Drilling machine space safety management method, device and system and terminal equipment

Abstract

The invention provides a drilling machine space safety management method, device and system and terminal equipment, and relates to the technical field of drilling machine safety monitoring, and the method comprises the steps: obtaining the operation data of each execution device in a drilling machine system in real time, and associating the operation data of each execution device to a digital twin simulation model of the drilling machine system, the operation state of each execution device in the drilling machine system is simulated in real time through the digital twin simulation model; if it is determined that any two of the execution devices have a collision risk according to the current operation state of each execution device, determining that the execution device having the collision risk is a risk execution device, and continuously obtaining operation data of each risk execution device, and if it is determined that at least one risk execution device is located in a preset collision early warning space of any other risk execution device according to the operation data of each risk execution device, collision early warning information is generated. The safety monitoring efficiency of the well site can be effectively improved, the accident occurrence probability is reduced, and the equipment safety is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of drilling rig safety monitoring, and specifically to a drilling rig space safety management method, a drilling rig space safety management device, a drilling rig space safety management system, a computer-readable storage medium and a terminal device. Background Art

[0002] Drilling rig technology is a key link in oil and gas exploration and development activities. Its technical level and well site safety management efficiency directly affect the success of resource extraction. At present, traditional well site safety management mainly relies on manual monitoring and experience judgment, and there are problems such as information asymmetry, lack of prediction ability and delayed response, which increases the risks and potential accidents in the operation process.

[0003] Modern drilling equipment is diverse, including drilling rigs, drill pipes, mud pumps, storage tanks, and various sensors. These devices are not only numerous in variety and quantity, but also complex in layout. At the same time, the drilling site is usually in a harsh environment, with small space and intensive operations. Under such conditions, operators need to manage and monitor multiple devices at the same time, which significantly increases the probability of operational errors and equipment failures. At present, traditional drilling rig management methods make it difficult to fully control the status and location of all equipment, and cannot prevent and respond to sudden safety incidents in a timely and accurate manner, increasing the risk of collision and failure between equipment. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a drilling rig space safety management method, a drilling rig space safety management device, a drilling rig space safety management system, a computer-readable storage medium and a terminal device to solve the above-mentioned problems.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a drilling rig space safety management method, comprising: Acquire the operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with the digital twin simulation model of the drilling rig system, so as to simulate the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model; If it is determined based on the current operating status of each execution device that there is a risk of collision between any two of the execution devices, the execution devices with the risk of collision are determined as risk execution devices, and the operating data of each risk execution device is continuously acquired. If it is determined based on the operating data of each risk execution device that at least one risk execution device is within the preset collision warning space of any other risk execution device, collision warning information is generated.

[0006] Optionally, the execution equipment of the drilling rig system includes: A second-level platform manipulator installed on the second-level platform of the derrick, a traveling carriage installed in the derrick, a drilling platform manipulator installed on the drilling floor, an iron roughneck installed on the drilling floor, a winch installed on the drilling floor and a buffer manipulator installed in the lower section of the derrick, wherein the derrick is fixedly installed on the drilling floor, and the winch is used to control the traveling carriage to move vertically in the derrick.

[0007] Optionally, before obtaining the operation data of each execution device in the drilling rig system in real time, the method further includes: Acquire structural parameters of each execution device in the drilling rig system, and build a geometric model of the drilling rig system based on the structural parameters of each execution device; Determine the structural relationship between the various execution devices in the drilling rig system, and build the logical model of the drilling rig system based on the structural relationship; Establish a data model for storing and updating the real-time operation data of each execution device in the drilling rig system; The geometric model, logical model and data model are coupled to obtain the digital twin simulation model of the drilling rig system.

[0008] Optionally, the operation data of the execution device includes: The moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator, the current position of the second-layer platform manipulator, the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage; Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: Determine the first predicted position of the second-layer platform manipulator at each future sampling time according to the moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator and the current position of the second-layer platform manipulator, and determine the second predicted position of the traveling carriage at each future sampling time according to the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage; The obtained first predicted positions are matched with the second predicted positions. If the first predicted position corresponding to at least one sampling moment matches the second predicted position corresponding to at least one sampling moment, it is determined that there is a collision risk between the second-level platform manipulator and the traveling carriage.

