipulator to move to a fourth position, and synchronously control the drilling floor manipulator to move to a fifth position, wherein the second-level platform manipulator and the drilling floor manipulator move along the same trajectory;

[0109] The fourth control module is configured to control the second-level platform manipulator and the drilling surface manipulator to move synchronously so that the target drill string reaches the target position specified by the pipe string movement instruction, controls the second-level platform manipulator and the drilling surface manipulator to release the target drill string, and completes the movement control of the target drill string.

[0110] It is understandable that the technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0111] In a third aspect of the present application, a computer-readable storage medium is provided, which stores a computer program which, when executed by a processor, causes the processor to execute the above-mentioned tubing synchronous movement control method.

[0112] In a fourth aspect of the present application, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned synchronous tubing movement control method when executing the computer program.

[0113] like Fig. 9 FIG. 1 is a schematic diagram of a terminal device provided in an embodiment of the present application. Fig. 9 As shown, the terminal device 10 of this embodiment includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. When the processor 100 executes the computer program 102, the steps in the above method embodiment are implemented. Alternatively, when the processor 100 executes the computer program 102, the functions of each module / unit in the above device embodiments are implemented.

[0114] Exemplarily, the computer program 102 may be divided into one or more modules / units, one or more modules / units are stored in the memory 101, and are executed by the processor 100 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 102 in the terminal device 10.

[0115] The terminal device 10 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device 10 may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will appreciate that Fig. 9 It is only an example of the terminal device 10 and does not constitute a limitation of the terminal device 10. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0116] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0117] The memory 101 may be an internal storage unit of the terminal device 10, such as a hard disk or memory of the terminal device 10. The memory 101 may also be an external storage device of the terminal device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 10. Further, the memory 101 may also include both an internal storage unit of the terminal device 10 and an external storage device. The memory 101 is used to store computer programs and other programs and data required by the terminal device 10. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0118] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0119] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0120] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A pipe string synchronous movement control method, characterized in that: include: Receiving a pipe string moving instruction from a user, and if it is determined that the user has control authority, controlling the winch of the target drilling rig to move the elevator to a first position, controlling the drill floor manipulator to move to a second position, and controlling the second-floor manipulator to move to a third position, wherein the elevator is used to suspend the target drill string; When the elevator reaches the first position, the drill floor manipulator reaches the second position, and the second-level manipulator reaches the third position, control the second-level manipulator and the drill floor manipulator to hold the target drill string tightly; Controlling the elevator to release the target drill string, controlling the second-level platform manipulator to move to a fourth position, and synchronously controlling the drilling floor manipulator to move to a fifth position, wherein the second-level platform manipulator and the drilling floor manipulator move along the same trajectory; The second-level platform manipulator and the drilling surface manipulator are controlled to move synchronously so that the target drill string reaches the target position specified by the pipe string movement instruction, and the second-level platform manipulator and the drilling surface manipulator are controlled to release the target drill string to complete the movement control of the target drill string.

2. The pipe string synchronous movement control method according to claim 1, characterized in that: The two-layer platform manipulator comprises: A base fixed on the second-tier platform; a first slide rail fixed to the base; a first sliding mechanism slidably connected to the first sliding rail; a second slide rail fixedly connected to the first slide mechanism; and A pipe string grabbing mechanism slidably connected to the second slide rail, the pipe string grabbing mechanism being used to hold the drill string tightly; Wherein, the first slide rail is perpendicular to the drilling table, and the second slide rail is parallel to the drilling table.

3. The pipe string synchronous movement control method according to claim 2, characterized in that: The two-layer platform manipulator also includes: a second sliding mechanism; One end of the base extends outside the platform body of the second-layer platform, and the other end of the base is fixedly connected to the platform body of the second-layer platform; One end of the first slide rail is fixedly connected to one end of the base fixed to the body of the second-layer platform, and the other end of the first slide rail is fixedly connected to the body of the second-layer platform; One end of the second slide rail is slidably connected to one end of the base extending outside the second-layer platform body through the second sliding mechanism in a direction perpendicular to the drilling table surface, and the other end of the second slide rail is fixedly connected to the first sliding mechanism.

4. The pipe string synchronous movement control method according to claim 3, characterized in that: Controlling the drill floor manipulator to move to the second position includes: Analyzing the second position to obtain a horizontal movement component and a vertical movement component of the pipe string grabbing mechanism; controlling the pipe column grabbing mechanism to move horizontally along the second slide rail according to the horizontal movement component; and The first sliding mechanism and the second sliding mechanism are synchronously controlled to move vertically along the first sliding rail according to the vertical movement component.

5. The pipe string synchronous movement control method according to claim 1, characterized in that: Before controlling the winch of the target drilling rig to move the elevator to the first position, controlling the drilling floor manipulator to move to the second position, and controlling the second-level platform manipulator to move to the third position, the method further includes: Allocate control authority of the winch, the drilling floor manipulator and the second-floor manipulator to the user; After controlling the elevator to release the target drill string, the method further includes: The control authority of the user over the winch is recovered to release the user from occupying the winch.

