Method and system for monitoring lifting state of derrick

Abstract

The invention relates to the technical field of fault diagnosis of mechanical equipment, in particular to a derrick lifting state monitoring method and system.The monitoring method comprises the following steps that in the derrick lifting process, derrick stress data, derrick deflection data and stroke data of a buffer hydraulic cylinder are collected in real time and transmitted; the data are received and processed, and the current derrick bearing stress, derrick steel structure perpendicularity and buffer hydraulic cylinder stroke synchronization degree are determined; according to the fitting relation between the current derrick bearing stress and the derrick steel structure perpendicularity, the initial state of the derrick is determined; and based on the determined initial state of the derrick, the current derrick lifting state is determined in combination with the stroke synchronization degree of the buffer hydraulic cylinder, and derrick lifting state monitoring is achieved. By means of the monitoring method and system, the lifting and placing skewness of the derrick can be monitored in real time, and the derrick state is comprehensively monitored in the lifting process.

Description

Technical Field

[0001] The present invention relates to the technical field of fault diagnosis of mechanical equipment, and particularly to a method and system for monitoring the lifting state of a derrick. Background Art

[0002] The derrick is used for the installation and support of the crown block, traveling block, and hook, and is the core load-bearing component of an oil drilling rig. Its safety and load-bearing capacity are directly related to the production capacity of the entire drilling rig system. Before the derrick is lifted, it is assembled on the ground, and the hoisting and lowering are completed by using the power of the drawworks through the traveling system, balance pulley, A-frame, guide pulley, etc. During the lifting process, the resonant load has a significant impact on the stability of the derrick, especially the bending load generated by the self-weight of the derrick during the lifting process, the dynamic load that changes with time, and the vibration effect of the steel structure, resulting in the derrick being deflected during the lifting process and then failing, being damaged, and having a reduced load-bearing capacity. Therefore, in engineering, the derrick lifting process is classified as an important working condition in addition to the hook load and wind load working conditions. The load-bearing capacity of the derrick is related to parameters such as the wellhead alignment and levelness. If the derrick is deflected during the lifting process, it will directly affect the later load-bearing capacity of the derrick, and in severe cases, it may even collapse during the lifting process.

[0003] Most monitoring systems related to oil extraction operations only focus on parameter monitoring during the drilling process and ignore the state monitoring of the derrick lifting and lowering process. With the continuous improvement of production safety requirements, the drilling industry has an increasing demand for a real-time monitoring system for derrick lifting and lowering. Therefore, there is an urgent need to develop a system that can monitor the real-time deflection of the derrick during lifting and lowering, and dynamically monitor the derrick state during the lifting process to ensure that the derrick meets the subsequent drilling requirements and avoid safety accidents caused by derrick deflection.

[0004] An attitude sensor (E.T-ahrs) is a high-performance three-dimensional motion attitude measurement system based on microelectromechanical system (MEMS) technology. It includes a three-axis gyroscope, a three-axis accelerometer (IMU), and auxiliary motion sensors such as a three-axis electronic compass. It outputs calibrated angular velocity, acceleration, and magnetic data through an embedded low-power ARM processor, and measures the motion attitude through a sensor data algorithm based on quaternions, and real-time outputs three-dimensional attitude data with zero drift represented by quaternions, Euler angles, etc. After years of technological development, it has now been widely used in the information management of the aviation, oil, and construction industries.

[0005] In the prior art, a Chinese utility model patent document with a publication number of CN204941516 and an authorization announcement date of January 6, 2016 was proposed. The technical solution disclosed in this patent document is as follows: A monitoring system for the hoisting and lowering of the derrick of a vehicle-mounted drilling rig and a vehicle-mounted workover rig, which consists of an inclination sensor, a displacement sensor, a position sensor, a data acquisition and bus communication module, a power cable, a communication cable, and a host of the monitoring system for the hoisting and lowering of the derrick. This utility model uses an inclination sensor to detect the inclination of the lower derrick with respect to the earth's center, a displacement sensor to detect the relative lifting and lowering positions of the upper derrick and the lower derrick, and a position sensor to detect the opening or locking state of the derrick locking block.