[0009] Optionally, when it is determined that there is no collision risk between the second-layer platform manipulator and the traveling carriage, the method further includes: If the moving direction of the traveling car is the direction approaching the drilling floor, the current position of the traveling car at each sampling moment is obtained in real time. If the distance between the current position of the traveling car at any sampling moment before the current sampling moment and the drilling floor is less than the first distance threshold, and the distance between the current position of the traveling car at the current sampling moment and the drilling floor is less than the second distance threshold, it is determined that there is a risk of collision between the traveling car and the drilling floor, and collision warning information is generated, and the first distance threshold is greater than the second distance threshold.

[0010] Optionally, the operation data of the execution device further includes: The moving direction of the drill floor manipulator, the moving speed of the drill floor manipulator, the current position of the drill floor manipulator, the moving direction of the iron roughneck, the moving speed of the iron roughneck, and the current position of the iron roughneck; Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: In the case where it is determined that the extension line of the moving direction of the drill floor manipulator interferes with the extension line of the moving direction of the iron roughneck, determining a third predicted position of the drill floor manipulator at each future sampling time according to the moving speed of the drill floor manipulator and the current position of the drill floor manipulator, and determining a fourth predicted position of the iron roughneck at each future sampling time according to the moving speed of the iron roughneck and the current position of the iron roughneck; The obtained third predicted positions are matched with the fourth predicted positions. If the third predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, it is determined that there is a collision risk between the drill floor manipulator and the iron roughneck.

[0011] Optionally, when it is determined that there is no collision risk between the second-layer platform manipulator and the traveling carriage, the method further includes: If the moving direction of the traveling carriage is close to the drilling surface, the second predicted position of the traveling carriage at each future sampling moment is matched with the third predicted position of the drilling surface manipulator at each future sampling moment. If the second predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, it is determined that there is a risk of collision between the traveling carriage and the drilling surface manipulator.

[0012] Optionally, the operation data of the execution device further includes: The moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator; Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: Determine a fifth predicted position of the buffer manipulator at each future sampling time according to the moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator; Matching the fifth predicted position of the buffer manipulator at each future sampling moment with the third predicted position of the drill floor manipulator at each future sampling moment and the fourth predicted position of the iron roughneck at each future sampling moment; If the fifth predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, it is determined that there is a risk of collision between the buffer manipulator and the drill floor manipulator; if the fifth predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, it is determined that there is a risk of collision between the buffer manipulator and the iron roughneck.

[0013] Optionally, the first predicted position corresponding to at least one sampling moment matches the second predicted position corresponding to at least one sampling moment, including: The distances between the first predicted position and the second predicted position corresponding to N consecutive sampling moments are all less than a third distance threshold; The third predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, comprising: The distances between the third predicted position and the fourth predicted position corresponding to N consecutive sampling moments are all less than a fourth distance threshold; The second predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, comprising: The distances between the second predicted position and the third predicted position corresponding to N consecutive sampling moments are all less than a fifth distance threshold; The fifth predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, comprising: The distances between the fifth predicted position and the third predicted position corresponding to N consecutive sampling moments are all less than a sixth distance threshold; The fifth predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, comprising: The distances between the fifth predicted position and the fourth predicted position corresponding to N consecutive sampling moments are all less than the seventh distance threshold.

[0014] Optionally, after determining that the execution device with a collision risk is a risky execution device, the method further includes: Continuously record the operating status of each risk execution device at each sampling time, generate a corresponding collision warning file based on the operating status of each risk execution device at each sampling time, and store the collision warning file corresponding to each risk execution device to a designated location.

[0015] Optionally, the method further comprises: In response to the user's animation demonstration instructions, the target collision warning file specified by the animation demonstration instructions is obtained, and the target collision warning file is associated with the digital twin simulation model of the drilling rig system, so that the digital twin simulation model of the drilling rig system simulates the operating status of the corresponding risk execution device at each sampling moment in the target collision warning file according to the target collision warning file.

[0016] In a second aspect of the present application, a drilling rig space safety management device is provided, comprising: The data acquisition module is configured to obtain the operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with the digital twin simulation model of the drilling rig system, so as to simulate the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model; The collision warning module is configured to, if it is determined based on the current operating status of each execution device that there is a risk of collision between any two of the execution devices, determine the execution devices with the risk of collision as risk execution devices, continuously obtain the operating data of each risk execution device, and generate collision warning information if it is determined based on the operating data of each risk execution device that at least one risk execution device is within the preset collision warning space of any other risk execution device.

