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

Abstract

The present application provides a drilling rig space safety management method, apparatus, system, and terminal device, which relate to the field of drilling rig safety monitoring technology. The method includes: obtaining the operating data of each execution device in the drilling rig system in real time, associating the operating data of each execution device with the digital twin simulation model of the drilling rig system, and simulating 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 collision risk between any two execution devices, the execution device with the collision risk is determined to be a risk execution device, and the operating data of each risk execution device is continuously obtained. 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. The present application can effectively improve the safety monitoring efficiency of the well site, reduce the probability of accidents, and ensure equipment safety.

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 wellsite safety management efficiency directly affect the success of resource extraction. At present, traditional wellsite safety management mainly relies on manual monitoring and experience judgment, which has problems such as information asymmetry, lack of predictive ability and delayed response, increasing the risks and potential accidents in the operation process.

[0003] Modern drilling rigs contain a wide variety of equipment, including drill rigs, drill pipes, mud pumps, storage tanks, and various sensors. These devices are not only numerous and numerous, but also complexly arranged. Furthermore, drilling sites are often harsh environments with cramped spaces and intensive operations. Under these conditions, operators need to manage and monitor multiple devices simultaneously, significantly increasing the risk of operational errors and equipment failures. Current traditional drilling rig management methods struggle to fully monitor the status and location of all equipment, making it difficult to prevent and respond to sudden safety incidents in a timely and accurate manner. This increases the risk of collisions and failures 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 problems.

[0005] In order to achieve the above objectives, the present application provides a first aspect of a drilling rig space safety management method, comprising:

[0006] Acquire the operating data of each executive device in the drilling rig system in real time, and associate the operating data of each executive device with the digital twin simulation model of the drilling rig system to simulate the operating status of each executive device in the drilling rig system in real time through the digital twin simulation model;

[0007] If it is determined based on the current operating status of each execution device that there is a collision risk between any two of the execution devices, the execution devices with collision risk are determined to be risk execution devices, and the operating data of each risk execution device is continuously obtained. 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.

[0008] Optionally, the execution equipment of the drilling rig system includes:

[0009] The second-level platform manipulator is installed on the second-level platform of the derrick, the traveling block is installed in the derrick, the drilling floor manipulator is installed on the drilling floor, the iron roughneck is installed on the drilling floor, the winch is installed on the drilling floor and the buffer manipulator is installed in the lower section of the derrick. Among them, the derrick is fixedly installed on the drilling floor, and the winch is used to control the vertical movement of the traveling block in the derrick.

[0010] Optionally, before obtaining the operating data of each execution device in the drilling rig system in real time, the method further includes:

[0011] Acquire structural parameters of each execution device in the drilling rig system, and construct a geometric model of the drilling rig system based on the structural parameters of each execution device;

[0012] Determine the structural relationship between the various execution devices in the drilling rig system and build a logical model of the drilling rig system based on the structural relationship;

[0013] Establish a data model for storing and updating the real-time operating data of each executive device in the drilling rig system;

[0014] The geometric model, logical model and data model are coupled to obtain a digital twin simulation model of the drilling rig system.

[0015] Optionally, the operating data of the execution device includes:

[0016] The moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, the current position of the second-level platform manipulator, the moving speed of the traveling carriage, the moving direction of the traveling carriage, and the current position of the traveling carriage;

[0017] Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes:

[0018] Determine the first predicted position of the second-level platform manipulator at each future sampling moment based on the moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, and the current position of the second-level platform manipulator, and determine the second predicted position of the traveling carriage at each future sampling moment based on the moving speed of the traveling carriage, the moving direction of the traveling carriage, and the current position of the traveling carriage;

[0019] The obtained first predicted positions are matched with the obtained 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.

[0020] Optionally, when it is determined that there is no collision risk between the second-level platform manipulator and the traveling carriage, the method further includes:

[0021] If the moving direction of the traveling carriage is the direction approaching the drill floor, the current position of the traveling carriage at each sampling moment is obtained in real time. If the distance between the current position of the traveling carriage and the drill floor at any sampling moment before the current sampling moment is less than a first distance threshold, and the distance between the current position of the traveling carriage and the drill floor at the current sampling moment is less than a second distance threshold, it is determined that there is a risk of collision between the traveling carriage and the drill floor, and a collision warning message is generated, and the first distance threshold is greater than the second distance threshold.