[0006] In the actual use process of the above technical solution, the following problems will occur:

[0007] The above technical solution is only applicable to the telescopic two-section derrick configured for a vehicle-mounted drilling and workover rig. Its main functions are reflected in the monitoring of the relative lifting and lowering positions of the upper and lower sections of the telescopic derrick, and the monitoring of the locking state of the special derrick telescopic locking block for the telescopic derrick. However, it does not have the functions of real-time monitoring of the lifting speed, radial deflection, overall derrick deflection, and stress at the stress concentration part that are concerned on-site during the lifting process of the K-type derrick. Therefore, the above technical solution cannot effectively improve the safety of the lifting and lowering process of the on-site K-type derrick. Summary of the Invention

[0008] To solve the above technical problems, the present invention proposes a derrick lifting state monitoring method and system, which can monitor the derrick lifting and lowering deflection in real time and comprehensively monitor the derrick state during the lifting process.

[0009] The present invention is realized by adopting the following technical solutions:

[0010] A derrick lifting state monitoring method includes the following steps:

[0011] Step S 1 . Data acquisition and transmission: During the derrick lifting process, the derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinder are collected in real time and transmitted;

[0012] Step S 2 . Data processing: Receive the data in Step S 1 and process it to determine the current derrick bearing stress, derrick steel structure verticality, and buffer hydraulic cylinder stroke synchronization;

[0013] Step S 3 . Data analysis: According to the fitting relationship between the current derrick bearing stress and the derrick steel structure verticality, determine the preliminary derrick state;

[0014] Step S 4.Status determination: Based on the determined preliminary status of the derrick and combined with the stroke synchronization degree of the buffer hydraulic cylinder, determine the current hoisting status of the derrick to achieve the monitoring of the derrick hoisting status.

[0015] The preliminary status of the derrick includes stable and pending.

[0016] The stroke synchronization degree of the buffer hydraulic cylinder includes forward synchronization, complete synchronization, and reverse synchronization.

[0017] The step S 4 Specifically: When the preliminary status of the derrick is stable and the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization, the derrick is in the operation warning state; when the preliminary status of the derrick is stable and the stroke synchronization degree of the buffer hydraulic cylinder is complete synchronization or reverse synchronization, the derrick is in the safe state; when the preliminary status of the derrick is pending and the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization, the derrick is in the operation warning state; when the preliminary status of the derrick is pending and the stroke synchronization degree of the buffer hydraulic cylinder is complete synchronization or reverse synchronization, the derrick is in the operation monitoring reminder state.

[0018] The step S 3 Specifically includes the following steps:

[0019] Step S 31 .Collect the derrick bearing stress and the perpendicularity of the derrick steel structure in the historical safe state of the derrick, perform relationship fitting, determine the fitting relationship between different derrick bearing stresses and the perpendicularity of the derrick steel structure, and store it in the dynamic response table;

[0020] Step S 32 .Determine the fitting relationship between the current derrick bearing stress and the perpendicularity of the derrick steel structure, and judge whether it exists in the dynamic response table; if so, the preliminary status of the derrick is stable; if not, the preliminary status of the derrick is pending.

[0021] The step S 2 The method for determining the stroke synchronization degree of the buffer hydraulic cylinder in S is: construct the corresponding relationship between the standard stroke of the buffer hydraulic cylinder and the drilling operation load stress; determine the actual stroke and the standard stroke of the buffer hydraulic cylinder corresponding to the current drilling operation load stress; determine the difference between the actual stroke and the standard stroke. When the difference is greater than 0, the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization. When the difference is 0, the stroke synchronization degree of the buffer hydraulic cylinder is complete synchronization. When the difference is less than 0, the stroke synchronization degree of the buffer hydraulic cylinder is reverse synchronization.