[0017] In a third aspect of the present application, a drilling rig space safety management system is provided, comprising: A drilling rig space safety management device as described above; and At least one data acquisition device is used to acquire the operation data of each execution device in the drilling rig system in real time.

[0018] In a fourth aspect of the present application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to execute the drilling rig space safety management method as described above.

[0019] In a fifth 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 drilling rig space safety management method when executing the computer program.

[0020] The embodiments provided in this application have the following beneficial effects: This application performs three-dimensional modeling of the drilling rig system and uses digital twin technology to establish a digital twin simulation model of the drilling rig system. The established digital twin simulation model synchronously simulates the operating status of each execution device of the drilling rig system based on the operating data of each execution device acquired in real time, and determines whether each execution device is a risky execution device based on the operating status of each execution device. Furthermore, collision warning monitoring is performed on each risk execution device based on a preset collision warning space, thereby effectively improving the safety monitoring efficiency and level of the well site, providing effective collision warning and fault analysis support for well site safety management, thereby reducing the probability of accidents and ensuring the safety of operators and equipment.

[0021] 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

[0022] 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: Figure 1 A method flow chart schematically showing a method for managing drilling rig space safety according to an embodiment of the present application; Figure 2 The structural diagram of the drilling rig system according to the embodiment of the present application is schematically shown; Figure 3 A schematic diagram of a drilling rig system simulation model according to an embodiment of the present application is schematically shown; Figure 4 A schematic diagram of a collision warning between a drill manipulator and an iron roughneck according to an embodiment of the present application is schematically shown; Figure 5 A schematic block diagram schematically shows a drilling rig space safety management device according to an embodiment of the present application; Figure 6 A schematic diagram of the structure of a terminal device according to an embodiment of the present application is shown schematically.

[0023] Description of Reference Numerals 10-terminal device, 100-processor, 101-memory, 102-computer program. DETAILED DESCRIPTION

[0024] 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.

[0025] In order to solve the above problems, Figure 1As shown, the first aspect of the present application provides a drilling rig space safety management method, comprising: S100, acquiring the operating data of each execution device in the drilling rig system in real time, and associating the operating data of each execution device with the digital twin simulation model of the drilling rig system, so as to simulate the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model; S200. If it is determined based on the current operating status of each execution device that there is a risk of collision between any two of the execution devices, the execution devices with the risk of collision are determined to be risk execution devices, and the operating data of each risk execution device is continuously acquired. If it is determined based on the operating data of each risk execution device that at least one risk execution device is within the preset collision warning space of any other risk execution device, collision warning information is generated.

[0026] In this way, the present application performs three-dimensional modeling of the drilling rig system and uses digital twin technology to establish a digital twin simulation model of the drilling rig system. The established digital twin simulation model synchronously simulates the operating status of each execution device of the drilling rig system based on the operating data of each execution device of the drilling rig system acquired in real time, and determines whether each execution device is a risky execution device based on the operating status of each execution device. Further, collision warning monitoring is performed on each risk execution device based on the preset collision warning space, thereby effectively improving the safety monitoring efficiency and level of the well site, providing effective collision warning and fault analysis support for well site safety management, thereby reducing the probability of accidents and ensuring the safety of operators and equipment.

[0027] like Figure 2 As shown, the execution equipment of the drilling rig system includes: a second-level platform manipulator arranged on the second-level platform of the derrick, a traveling block arranged in the derrick, a drilling surface manipulator arranged on the drilling surface, an iron roughneck arranged on the drilling surface, a winch arranged on the drilling surface, and a buffer manipulator arranged on the lower section of the derrick, wherein the derrick is fixedly installed on the drilling surface, and the winch is used to control the vertical movement of the traveling block in the derrick. It can be understood that the derrick is usually composed of a derrick body, a herringbone frame, a crown block platform, a second-level platform, a working ladder, a riser platform, a drilling platform, and a derrick base, etc., which are used to install and hang the crown block, the traveling block, a hook, a lifting ring, a hydraulic and gas tongs, a hydraulic buckle, a lifting clamp, an elevator, and other lifting equipment and tools. In this application, the drilling rig system refers to the derrick and various drilling rig execution equipment installed on the derrick, such as the drilling surface manipulator, the second-level platform manipulator, the buffer manipulator, the winch, the iron roughneck, etc., wherein the installation structure of the derrick and various drilling rig execution equipment is a prior art, which will not be repeated here.