[0022] Optionally, the operating data of the execution device further includes:

[0023] The movement direction of the drill floor manipulator, the movement speed of the drill floor manipulator, the current position of the drill floor manipulator, the movement direction of the iron roughneck, the movement speed of the iron roughneck, and the current position of the iron roughneck;

[0024] Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes:

[0025] When it is determined that an extension line of the movement direction of the drill floor manipulator and an extension line of the movement direction of the iron roughneck are interfering, determining a third predicted position of the drill floor manipulator at each future sampling time based on the movement 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 based on the movement speed of the iron roughneck and the current position of the iron roughneck;

[0026] The obtained third predicted positions are matched with the obtained 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.

[0027] Optionally, when it is determined that there is no collision risk between the second-level platform manipulator and the traveling carriage, the method further includes:

[0028] If the moving direction of the traveling carriage is the direction approaching the drilling floor, the second predicted position of the traveling carriage at each future sampling moment is matched with the third predicted position of the drilling floor 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 collision risk between the traveling carriage and the drilling floor manipulator.

[0029] Optionally, the operating data of the execution device further includes:

[0030] The moving direction of the buffer manipulator, the moving speed of the buffer manipulator and the current position of the buffer manipulator;

[0031] Determining whether any two of the execution devices have a collision risk based on the current operating status of the execution devices includes:

[0032] Determining a fifth predicted position of the buffer manipulator at each future sampling moment according to the moving direction of the buffer manipulator, the moving speed of the buffer manipulator, and the current position of the buffer manipulator;

[0033] 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;

[0034] 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.

[0035] Optionally, matching the first predicted position corresponding to at least one sampling moment with the second predicted position corresponding to at least one sampling moment includes:

[0036] 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;

[0037] Matching the third predicted position corresponding to at least one sampling moment with the fourth predicted position corresponding to at least one sampling moment includes:

[0038] 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;

[0039] Matching the second predicted position corresponding to at least one sampling moment with the third predicted position corresponding to at least one sampling moment includes:

[0040] 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;

[0041] The fifth predicted position corresponding to at least one sampling moment matches the third predicted position corresponding to at least one sampling moment, comprising:

[0042] 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;

[0043] Matching the fifth predicted position corresponding to at least one sampling moment with the fourth predicted position corresponding to at least one sampling moment includes:

[0044] The distances between the fifth predicted position and the fourth predicted position corresponding to N consecutive sampling moments are all smaller than the seventh distance threshold.

[0045] Optionally, after determining that the execution device with a collision risk is a risky execution device, the method further includes:

[0046] Continuously record the operating status of each risk execution device at each sampling moment, generate a corresponding collision warning file based on the operating status of each risk execution device at each sampling moment, and store the collision warning file corresponding to each risk execution device in a designated location.

[0047] Optionally, the method further comprises:

[0048] 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 based on the target collision warning file.

[0049] In a second aspect of the present application, a drilling rig space safety management device is provided, comprising:

[0050] a data acquisition module configured to acquire operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with a 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;

[0051] 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 collision risk between any two execution devices, determine the execution devices with collision risk 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.

[0052] In a third aspect of the present application, a drilling rig space safety management system is provided, comprising:

[0053] The drilling rig space safety management device as described above; and

[0054] At least one data acquisition device is used to acquire the operating data of each execution device in the drilling rig system in real time.

[0055] 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.

[0056] 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.

[0057] The embodiments provided in this application have the following beneficial effects:

[0058] 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 obtained in real time based on the operating data of each execution device, and determines whether each execution device is a risk execution device based on the operating status of each execution device. It further performs collision warning monitoring 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.

[0059] Other features and advantages of the embodiments or implementations of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 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 detailed description, 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:

[0061] Figure 1 A flowchart schematically illustrates a method for managing drilling rig space safety according to an embodiment of the present application;

[0062] Figure 2 The structural diagram of the drilling rig system according to the embodiment of the present application is schematically shown;

[0063] Figure 3 A schematic diagram of a drilling rig system simulation model according to an embodiment of the present application is shown schematically;

[0064] Figure 4 Schematically shows a collision warning diagram of a drill manipulator and an iron roughneck in an embodiment of the present application;

[0065] Figure 5 A schematic block diagram of a drilling rig space safety management device according to an embodiment of the present application is schematically shown;

[0066] Figure 6 A schematic diagram of the structure of a terminal device in an embodiment of the present application is shown schematically.

[0067] Description of Reference Numerals

[0068] 10-terminal device, 100-processor, 101-memory, 102-computer program. DETAILED DESCRIPTION

[0069] The following describes the specific implementation of the embodiment of the present application in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present application and is not intended to limit the embodiment of the present application.