[0022] The step S 2 The method for determining the current derrick bearing stress in S is:

[0023] Step S 2A1 .Construct a finite element model of the derrick;

[0024] Step S 2A2 . Perform a static analysis on the constructed finite element model to determine the initial structural weak points of the derrick;

[0025] Step S 2A3 . During the derrick hoisting operation, collect the initial stress data at the initial structural weak points;

[0026] Step S 2A4 . Modify the finite element model according to the collected initial stress data;

[0027] Step S A25 . Perform a static analysis on the modified finite element model to determine the real-time structural weak points of the derrick;

[0028] Step S 2A6 . Substitute the stress data collected at the real-time structural weak points into the finite element model to obtain the current derrick bearing stress.

[0029] The said Step S 2 The method for determining the perpendicularity of the current derrick steel structure is as follows:

[0030] Step S 2B1 . Obtain the distance data and attitude angle data of the derrick measurement points;

[0031] Step S 2B2 . Calculate the three-dimensional coordinates of the measurement points according to the distance data and attitude angle data of the derrick measurement points;

[0032] Step S 2B3 . Perform translation and rotation processing on the three-dimensional coordinates of the measurement points and convert them to the same coordinate system to obtain the converted coordinates;

[0033] Step S 2B4 . Calculate the inclination angle of the derrick measurement points according to the converted coordinates, and then determine the perpendicularity of the current derrick steel structure.

[0034] The said Step S 2B2 The three-dimensional coordinates (x n , y n , z n ) of the measurement points are:

[0035]

[0036] In the formula, L n is the distance from any point on the plane formed by the measurement points to the measurement point to be measured, α n is the angle between the line segment between any point on the plane formed by the measurement points and the measurement point to be measured and the plane, β n is the angle between the line segment between any point on the plane formed by the measurement points and the measurement point and the horizontal plane, and it satisfies

[0037] The said step S 2B3 Specifically:

[0038] Translate the plane ABCD formed by the points to be measured A, B, C, and D to the plane A 1 B 1 C 1 D 1 After that, rotate A 1 B 1 C 1 D 1 to the plane A 2 B 2 C 2 D 2 to obtain the coordinates of the points to be measured after transformation A 2 , B 2 , C 2 and D 2 respectively as:

[0039] A 2 :

[0040] B 2 :

[0041] C 2 :(0,0)

[0042] D 2 :

[0043] In the formula, x 23 = x 2 - x 3 , y 23 = y 2 - y 3 , x 43 = x 4 - x 3 , y 43 = y 4 - y 3 , where (x 2 , y 2 ) are the horizontal and vertical coordinates of the point to be measured B, (x 3 , y 3 ) are the horizontal and vertical coordinates of the point to be measured C, (x 4 , y 4 ) are the horizontal and vertical coordinates of the point to be measured D;

[0044] In the said step S 2B4 , the inclination angle α of the derrick point to be measured is:

[0045]

[0046] In the formula, V 1 is the normal vector of plane A 1 B 1 C 1 D 1 .

[0047] A derrick lifting state monitoring system includes a data acquisition module, a client, and a communication device serving as a data communication medium between the data acquisition module and the client; the client includes a data processing unit, a data analysis unit, and a database;

[0048] The data acquisition module is used to collect derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinder during the derrick lifting process, and transmit them to the client through the communication device;

[0049] The data processing unit is used to receive the data collected by the data acquisition module, analyze and process it, and obtain the current derrick bearing stress, the perpendicularity of the derrick steel structure, and the synchronization degree of the buffer hydraulic cylinder stroke;

[0050] The data analysis unit is used to analyze and determine the preliminary state of the derrick in real time according to the current derrick bearing stress and the perpendicularity of the derrick steel structure, and combine with the synchronization degree of the buffer hydraulic cylinder stroke to determine the current derrick lifting state in real time;

[0051] The database is used to store the received data, the data analysis process, and the result data.

[0052] The client further includes a visualization component, which is used to display the real-time derrick bearing stress change curve, the derrick steel structure perpendicularity change curve, the buffer hydraulic cylinder balance state change curve, and the derrick lifting state according to the data analysis process and the result data.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0054] 1. This method can monitor and analyze multiple parameters during the derrick lifting process, and give early warnings under dangerous working conditions, which can effectively improve the safety during the derrick lifting process of the drilling rig: By using the attitude sensing technology, a set of derrick lifting state monitoring system is formed, which can realize multi-parameter real-time monitoring, analysis of the lifting speed, multi-directional deflection angle of the derrick, and stress value at the connection during the derrick lifting process, and give early warnings under dangerous working conditions to ensure the safe and smooth operation of the derrick lifting process. By arranging stress sensors at the contact parts of the lifting buffer cylinder, the force balance of the derrick during the lifting process is monitored in real time to ensure that the derrick after lifting can meet the requirements of subsequent drilling and production operations, and avoid safety accidents caused by derrick deflection.