[0028] Before obtaining the operation data of each execution device in the drilling rig system in real time, the method of the present application further includes: S110, obtaining the structural parameters of each execution device in the drilling rig system, and constructing a geometric model of the drilling rig system based on the structural parameters of each execution device. For example, the environment and equipment data of the well site are collected by scanning measurement and other technologies, and a 3D scene of the well site is created using the Unity3D engine, such as Figure 3 As shown, including the ground, second-floor platform, drilling platform, derrick, traveling carriage, catwalk and other basic structures of the well site, each equipment is finely modeled according to the size, shape and function of the actual equipment.

[0029] S120, determine the structural relationship between the various execution devices in the drilling rig system, and construct a logical model of the drilling rig system based on the structural relationship. The logical model is simulated according to the drilling rig system, and a virtual model motion logic consistent with the control logic of the actual drilling rig system is pre-configured. When a control instruction is input, for example, when the operation data of the actual execution device is received, the operation state of the twin model can synchronously reflect the actual operation state of the corresponding execution device, ensuring the consistency of the action of the twin model and the actual execution device.

[0030] S130, establish a data model for storing and updating the real-time operation data of each execution device in the drilling rig system. The data model is used to store information related to each execution device, such as the physical properties and control instructions of each execution device, for example, the real-time operation data of each execution device, which can use the control instructions to manipulate the twin model, for example, when the real-time operation data of each execution device is updated, the twin model synchronously executes the corresponding operation status update.

[0031] S140, coupling the geometric model, the logical model and the data model to obtain a digital twin simulation model of the drilling rig system. For example, the corresponding structure of each execution device of the drilling rig system is bound to the corresponding structure of the digital twin model, the corresponding scene and interactive interface are built through the Unity software platform, and the corresponding functional logic of the control is given, and the operation data information library controlled by the model is constructed and connected to store and transmit the motion instruction parameters of the digital twin model, such as storing and transmitting the real-time operation data of the corresponding execution device. At the same time, an intuitive user interface is designed in Unity3D, including an equipment status monitoring panel, an important data information panel, a data playback control panel, etc., to ensure that users can easily operate and view the equipment status, so that users can freely roam the 3D scene of the well site and view the detailed information of each device. By writing corresponding scripts and using the physics engine of Unity3D to simulate the kinematic and dynamic behaviors of each device, the operating status of each device will be updated in real time according to the actual operation, such as the extension and retraction of the manipulator, the movement of the traveling carriage, the operation of the iron roughneck, etc., so as to ensure that the simulation results are consistent with the actual situation. It can be understood that the coupling process of the digital twin simulation model is a prior art, which is not limited here.

[0032] In step S100, the operation data of the execution device includes: the moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator, the current position of the second-layer platform manipulator, the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage, wherein the moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator, the current position of the second-layer platform manipulator, the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage and other parameters can be obtained by collecting the operation instructions of the corresponding equipment, for example, synchronously receiving the operation instructions of each execution device, or collecting and obtaining through the existing sensors of the drilling rig system, which is not limited here. Among them, the moving speed of the manipulator refers to the moving speed of the execution component of the manipulator, such as the gripper, in the telescopic direction, or, in order to more accurately perform collision warning, the moving speed of the manipulator may include the rotation speed and telescopic speed of the manipulator; the position of the manipulator refers to the position reached by the execution component of the manipulator, or the position of the manipulator is the position reached by the execution component of the manipulator and each monitoring point on the mechanical arm; the moving direction of the manipulator may include the rotation direction and telescopic direction of the manipulator.

[0033] In step S200, determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: S210, determine the first predicted position of the second-layer platform manipulator at each future sampling moment according to the moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator and the current position of the second-layer platform manipulator, and determine the second predicted position of the traveling carriage at each future sampling moment according to the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage. Among them, the first predicted position of the second-layer platform manipulator at each future sampling moment and the second predicted position of the traveling carriage at each future sampling moment can be directly calculated through the moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator and the current position of the second-layer platform manipulator, as well as the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage, and can also be predicted by a pre-trained prediction model. For example, based on the current position of each monitoring point of the two-layer platform manipulator, the rotation speed of the manipulator and the extension and retraction speed of the manipulator, the predicted position of each monitoring point of the manipulator at each future sampling moment can be directly calculated. The calculation process is a prior art and is not limited here. For another example, the historical motion trajectory of the two-layer platform manipulator is used as a training sample, and the moving direction, moving speed and manipulator position of the two-layer platform manipulator at multiple consecutive historical sampling moments are used as input to train the neural network model. The predicted position of the two-layer platform manipulator at multiple future sampling moments is output by the neural network model, and the predicted position output by the neural network model is compared with the corresponding historical actual position. The parameters of the neural network model are adjusted according to the error between the two until the error between the predicted position output by the neural network model and the corresponding actual position is lower than a threshold, or the maximum number of iterations is reached, so as to obtain a position prediction model for the two-layer platform manipulator. Similarly, position prediction models of other execution devices can be obtained.