[0070] In order to solve the above problems, Figure 1 As shown, the first aspect of the present application provides a drilling rig space safety management method, comprising:

[0071] S100, acquiring operating data of each execution device in the drilling rig system in real time, associating the operating data of each execution device with a digital twin simulation model of the drilling rig system, and simulating the operating status of each execution device in the drilling rig system in real time through the digital twin simulation model;

[0072] S200. If it is determined based on the current operating status of each execution device that there is a collision risk between any two of the execution devices, the execution devices with the collision risk are determined to be risk execution devices, and the operating data of each risk execution device are continuously obtained. If it is determined based on the operating data of each risk execution device that at least one risk execution device is in the preset collision warning space of any other risk execution device, collision warning information is generated.

[0073] In this way, 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 obtained in real time based on the operating data of each execution device, and judges whether each execution device is a risk execution device based on the operating status of each execution device, and further performs collision warning monitoring 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.

[0074] like Figure 2As shown, the drilling rig system's execution equipment includes: a second-level platform manipulator mounted on the second-level platform of the derrick, a traveling block mounted within the derrick, a drill floor manipulator mounted on the drill deck, a roughneck mounted on the drill deck, a winch mounted on the drill deck, and a buffer manipulator mounted on the lower section of the derrick. The derrick is fixedly mounted on the drill deck, and the winch is used to control the vertical movement of the traveling block within the derrick. It is understood that a derrick typically consists of a derrick body, a herringbone frame, a crown block platform, a second-level platform, a work ladder, a riser platform, a drill floor, and a derrick base, which are used to mount and suspend lifting equipment and tools such as the crown block, traveling block, hook, lifting ring, hydraulic tongs, hydraulic tie-downs, lifting tongs, and elevators. In this application, the drilling rig system refers to the derrick and various drilling rig execution equipment mounted on the derrick, such as the drill floor manipulator, second-level platform manipulator, buffer manipulator, winch, and roughneck. The mounting structure of the derrick and various drilling rig execution equipment is conventional and will not be further described here.

[0075] Before obtaining the operating data of each execution device in the drilling rig system in real time, the method of the present application further includes:

[0076] S110, obtain the 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. For example, the environment and equipment data of the well site are collected through 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, the well site includes the ground, second-floor platform, drilling platform, derrick, traveling carriage, catwalk and other basic structures. Each device is modeled in detail according to the size, shape and function of the actual equipment.

[0077] S120: Determine the structural relationships between the various actuators in the drilling rig system and construct a logical model of the drilling rig system based on these relationships. The logical model simulates the drilling rig system and pre-configures virtual model motion logic consistent with the actual drilling rig system's control logic. When a control command is input, for example, when operating data from an actual actuator is received, the operating state of the twin model can synchronously reflect the actual operating state of the corresponding actuator, ensuring consistency between the twin model and the actual actuator's actions.

[0078] S130: Establish a data model for storing and updating the real-time operating data of each actuator in the drilling rig system. The data model is used to store information related to each actuator, such as the physical properties and control instructions of each actuator, for example, the real-time operating data of each actuator. The control instructions can be used to control the twin model. For example, when the real-time operating data of each actuator is updated, the twin model synchronously executes the corresponding operating status update.

[0079] S140: Couple the geometric model, logical model, and data model to obtain a digital twin simulation model of the drilling rig system. For example, the corresponding structures of each actuator device in the drilling rig system are bound to the corresponding structures of the digital twin model. Using the Unity software platform, a corresponding scene and interactive interface are built, and the corresponding functional logic is assigned to the controls. A model-controlled operational data information library is constructed and connected to store and transmit motion instruction parameters for the digital twin model, such as real-time operational data of the corresponding actuator devices. Simultaneously, an intuitive user interface is designed in Unity3D, including an equipment status monitoring panel, an important data information panel, and a data playback control panel, ensuring that users can easily operate and view equipment status, allowing users to freely roam the 3D scene of the well site and view detailed information on each device. By writing corresponding scripts and using Unity3D's physics engine to simulate the kinematic and dynamic behavior of each device, the operational status of each device is updated in real time based on actual operations, such as the extension and retraction of the manipulator, the movement of the traveling carriage, and the operation of the roughneck, ensuring that the simulation results are consistent with the actual situation. It is understood that the coupling process of the digital twin simulation model is prior art and is not limited here.