[0055] 2. In the present invention, by constructing a finite element model for static analysis, the weak points in the overall structure of the derrick are obtained, and the stress conditions of the weak points are focused on in the later stage. Then, the current bearing stress is determined according to the stress. The bearing stress determined by this method has higher accuracy compared to the bearing stress obtained by randomly selecting stress data at average or random sampling points in the conventional method, and can better reflect the safe bearing capacity of the derrick, making the overall process of derrick lifting state monitoring more accurate and reliable.

[0056] 3. In the present invention, by combining the distance data of the derrick measurement points with the attitude angle data, the perpendicularity of the steel structure is jointly determined, which has higher accuracy compared to simply using one type of sensing data to determine the perpendicularity. At the same time, the perpendicularity data obtained by combining the two types of sensing data can more accurately reflect the dynamic change process of derrick lifting.

[0057] 4. In the present invention, by collecting the actual fitting relationship between the bearing stress and the perpendicularity of the steel structure of the derrick in real time and comparing it with the fitting relationship under safe stress conditions, the preliminary state of the derrick at the current derrick lifting angle can be obtained to guide on-site operations. Compared to simply using stress to judge the derrick state, the obtained safety judgment result of the derrick state is more accurate and is more conducive to guiding on-site operations of the derrick. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The present invention will be further described in detail below in conjunction with the drawings in the specification and specific embodiments, where:

[0059] Figure 1 is a schematic structural diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0060] Example 1

[0061] As a basic embodiment of the present invention, the present invention includes a method for monitoring the lifting state of a derrick, which includes the following steps:

[0062] Step S 1 . Data collection and transmission: During the derrick lifting process, the derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinder are collected in real time and transmitted to step S 2 .

[0063] Step S 2 . Data processing: Receive the data in step S 1 and process it to determine the current derrick bearing stress, the perpendicularity of the derrick steel structure, and the synchronization degree of the buffer hydraulic cylinder stroke.

[0064] Step S 3.Data analysis: Determine the preliminary state of the derrick according to the fitting relationship between the current derrick bearing stress and the perpendicularity of the derrick steel structure.

[0065] Step S 4 .State determination: Based on the determined preliminary state of the derrick and combined with the stroke synchronization of the buffer hydraulic cylinder, determine the current derrick lifting state to realize the monitoring of the derrick lifting state.

[0066] Embodiment 2

[0067] As a preferred embodiment of the present invention, the present invention includes a method for monitoring the derrick lifting state, which includes the following steps:

[0068] Step S 1 .Data acquisition and transmission: During the derrick lifting process, collect the derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinder in real time, and transmit them to Step S 2 .

[0069] Step S 2 .Data processing: Receive the data in Step S 1 and process it to determine the current derrick bearing stress, the perpendicularity of the derrick steel structure, and the stroke synchronization of the buffer hydraulic cylinder. The stroke synchronization of the buffer hydraulic cylinder includes forward synchronization, full synchronization, and reverse synchronization.

[0070] Step S 3 .Data analysis: Determine the preliminary state of the derrick according to the fitting relationship between the current derrick bearing stress and the perpendicularity of the derrick steel structure. The preliminary state of the derrick includes stable and pending.