[0034] S211. Match each obtained first predicted position with each second predicted position. If the first predicted position corresponding to at least one sampling moment matches the second predicted position corresponding to at least one sampling moment, determine that there is a risk of collision between the second-level platform manipulator and the traveling car. For example, if the distance between the first predicted position and the second predicted position corresponding to N consecutive sampling moments is less than the third distance threshold, it is determined that there may be interference between the moving path of the second-level platform manipulator and the moving path of the traveling car, and determine the risk execution device of the second-level platform manipulator and the traveling car. Among them, the distance between the first predicted position and the second predicted position corresponding to N consecutive sampling moments is less than the third distance threshold, which can be specifically that at N consecutive sampling moments, the distance between the first predicted position of any monitoring point of the manipulator and the second predicted position of any monitoring point of the traveling car at the corresponding sampling moment is less than the third distance threshold.

[0035] If it is determined that there is no risk of collision between the second-level platform manipulator and the traveling carriage, the method of the present application also includes: if the moving direction of the traveling carriage is the direction approaching the drilling table, for example, the moving direction of the traveling carriage is the direction toward the drilling table, then the current position of the traveling carriage at each sampling moment is continuously acquired in real time, if the distance between the current position of the traveling carriage at any sampling moment before the current sampling moment and the drilling table is less than a first distance threshold, and the distance between the current position of the traveling carriage at the current sampling moment and the drilling table is less than a second distance threshold, it is determined that there is a risk of collision between the traveling carriage and the drilling table, and collision warning information is generated, and the first distance threshold is greater than the second distance threshold. For example, when it is determined that there is no risk of collision between the traveling carriage and the second-level platform manipulator, if it is determined that the moving direction of the traveling carriage is toward the drilling table, that is, the winch needs to avoid collision with the drilling table during the process of lowering the traveling carriage. At this time, the position of the traveling carriage is continuously monitored. If the distance between the traveling carriage and the drilling table is less than the first distance threshold, it is determined that the traveling carriage has entered the collision warning distance, and the position of the traveling carriage is continued to be monitored. If the distance between the traveling carriage and the drilling table is less than the second distance threshold, it is determined that the traveling carriage may collide with the drilling table. At this time, a collision warning message is generated to prompt the staff.

[0036] In step S100, the operation data of the execution device also includes: the moving direction of the drilling rig manipulator, the moving speed of the drilling rig manipulator, the current position of the drilling rig manipulator, the moving direction of the iron roughneck, the moving speed of the iron roughneck and the current position of the iron roughneck; Figure 4 As shown, in step S200, determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices also includes: S220: When it is determined that the extension line of the moving direction of the drill floor manipulator interferes with the extension line of the moving direction of the iron roughneck, the third predicted position of the drill floor manipulator at each future sampling time is determined based on the moving speed of the drill floor manipulator and the current position of the drill floor manipulator, and the fourth predicted position of the iron roughneck at each future sampling time is determined based on the moving speed of the iron roughneck and the current position of the iron roughneck. For example, when the extension line of the moving direction of the drill floor manipulator, i.e., the telescopic direction, interferes with the extension line of the telescopic direction of the iron roughneck actuator, the third predicted position of the drill floor manipulator at each future sampling time and the fourth predicted position of the iron roughneck at each future sampling time are calculated respectively, wherein the calculation method of the third predicted position and the fourth predicted position is the same as step S210, which is not limited here.

[0037] S221, matching each obtained third predicted position with each fourth predicted position, if the third predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, determining that there is a collision risk between the drill floor manipulator and the iron roughneck. For example, if the distance between the third predicted position and the fourth predicted position corresponding to N consecutive sampling moments is less than a fourth distance threshold, it is determined that there is a collision risk between the drill floor manipulator and the iron roughneck, and the drill floor manipulator and the driller are determined to be risk execution devices.