[0080] In step S100, the operating data of the execution device includes: the moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, the current position of the second-level platform manipulator, 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 moving direction, moving speed, current position of the second-level platform manipulator, moving speed, moving direction of the traveling carriage, and current position of the traveling carriage and other parameters of the second-level platform manipulator can be obtained by collecting the operating instructions of the corresponding equipment, for example, by synchronously receiving the operating instructions of each execution device, or by collecting them 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 manipulator's execution component, such as the gripper, in the extension and retraction direction, or, in order to provide more accurate collision warning, the moving speed of the manipulator can include the rotation speed and extension speed of the manipulator; the position of the manipulator refers to the position reached by the manipulator's execution component, or the position of the manipulator is the position reached by the manipulator's execution component and each monitoring point on the manipulator arm; the moving direction of the manipulator can include the rotation direction and extension direction of the manipulator.

[0081] In step S200, determining whether there is a collision risk between any two of the execution devices based on the current operating status of the execution devices includes:

[0082] S210: Determine a first predicted position of the second-level platform manipulator at each future sampling moment based on the moving direction, moving speed, and current position of the second-level platform manipulator, and determine a second predicted position of the traveling carriage at each future sampling moment based on the moving speed, moving direction, and current position of the traveling carriage. The first predicted position of the second-level 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 using the moving direction, moving speed, and current position of the second-level platform manipulator, as well as the moving speed, moving direction, and current position of the traveling carriage, or can be predicted using 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 the existing technology 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 the threshold, or the maximum number of iterations is reached, so as to obtain the position prediction model of the two-layer platform manipulator. Similarly, the position prediction models of other execution devices can be obtained.

[0083] 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 collision risk between the second-level platform manipulator and the traveling vehicle. 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 vehicle, and determine the risk execution device of the second-level platform manipulator and the traveling vehicle. 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. Specifically, for 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 vehicle at the corresponding sampling moment is less than the third distance threshold.

[0084] 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 floor, for example, the moving direction of the traveling carriage is the direction toward the drilling floor, then the current position of the traveling carriage at each sampling moment is continuously obtained 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 floor is less than the first distance threshold, and the distance between the current position of the traveling carriage 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 carriage and the drilling floor, and a collision warning message 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 surface, that is, the winch needs to avoid collision with the drilling surface during the process of lowering the traveling carriage, then the position of the traveling carriage is continuously monitored. If the distance between the traveling carriage and the drilling surface 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 surface is less than the second distance threshold, it is determined that the traveling carriage may collide with the drilling surface, and a collision warning message is generated at this time to prompt the staff.

[0085] In step S100, the operation data of the execution equipment also includes: the moving direction of the drilling floor manipulator, the moving speed of the drilling floor manipulator, the current position of the drilling floor 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 there is a collision risk between any two of the execution devices based on the current operating status of each execution device also includes:

[0086] S220: If it is determined that an extension of the movement direction of the drill floor manipulator interferes with an extension of the movement direction of the iron roughneck, a third predicted position of the drill floor manipulator at each future sampling time instant is determined based on the movement speed of the drill floor manipulator and the current position of the drill floor manipulator, and a fourth predicted position of the iron roughneck at each future sampling time instant is determined based on the movement speed of the drill floor manipulator and the current position of the iron roughneck. For example, if an extension of the movement direction of the drill floor manipulator, i.e., the extension direction of the extension, interferes with an extension of the extension direction of the iron roughneck actuator, the third predicted position of the drill floor manipulator at each future sampling time instant and the fourth predicted position of the iron roughneck at each future sampling time instant are calculated, respectively. The calculation method of the third predicted position and the fourth predicted position are the same as those of step S210 and are not limited herein.

[0087] S221: Match each obtained third predicted position with each obtained 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, determine 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, then determine that there is a collision risk between the drill floor manipulator and the iron roughneck, and determine that the drill floor manipulator and the iron roughneck are risk-executing devices.

[0088] It can be understood that when the drilling table manipulator performs 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 performs a rotation operation, the predicted positions of the manipulator's execution components and each monitoring point on the manipulator arm at multiple future sampling moments 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.