6. The pipe string synchronous movement control method according to claim 1, characterized in that: The second position and the third position are on different horizontal planes, and the projection positions of the second position and the third position on the same horizontal plane are the same; After controlling the elevator to release the target drill string, the method further includes: Determine the moving path from the second-level platform manipulator to the fourth position or the moving path from the drilling platform manipulator to the fifth position as the target moving path; Controlling the second-layer platform manipulator to move to the fourth position, and synchronously controlling the drilling platform manipulator to move to the fifth position, comprises: The second-level platform manipulator and the drilling surface manipulator are synchronously controlled to move along the target moving path, so that the second-level platform manipulator reaches the fourth position and the drilling surface manipulator reaches the fifth position.

7. The pipe string synchronous movement control method according to claim 1, characterized in that: Controlling the second-level platform manipulator and the drilling platform manipulator to release the target drill string includes: Control the drill floor manipulator to release the target drill string, and after a preset delay, control the second-floor manipulator to release the target drill string; or The second-level platform manipulator is controlled to release the target drill string, and after the preset delay, the drill floor manipulator is controlled to release the target drill string.

8. The pipe string synchronous movement control method according to claim 1, characterized in that: After receiving the pipe string movement instruction from the user, the method further includes: Acquire user information of the user, wherein the user information includes a user ID of the user; Determining that the user has control authority includes: Determine whether there is a user identifier that is the same as the user identifier of the user in a preset authority configuration table, wherein the authority configuration table at least includes user identifiers of different users; If there is a user ID identical to the user ID of the user in the permission configuration table, randomly determine any wireless terminal device in the well site corresponding to the target drilling rig as the target wireless terminal device, and return the access address of the target wireless terminal device to the user; Determine whether the user has control authority according to the result of the user's access to the target wireless terminal device.

9. The pipe string synchronous movement control method according to claim 8, characterized in that: Determining whether the user has control authority according to the result of the user's access to the target wireless terminal device includes: receiving a first timestamp and a second timestamp sent by the target wireless terminal device, generating a random number if the first timestamp and the second timestamp meet a preset condition, encrypting the random number by using a preset first key to obtain an encryption result, and returning the encryption result to the user, wherein the first timestamp is a timestamp when the user sends an access request to the target wireless terminal device, and the second timestamp is a timestamp when the target wireless terminal device receives the access request; and A decryption result sent by the user is received. If the decryption result matches the random number, it is determined that the user has control authority, and the decryption result is obtained by the user after decrypting the encryption result using a preset second key.

10. The pipe string synchronous movement control method according to claim 9, characterized in that: The preset conditions include: The time difference between the second timestamp and the first timestamp is less than a preset timestamp threshold.

11. The pipe string synchronous movement control method according to claim 10, characterized in that: Generate random numbers, including: Generate a first random number and a second random number; The random number is encrypted by using a preset first key to obtain an encryption result, including: Encrypting the first random number using a first encryption algorithm by using the first key to obtain a first encryption result; and The first encryption result and the second random number are encrypted using the first key and a second encryption algorithm to obtain a second encryption result.

12. The pipe string synchronous movement control method according to claim 11, characterized in that: The decryption results include: A third random number and a fourth random number; The decryption result matches the random number, including: The third random number is the same as the first random number, and the fourth random number is the same as the second random number.

13. A pipe string synchronous movement control device, characterized in that: include: A first control module is configured to receive a pipe string movement instruction from a user, and when it is determined that the user has control authority, control the winch of the target drilling rig to move the elevator to a first position, control the drill floor manipulator to move to a second position, and control the second floor manipulator to move to a third position, wherein the elevator is used to suspend the target drill string; A second control module is configured to control the second-level platform manipulator and the drilling floor manipulator to hold the target drill string tightly when the elevator reaches the first position, the drilling floor manipulator reaches the second position, and the second-level platform manipulator reaches the third position; a third control module, configured to control the elevator to release the target drill string, control the second-level platform manipulator to move to a fourth position, and synchronously control the drilling floor manipulator to move to a fifth position, wherein the second-level platform manipulator and the drilling floor manipulator move along the same trajectory; The fourth control module is configured to control the second-level platform manipulator and the drilling surface manipulator to move synchronously so that the target drill string reaches the target position specified by the pipe string movement instruction, controls the second-level platform manipulator and the drilling surface manipulator to release the target drill string, and completes the movement control of the target drill string.

14. A computer-readable storage medium, characterized in that: A computer program is stored which, when executed by a processor, causes the processor to execute the pipe string synchronous movement control method according to any one of claims 1 to 12.

15. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the pipe string synchronous movement control method described in any one of claims 1 to 12 is implemented.

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