[0071] Among them, the derrick bearing stress is the stress value collected by the strain sensors arranged at the stress concentration parts during the derrick lifting process, and this stress value changes non-linearly with the derrick lifting angle (perpendicularity). However, during the lifting process, the maximum bearing stress of the derrick should not exceed the yield limit of the derrick steel. By fitting the derrick bearing stress and the perpendicularity of the steel structure during historical safe lifting according to parameters such as the safety factor, the fitting relationship under the safe stress condition during the derrick lifting process can be obtained. By comparing the actual fitting relationship between the derrick bearing stress and the perpendicularity of the steel structure collected in real time with the fitting relationship under the safe stress condition, the preliminary state of the derrick at the current derrick lifting angle can be obtained to guide the on-site operation. Compared with simply using stress to judge the derrick state, the obtained judgment result of the derrick state safety is more accurate and is more conducive to guiding the on-site operation of the derrick.

[0072] Step S 4. Status determination: Based on the determined preliminary status of the derrick and combined with the stroke synchronization degree of the buffer hydraulic cylinder, determine the current lifting status of the derrick to achieve the monitoring of the derrick lifting status: When the preliminary status of the derrick is stable and the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization, the derrick is in the operation warning state; When the preliminary status of the derrick is stable and the stroke synchronization degree of the buffer hydraulic cylinder is full synchronization or reverse synchronization, the derrick is in the safe state; When the preliminary status of the derrick is to be determined and the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization, the derrick is in the operation warning state; When the preliminary status of the derrick is to be determined and the stroke synchronization degree of the buffer hydraulic cylinder is in full synchronization or reverse synchronization, the derrick is in the operation monitoring reminder state.

[0073] Embodiment 3

[0074] As another preferred embodiment of the present invention, the present invention includes a method for monitoring the lifting status of a derrick, comprising the following steps:

[0075] Step S 1 . Data acquisition and transmission: During the derrick lifting process, collect the derrick stress data, derrick deviation data, and the stroke data of the buffer hydraulic cylinder in real time, and transmit them to step S 2 .

[0076] Step S 2 . Data processing: Receive the data in step S 1 and process it to determine the current derrick bearing stress, the perpendicularity of the derrick steel structure, and the stroke synchronization degree of the buffer hydraulic cylinder.

[0077] Among them, the method for determining the current derrick bearing stress is:

[0078] Step S 2A1 . Build a finite element model of the derrick;

[0079] Step S 2A2 . Conduct a static analysis on the built finite element model to determine the initial structural weak points of the derrick;

[0080] Step S 2A3 . During the derrick lifting operation, collect the initial stress data at the initial structural weak points;

[0081] Step S 2A4 . According to the collected initial stress data, modify the finite element model;

[0082] Step S A25 . Conduct a static analysis on the modified finite element model to determine the real-time structural weak points of the derrick;

[0083] Step S 2A6. Substitute the stress data collected from the real-time structural weak points into the finite element model to obtain the current derrick bearing stress.

[0084] The method for determining the perpendicularity of the derrick steel structure is as follows:

[0085] Step S 2B1 . Obtain the distance data and attitude angle data of the derrick measurement points;

[0086] Step S 2B2 . Calculate the three-dimensional coordinates of the measurement points according to the distance data and attitude angle data of the derrick measurement points;

[0087] Step S 2B3 . Perform translation and rotation processing on the three-dimensional coordinates of the measurement points to convert them to the same coordinate system to obtain the converted coordinates;

[0088] Step S 2B4 . Calculate the inclination angle of the derrick measurement points according to the converted coordinates, and then determine the perpendicularity of the derrick steel structure.

[0089] The method for determining the stroke synchronization of the buffer hydraulic cylinder is as follows:

[0090] Construct the corresponding relationship between the standard stroke of the buffer hydraulic cylinder and the drilling operation load stress; determine the actual stroke and standard stroke of the buffer hydraulic cylinder corresponding to the current drilling operation load stress; determine the difference between the actual stroke and the standard stroke. When the difference is greater than 0, the stroke synchronization of the buffer hydraulic cylinder is positive synchronization. When the difference is 0, the stroke synchronization of the buffer hydraulic cylinder is complete synchronization. When the difference is less than 0, the stroke synchronization of the buffer hydraulic cylinder is reverse synchronization.