[0038] It can be understood that when the drilling table manipulator is performing a rotation operation, the position of the manipulator can be determined based on the rotational angular velocity of the drilling table manipulator and the telescopic state of the manipulator. For example, when the manipulator is performing a rotation operation, the predicted positions of the manipulator's execution components and each monitoring point on the robotic arm at multiple future sampling times can be determined based on the telescopic state and rotational angular velocity of the manipulator. If the predicted position of any monitoring point matches the predicted position of other execution devices, it is determined that there is a risk of collision between the manipulator and the corresponding execution device.

[0039] In the present application, when it is determined that there is no risk of collision between the second-layer platform manipulator and the traveling carriage, the method further includes: if the moving direction of the traveling carriage is the direction approaching the drilling surface, the second predicted position of the traveling carriage at each future sampling moment is matched with the third predicted position of the drilling surface manipulator at each future sampling moment, and if the second predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, for example, if the distance between the second predicted position and the third predicted position corresponding to N consecutive sampling moments is less than the fifth distance threshold, it is determined that there is a risk of collision between the traveling carriage and the drilling surface manipulator. For example, when it is determined that there is no risk of collision between the traveling carriage and the second-layer platform manipulator, if it is determined that the moving direction of the traveling carriage is the direction toward the drilling surface, the position of the traveling carriage is continuously monitored at this time, and if at least one second predicted position of the traveling carriage at each future sampling moment matches any third predicted position of the drilling surface manipulator at the corresponding sampling moment, it is determined that the movement path of the traveling carriage may interfere with the movement path of the drilling surface manipulator.

[0040] In step S100, the operation data of the execution device also includes: the moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator; in step S200, it is determined that there is a collision risk between any two of the execution devices according to the current operating status of each execution device, including: S230, determining the fifth predicted position of the buffer manipulator at each future sampling time according to the moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator. The calculation method of the fifth predicted position is the same as step S210, which is not limited here.

[0041] S240, respectively match the fifth predicted position of the buffer manipulator at each future sampling moment with the third predicted position of the drill floor manipulator at each future sampling moment and the fourth predicted position of the iron roughneck at each future sampling moment. It is understandable that the buffer manipulator may collide with the drill floor manipulator and the iron roughneck during operation, so the present application further matches the predicted positions of the buffer manipulator, the drill floor manipulator, and the iron roughneck. It is understandable that in the present application, the predicted position of each execution device at each sampling moment can be the predicted position of each monitoring point of each execution device at each sampling moment.

[0042] S250. If the fifth predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, for example, if for N consecutive sampling moments, the distance between the fifth predicted position of any monitoring point of the buffer manipulator and the third predicted position of any monitoring point of the drill floor manipulator at the corresponding sampling moment is less than the sixth distance threshold, then it is determined that there is a risk of collision between the buffer manipulator and the drill floor manipulator; if the fifth predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, for example, if for N consecutive sampling moments, the distance between the fifth predicted position of any monitoring point of the buffer manipulator and the fourth predicted position of any monitoring point of the iron driller at the corresponding sampling moment is less than the seventh distance threshold, then it is determined that there is a risk of collision between the buffer manipulator and the iron driller.

[0043] In the present application, after determining that the execution device with a collision risk is a risk execution device, the method also includes: continuously recording the operating status of each risk execution device at each sampling moment, generating a corresponding collision warning file based on the operating status of each risk execution device at each sampling moment, and storing the collision warning file corresponding to each risk execution device to a designated location; when a user needs to view the collision warning process, in response to the user's animation demonstration instruction, obtaining the target collision warning file specified by the animation demonstration instruction, and associating the target collision warning file to the digital twin simulation model of the drilling rig system, so that the digital twin simulation model of the drilling rig system simulates the operating status of the corresponding risk execution device at each sampling moment in the target collision warning file based on the target collision warning file.

[0044] For example, when the system detects a risky execution device, the collision information is automatically stored during the collision warning process. For example, the simulation process of the digital twin simulation model is animated and stored. The user can select the time period to be replayed through the UI interface, and control the playback speed and progress to reproduce the operating status of each equipment in the well site within the specified time period, including the pre-collision status, etc. Through real-time animation demonstration and data playback, it can provide a more intuitive and detailed display of the equipment operating status and fault cause analysis, which is conducive to operators understanding the detailed information of the equipment operation and improving the safety monitoring efficiency and safety management level of the well site.