[0089] In the present application, when it is determined that there is no collision risk between the second-level platform manipulator and the traveling carriage, the method further includes: if the traveling carriage is moving in a direction approaching the drill floor, matching the second predicted position of the traveling carriage at each future sampling moment with the third predicted position of the drill floor 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 a fifth distance threshold, then it is determined that there is a collision risk between the traveling carriage and the drill floor manipulator. For example, when it is determined that there is no collision risk between the traveling carriage and the second-level platform manipulator, if it is determined that the traveling carriage is moving in a direction toward the drill floor, the position of the traveling carriage is continuously monitored, and if at least one second predicted position of the traveling carriage at each future sampling moment matches any third predicted position of the drill floor manipulator at the corresponding sampling moment, then it is determined that the movement path of the traveling carriage may interfere with the movement path of the drill floor manipulator.

[0090] In step S100, the operating 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, determining whether there is a collision risk between any two of the execution devices based on the current operating status of each execution device includes:

[0091] S230: Determine the fifth predicted position of the buffer manipulator at each future sampling time based on the moving direction, moving speed, and current position of the buffer manipulator. The calculation method of the fifth predicted position is the same as that of step S210 and is not limited here.

[0092] S240: 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 understood that the buffer manipulator may collide with the drill floor manipulator and the iron roughneck during operation. Therefore, the present application further matches the predicted positions of the buffer manipulator, the drill floor manipulator, and the iron roughneck. It is understood that in the present application, the predicted position of each execution device at each sampling moment may be the predicted position of each monitoring point of each execution device at each sampling moment.

[0093] 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 collision risk 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 roughneck at the corresponding sampling moment is less than the seventh distance threshold, then it is determined that there is a collision risk between the buffer manipulator and the iron roughneck.

[0094] 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 the 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 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 based on the target collision warning file.

[0095] For example, when the system detects a risky execution device, the collision information is automatically stored during the collision warning process. For example, animated images of the simulation process of the digital twin simulation model are collected 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, a more intuitive and detailed display of the equipment operating status and fault cause analysis can be provided, 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.

[0096] like Figure 5 As shown, in a second aspect of the present application, a drilling rig space safety management device is provided, comprising:

[0097] a data acquisition module configured to acquire operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with a 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;

[0098] 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 collision risk between any two execution devices, determine the execution devices with collision risk 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.

[0099] It is understandable that those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0100] In a third aspect of the present application, a drilling rig space safety management system is provided, comprising:

[0101] The drilling rig space safety management device as described above; and

[0102] At least one data acquisition device is used to acquire the operating data of each execution device in the drilling rig system in real time.

[0103] 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.

[0104] 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.

[0105] like Figure 6 The figure shows a schematic diagram of a terminal device provided by 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 of the above-described method embodiment are implemented. Alternatively, when the processor 100 executes the computer program 102, the functions of the modules / units in the above-described apparatus embodiments are implemented.

[0106] Exemplarily, the computer program 102 may be divided into one or more modules / units, one or more of which are stored in the memory 101 and executed by the processor 100 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 102 in the terminal device 10.

[0107] 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 understand 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.

[0108] The processor 100 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0109] The memory 101 can be an internal storage unit of the terminal device 10, such as the terminal device 10's hard drive or memory. Alternatively, the memory 101 can be an external storage device of the terminal device 10, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Furthermore, the memory 101 can include both the terminal device 10's internal storage unit 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 can also be used to temporarily store data that has been output or is about to be output.

[0110] 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 take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0112] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A drilling rig space safety management method, characterized in that: include: Acquire the operating data of each executive device in the drilling rig system in real time, and associate the operating data of each executive device with the digital twin simulation model of the drilling rig system to simulate the operating status of each executive 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 collision risk between any two execution devices, the execution devices with the collision risk 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 a preset collision warning space of any other risk execution device, a collision warning message is generated; The execution equipment of the drilling rig system includes: The second-level manipulator installed on the second-level platform of the derrick, the traveling block installed in the derrick, the drilling floor manipulator installed on the drilling floor, the iron roughneck installed on the drilling floor, the winch installed on the drilling floor and the 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 vertical movement of the traveling block in the derrick; Before obtaining the operating 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 construct 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 a logical model of the drilling rig system based on the structural relationship; Establish a data model for storing and updating the real-time operating data of each executive device in the drilling rig system; The geometric model, logical model and data model are coupled to obtain a digital twin simulation model of the drilling rig system; Execute equipment operating data, including: The moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, the current position of the second-level 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-level platform manipulator at each future sampling moment based on the moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, and the current position of the second-level platform manipulator, and determine the second predicted position of the traveling carriage at each future sampling moment based on 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 obtained 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.