[0091] Step S 3 . Data analysis: Determine the preliminary state of the derrick according to the fitting relationship between the current derrick bearing stress and the perpendicularity of the derrick steel structure. Specifically, it includes the following steps:

[0092] Step S 31 . Collect the derrick bearing stress and the perpendicularity of the derrick steel structure in the historical derrick safety state, perform relationship fitting, determine the fitting relationship between different derrick bearing stresses and the perpendicularity of the derrick steel structure, and store it in the dynamic response table;

[0093] Step S 32 . Determine the fitting relationship between the current derrick bearing stress and the perpendicularity of the derrick steel structure, and judge whether it exists in the dynamic response table; if so, the preliminary state of the derrick is stable; if not, the preliminary state of the derrick is to be determined.

[0094] Step S 4. Status determination: Based on the determined preliminary status of the derrick and combined with the stroke synchronization degree of the buffer hydraulic cylinders, the current derrick hoisting status is determined to achieve the monitoring of the derrick hoisting status. When the preliminary derrick status is stable and the stroke synchronization degree of the buffer hydraulic cylinders is forward synchronization, the derrick is in the operation warning state. When the preliminary derrick status is stable and the stroke synchronization degree of the buffer hydraulic cylinders is full synchronization or reverse synchronization, the derrick is in the safe state. When the preliminary derrick status is to be determined and the stroke synchronization degree of the buffer hydraulic cylinders is forward synchronization, the derrick is in the operation warning state. When the preliminary derrick status is to be determined and the stroke synchronization degree of the buffer hydraulic cylinders is full synchronization or reverse synchronization, the derrick is in the operation monitoring reminder state.

[0095] Embodiment 4

[0096] As another preferred embodiment of the present invention, the present invention includes a derrick hoisting status monitoring system, which includes a data acquisition module, a client, and a communication device.

[0097] The data acquisition module is used to collect the derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinders during the derrick hoisting process, and transmit them to the client through the communication device.

[0098] The communication device serves as the data communication medium between the data acquisition module and the client.

[0099] The client is used to control the data acquisition work of the data acquisition module, analyze and process the received data, analyze the derrick hoisting status in real time, and then perform derrick hoisting control based on it. Specifically, the client includes a data processing unit, a data analysis unit, and a database.

[0100] Among them, the data processing unit is used to analyze and process the received data to obtain the current derrick bearing stress, the perpendicularity of the derrick steel structure, and the stroke synchronization degree of the buffer hydraulic cylinders. The data analysis unit is used to analyze and determine the dynamic response during the derrick hoisting process based on the current derrick bearing stress and the perpendicularity of the derrick steel structure, and in combination with the stroke synchronization degree of the buffer hydraulic cylinders, determine the safety level of the derrick hoisting status in real time. The database is used to store the received data, the data analysis process, and the result data.

[0101] Embodiment 5

[0102] As the best embodiment of the present invention, the present invention includes a derrick hoisting status monitoring system, which includes a data acquisition module, a client, and a communication device.

[0103] The data acquisition module is used to collect the derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinder during the derrick hoisting process, and transmit them to the client through a communication device. Specifically, the data acquisition module includes an attitude sensor, a stress detection sensor, a displacement sensor, and an acceleration sensor. Among them, the attitude sensor is arranged at the lower part of the derrick and is used to collect the derrick deflection angle data; the stress detection sensor is arranged in the middle of the derrick and is used to collect the stress data during the derrick hoisting process; the displacement sensor and the acceleration sensor are arranged at the buffer hydraulic cylinder and are used to collect the stroke data of the buffer hydraulic cylinder.