[0045] like Figure 5 As shown, in a second aspect of the present application, a drilling rig space safety management device is provided, comprising: The data acquisition module is configured to obtain the operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with the digital twin simulation model of the drilling rig system, so as to simulate the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model; The collision warning module is configured to, if it is determined based on the current operating status of each execution device that there is a risk of collision between any two of the execution devices, determine the execution devices with the risk of collision as risk execution devices, continuously obtain the operating data of each risk execution device, and generate collision warning information if it is determined based on the operating data of each risk execution device that at least one risk execution device is within the preset collision warning space of any other risk execution device.

[0046] 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.

[0047] In a third aspect of the present application, a drilling rig space safety management system is provided, comprising: A drilling rig space safety management device as described above; and At least one data acquisition device is used to acquire the operation data of each execution device in the drilling rig system in real time.

[0048] In a fourth aspect of the present application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to execute the drilling rig space safety management method as described above.

[0049] In a fifth 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 drilling rig space safety management method when executing the computer program.

[0050] like Figure 6 FIG. 1 is a schematic diagram of a terminal device provided in an embodiment of the present application. Figure 6 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.

[0051] 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.

[0052] 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 Figure 6 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.

[0053] 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.

[0054] 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 (FlashCard), 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.

[0055] 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 combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0056] 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.

[0057] 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 drilling rig space safety management method, characterized in that: include: Acquire the operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with the digital twin simulation model of the drilling rig system, so as to simulate the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model; If it is determined based on the current operating status of each execution device that there is a risk of collision between any two of the execution devices, the execution devices with the risk of collision are determined as risk execution devices, and the operating data of each risk execution device is continuously acquired. If it is determined based on the operating data of each risk execution device that at least one risk execution device is within the preset collision warning space of any other risk execution device, collision warning information is generated.

2. The drilling rig space safety management method according to claim 1, characterized in that: The execution equipment of the drilling rig system includes: A second-level platform manipulator installed on the second-level platform of the derrick, a traveling carriage installed in the derrick, a drilling platform manipulator installed on the drilling floor, an iron roughneck installed on the drilling floor, a winch installed on the drilling floor and a buffer manipulator installed in the lower section of the derrick, wherein the derrick is fixedly installed on the drilling floor, and the winch is used to control the traveling carriage to move vertically in the derrick.

3. The drilling rig space safety management method according to claim 2, characterized in that: Before obtaining the operation data of each execution device in the drilling rig system in real time, the method further includes: Acquire structural parameters of each execution device in the drilling rig system, and build a geometric model of the drilling rig system based on the structural parameters of each execution device; Determine the structural relationship between the various execution devices in the drilling rig system, and build the logical model of the drilling rig system based on the structural relationship; Establish a data model for storing and updating the real-time operation data of each execution device in the drilling rig system; The geometric model, logical model and data model are coupled to obtain the digital twin simulation model of the drilling rig system.

4. The drilling rig space safety management method according to claim 2, characterized in that: Execute the equipment’s operating data, including: The moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator, the current position of the second-layer platform manipulator, the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage; Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: Determine the first predicted position of the second-layer platform manipulator at each future sampling time according to the moving direction of the second-layer platform manipulator, the moving speed of the second-layer platform manipulator and the current position of the second-layer platform manipulator, and determine the second predicted position of the traveling carriage at each future sampling time according to the moving speed of the traveling carriage, the moving direction of the traveling carriage and the current position of the traveling carriage; The obtained first predicted positions are matched with the second predicted positions. If the first predicted position corresponding to at least one sampling moment matches the second predicted position corresponding to at least one sampling moment, it is determined that there is a collision risk between the second-level platform manipulator and the traveling carriage.

5. The drilling rig space safety management method according to claim 4, characterized in that: When it is determined that there is no risk of collision between the second-level platform manipulator and the traveling carriage, the method further includes: If the moving direction of the traveling car is the direction approaching the drilling floor, the current position of the traveling car at each sampling moment is obtained in real time. If the distance between the current position of the traveling car at any sampling moment before the current sampling moment and the drilling floor is less than the first distance threshold, and the distance between the current position of the traveling car at the current sampling moment and the drilling floor is less than the second distance threshold, it is determined that there is a risk of collision between the traveling car and the drilling floor, and collision warning information is generated, and the first distance threshold is greater than the second distance threshold.