2. The drilling rig space safety management method according to claim 1, characterized in that: When it is determined that there is no collision risk between the second-level platform manipulator and the traveling carriage, the method further includes: If the moving direction of the traveling carriage is the direction approaching the drill floor, the current position of the traveling carriage at each sampling moment is obtained in real time. If the distance between the current position of the traveling carriage and the drill floor at any sampling moment before the current sampling moment is less than a first distance threshold, and the distance between the current position of the traveling carriage and the drill floor at the current sampling moment is less than a second distance threshold, it is determined that there is a risk of collision between the traveling carriage and the drill floor, and a collision warning message is generated, and the first distance threshold is greater than the second distance threshold.

3. The drilling rig space safety management method according to claim 1, characterized in that: The operating data of the execution equipment also includes: The movement direction of the drill floor manipulator, the movement speed of the drill floor manipulator, the current position of the drill floor manipulator, the movement direction of the iron roughneck, the movement 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: When it is determined that an extension line of the movement direction of the drill floor manipulator and an extension line of the movement direction of the iron roughneck are interfering, determining a third predicted position of the drill floor manipulator at each future sampling time based on the movement 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 based on the movement speed of the iron roughneck and the current position of the iron roughneck; The obtained third predicted positions are matched with the obtained 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.

4. The drilling rig space safety management method according to claim 3, characterized in that: When it is determined that there is no collision risk between the second-level platform manipulator and the traveling carriage, the method further includes: If the moving direction of the traveling carriage is the direction approaching the drilling floor, the second predicted position of the traveling carriage at each future sampling moment is matched with the third predicted position of the drilling floor 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 collision risk between the traveling carriage and the drilling floor manipulator.

5. 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 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: Determining a fifth predicted position of the buffer manipulator at each future sampling moment 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.

6. The drilling rig space safety management method according to claim 5, characterized in that: Matching a first predicted position corresponding to at least one sampling moment with a second predicted position corresponding to at least one sampling moment includes: 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; Matching the third predicted position corresponding to at least one sampling moment with the fourth predicted position corresponding to at least one sampling moment includes: 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; Matching the second predicted position corresponding to at least one sampling moment with the third predicted position corresponding to at least one sampling moment includes: 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; Matching the fifth predicted position corresponding to at least one sampling moment with the fourth predicted position corresponding to at least one sampling moment includes: The distances between the fifth predicted position and the fourth predicted position corresponding to N consecutive sampling moments are all smaller than the seventh distance threshold.

7. 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 moment, generate a corresponding collision warning file based on the operating status of each risk execution device at each sampling moment, and store the collision warning file corresponding to each risk execution device in a designated location.

8. The drilling rig space safety management method according to claim 7, 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 based on the target collision warning file.

9. A drilling rig space safety management device, characterized in that: include: a data acquisition module configured to acquire operating data of each execution device in the drilling rig system in real time, and associate the operating data of each execution device with a 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 any two of the execution devices have a collision risk, determine the execution device with the collision risk as a risk execution device, continuously obtain operating data of each risk execution device, and if it is determined based on the operating data of each risk execution device that at least one risk execution device is within a preset collision warning space of any other risk execution device, generate collision warning information; The execution equipment of the drilling rig system includes: The second-level manipulator installed on the second-level platform of the derrick, the traveling block installed in the derrick, the drilling floor manipulator installed on the drilling floor, the iron roughneck installed on the drilling floor, the winch installed on the drilling floor and the 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 vertical movement of the traveling block in the derrick; Before obtaining the operating 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 construct 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 a logical model of the drilling rig system based on the structural relationship; Establish a data model for storing and updating the real-time operating data of each executive device in the drilling rig system; The geometric model, logical model and data model are coupled to obtain a digital twin simulation model of the drilling rig system; Execute equipment operating data, including: The moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, the current position of the second-level 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-level platform manipulator at each future sampling moment based on the moving direction of the second-level platform manipulator, the moving speed of the second-level platform manipulator, and the current position of the second-level platform manipulator, and determine the second predicted position of the traveling carriage at each future sampling moment based on 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 obtained 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.

10. A drilling rig space safety management system, characterized in that: include: The drilling rig space safety management device as claimed in claim 9; as well as At least one data acquisition device is used to acquire the operating data of each execution device in the drilling rig system in real time.

11. A computer-readable storage medium, characterized in that The computer program stores a computer program which, when executed by a processor, causes the processor to execute the drilling rig space safety management method according to any one of claims 1 to 8.

12. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the drilling rig space safety management method described in any one of claims 1 to 8 is implemented.

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