[0104] Specifically, during the derrick hoisting process, the derrick rotates and rises around the bottom hinge point as a whole. The equipment included in the derrick hoisting process includes the gin pole, the hoisting wire rope, the fast line, the winch, the crown block, etc. By reversing the small winch and passing the steel wire rope through the wire rope guide pulley at the base, and then through the gin pole crossbeam guide pulley, the crown block fast line guide pulley, the traveling block pulley and other parts, and fixing it with wire rope clips. Therefore, during the derrick hoisting process, it is necessary to collect the derrick stress data; in addition, although both the derrick hoisting process and the derrick inclination are manifested as the rotation and angle change of the derrick, there are great differences in their boundary conditions and force conditions. During the derrick hoisting process, the stress and strain of the derrick are mainly caused by its own gravity. The derrick inclination occurs after the derrick base has been installed in place. At this time, the derrick not only bears its own gravity, but also bears the hook load and other external forces. Among them, the hook load can be simplified as acting on the top end point of the derrick. During the derrick hoisting process, only the bottom hinge point of the derrick is restricted, while when the derrick inclines, the entire lower contact surface of the derrick will be restricted by the gin pole. When the derrick is hoisted, due to the existence of the hoisting wire rope and the fast line, a large part of the derrick self-weight is shared. While when the derrick inclines, all loads will directly act on each part of the derrick. Therefore, it is necessary to collect the real-time data of the derrick inclination angle. Moreover, during the process of controlling the derrick hoisting by the above various equipment through the buffer hydraulic cylinder, the synchronization between the buffer hydraulic cylinder and the derrick hoisting process is also very important. If the two are not synchronized, it is very easy to cause the derrick hoisting to get out of control, different from the preset situation, and then cause the risk of derrick inclination or even collapse.

[0105] The communication device serves as the data communication medium between the data acquisition module and the client. Specifically, the communication device includes a data transmission module, a wireless AP, and a router. Among them, the data transmission module is connected to each sensor and is wirelessly communicatively connected to the wireless AP, and the wireless AP is connected to the client through the router.

[0106] The client is used to control the data acquisition work of the data acquisition module, analyze and process the received data, analyze the hoisting state of the derrick in real time, and then perform derrick hoisting control based on it. Specifically, the client includes a data processing unit, a data analysis unit, a database, and a visualization component.

[0107] Among them, the data processing unit is used to analyze and process the received data to obtain the current derrick bearing stress, derrick steel structure verticality, and buffer hydraulic cylinder stroke synchronization. The data analysis unit is used to analyze and determine the dynamic response during the derrick hoisting process based on the current derrick bearing stress and derrick steel structure verticality, and combine with the buffer hydraulic cylinder stroke synchronization to determine the safety level of the derrick hoisting state in real time. The database is used to store the received data, data analysis process, and result data. The visualization component is used to display the real-time derrick bearing stress change curve, derrick steel structure verticality change curve, buffer hydraulic cylinder balance state change curve, and hoisting state according to the data analysis process and result data, so that the monitoring results can be displayed in the form of graphs or data.

[0108] A derrick hoisting state monitoring method is implemented based on the above monitoring system. Refer to the attached Figure 1 description, and includes the following steps:

[0109] Step S 1 . Data acquisition and transmission: During the derrick hoisting process, the data acquisition module real-time collects derrick stress data, derrick deflection data, and the stroke data of the buffer hydraulic cylinder, and transmits them to the client through the communication device.

[0110] Step S 2 . Data processing: The data processing unit in the client receives the data in Step S 1 , and processes it to determine the current derrick bearing stress, derrick steel structure verticality, and buffer hydraulic cylinder stroke synchronization.

[0111] Furthermore, the method for determining the current derrick bearing stress in Step S 2 is as follows:

[0112] Step S 2A1 . Construct a finite element model of the derrick;

[0113] Step S 2A2 . Perform a static analysis on the constructed finite element model to determine the initial structural weak points of the derrick;

[0114] Step S 2A3 . During the derrick hoisting operation, collect the initial stress data at the initial structural weak points;

[0115] Step S 2A4. Modify the finite element model according to the collected initial stress data;

[0116] Step S A25 . Perform a static analysis on the modified finite element model to determine the real-time structural weak points of the derrick;

[0117] Step S 2A6 . Substitute the stress data collected at the real-time structural weak points into the finite element model to obtain the bearing stress of the current derrick.

[0118] In the finite element model of the derrick, the loads borne by the derrick include drilling operation loads, wind loads, and self-weight loads. Among them, the stress of the drilling operation load follows a normal distribution, the wind load follows a Type I extreme value distribution, and the self-weight load is a constant. Specifically, the stress of the drilling operation load is S Jz ~N(μ Jz ,σ Jz ), the distribution function of the wind load stress is S Jw is the wind load stress of the drilling rig derrick without considering the wind direction, S wk is the maximum wind pressure in a year at the local area, and the stress of the self-weight load is a constant S Jg .