6. The drilling rig space safety management method according to claim 4, characterized in that: The operating data of the execution equipment also includes: The moving direction of the drill floor manipulator, the moving speed of the drill floor manipulator, the current position of the drill floor manipulator, the moving direction of the iron roughneck, the moving speed of the iron roughneck, and the current position of the iron roughneck; Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: In the case where it is determined that the extension line of the moving direction of the drill floor manipulator interferes with the extension line of the moving direction of the iron roughneck, determining a third predicted position of the drill floor manipulator at each future sampling time according to the moving speed of the drill floor manipulator and the current position of the drill floor manipulator, and determining a fourth predicted position of the iron roughneck at each future sampling time according to the moving speed of the iron roughneck and the current position of the iron roughneck; The obtained third predicted positions are matched with the fourth predicted positions. If the third predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, it is determined that there is a collision risk between the drill floor manipulator and the iron roughneck.

7. The drilling rig space safety management method according to claim 6, characterized in that: When it is determined that there is no risk of collision between the second-level platform manipulator and the traveling carriage, the method further includes: If the moving direction of the traveling carriage is close to the drilling surface, the second predicted position of the traveling carriage at each future sampling moment is matched with the third predicted position of the drilling surface manipulator at each future sampling moment. If the second predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, it is determined that there is a risk of collision between the traveling carriage and the drilling surface manipulator.

8. The drilling rig space safety management method according to claim 7, characterized in that: The operating data of the execution equipment also includes: The moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator; Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes: Determine a fifth predicted position of the buffer manipulator at each future sampling time according to the moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator; Matching the fifth predicted position of the buffer manipulator at each future sampling moment with the third predicted position of the drill floor manipulator at each future sampling moment and the fourth predicted position of the iron roughneck at each future sampling moment; If the fifth predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, it is determined that there is a risk of collision between the buffer manipulator and the drill floor manipulator; if the fifth predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, it is determined that there is a risk of collision between the buffer manipulator and the iron roughneck.

9. The drilling rig space safety management method according to claim 8, characterized in that: The first predicted position corresponding to at least one sampling moment is matched with the second predicted position corresponding to at least one sampling moment, comprising: The distances between the first predicted position and the second predicted position corresponding to N consecutive sampling moments are all less than a third distance threshold; The third predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, comprising: The distances between the third predicted position and the fourth predicted position corresponding to N consecutive sampling moments are all less than a fourth distance threshold; The second predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, comprising: The distances between the second predicted position and the third predicted position corresponding to N consecutive sampling moments are all less than a fifth distance threshold; The fifth predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, comprising: The distances between the fifth predicted position and the third predicted position corresponding to N consecutive sampling moments are all less than a sixth distance threshold; The fifth predicted position corresponding to at least one sampling moment matches the fourth predicted position corresponding to at least one sampling moment, comprising: The distances between the fifth predicted position and the fourth predicted position corresponding to N consecutive sampling moments are all less than the seventh distance threshold.

10. The drilling rig space safety management method according to claim 1, characterized in that: After determining that the execution device with a collision risk is a risky execution device, the method further includes: Continuously record the operating status of each risk execution device at each sampling time, generate a corresponding collision warning file based on the operating status of each risk execution device at each sampling time, and store the collision warning file corresponding to each risk execution device to a designated location.

11. The drilling rig space safety management method according to claim 10, characterized in that: The method also includes: In response to the user's animation demonstration instructions, the target collision warning file specified by the animation demonstration instructions is obtained, and the target collision warning file is associated with the digital twin simulation model of the drilling rig system, so that the digital twin simulation model of the drilling rig system simulates the operating status of the corresponding risk execution device at each sampling moment in the target collision warning file according to the target collision warning file.

12. A drilling rig space safety management device, characterized in that: include: The data acquisition module is configured to obtain the operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with the digital twin simulation model of the drilling rig system, so as to simulate the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model; The collision warning module is configured to, if it is determined based on the current operating status of each execution device that there is a risk of collision between any two of the execution devices, determine the execution devices with the risk of collision as risk execution devices, continuously obtain the operating data of each risk execution device, and generate collision warning information if it is determined based on the operating data of each risk execution device that at least one risk execution device is within the preset collision warning space of any other risk execution device.

13. A drilling rig space safety management system, characterized in that: include: The drilling rig space safety management device as claimed in claim 12; as well as At least one data acquisition device is used to acquire the operation data of each execution device in the drilling rig system in real time.

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 drilling rig space safety management method as claimed in any one of claims 1 to 11.

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 drilling rig space safety management method described in any one of claims 1-11 is implemented.

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