[0119] The method for determining the perpendicularity of the derrick steel structure in the said Step S 2 is as follows:

[0120] Step S 2B1 . Obtain the distance data and attitude angle data of the derrick measurement points;

[0121] Step S 2B2 . Calculate the three-dimensional coordinates (x n ,y n ,z n ) of the measurement points according to the distance data and attitude angle data of the derrick measurement points:

[0122]

[0123] In the formula, L n is the distance from any point on the plane formed by the measurement points to the measurement point to be measured, α n is the angle between the line segment between any point on the plane formed by the measurement points and the measurement point to be measured and the plane, β n is the angle between the line segment between any point on the plane formed by the measurement points and the measurement point and the horizontal plane, and it satisfies

[0124] Step S 2B3Perform translation and rotation processing on the three-dimensional coordinates of the measurement points, and convert them to the same coordinate system to obtain the converted coordinates. Specifically, translate the plane ABCD formed by the measurement points A, B, C, and D to the plane A 1 B 1 C 1 D 1 After that, rotate A 1 B 1 C 1 D 1 to the plane A 2 B 2 C 2 D 2 to obtain the converted coordinates of the measurement points A 2 、B 2 、C 2 and D 2 respectively as follows:

[0125] A 2 :

[0126] B 2 :

[0127] C 2 :(0,0)

[0128] D 2 :

[0129] where x 23 =x 2 -x 3 , y 23 =y 2 -y 3 ,x 43 =x 4 -x 3 ,y 43 =y 4 -y 3 ,where (x 2 ,y 2 ) are the horizontal and vertical coordinates of the measurement point B, (x 3 ,y 3 ) are the horizontal and vertical coordinates of the measurement point C, and (x 4 ,y 4 ) are the horizontal and vertical coordinates of the measurement point D.

[0130] Step S 2B4 . Calculate the inclination angle α of the measurement points of the derrick to be measured, and then determine the perpendicularity of the derrick steel structure. Among them, the inclination angle α of the measurement points of the derrick to be measured is:

[0131]

[0132] In the formula, V 1 is the normal vector of plane A 1 B 1 C 1 D 1 .

[0133] The method for determining the stroke synchronization degree of the buffer hydraulic cylinder in the step S 2 is as follows: establish the corresponding relationship between the standard stroke of the buffer hydraulic cylinder and the drilling operation load stress; determine the actual stroke and the standard stroke of the buffer hydraulic cylinder corresponding to the current drilling operation load stress; determine the difference between the actual stroke and the standard stroke. When the difference is greater than 0, the stroke synchronization degree of the buffer hydraulic cylinder is positive synchronization. When the difference is 0, the stroke synchronization degree of the buffer hydraulic cylinder is complete synchronization. When the difference is less than 0, the stroke synchronization degree of the buffer hydraulic cylinder is reverse synchronization.

[0134] Specifically, when it is positive synchronization, it indicates that even if the current buffer hydraulic cylinder does not act, the derrick will still rise. That is, with the operation of the buffer hydraulic cylinder, the derrick hoisting may exceed the control and reach a dangerous state. At this time, it is necessary to control the buffer hydraulic cylinder; when it is positive synchronization, it indicates that the operation of the buffer hydraulic cylinder completely matches the derrick hoisting and can accurately control the derrick hoisting by controlling the buffer hydraulic cylinder, which is an ideal state; when it is reverse synchronization, it indicates that the current buffer hydraulic cylinder lags behind the derrick hoisting, and it is necessary to increase the stroke of the buffer hydraulic cylinder to make the derrick reach the target state.

[0135] Step S 3 . Data analysis: The data analysis unit in the client determines the preliminary state of the derrick according to the fitting relationship between the current derrick bearing stress and the derrick steel structure verticality. Specifically, it includes the following steps:

[0136] Step S 31 . Collect the derrick bearing stress and the derrick steel structure verticality under the historical derrick safe state, and conduct relationship fitting to determine the fitting relationship between different derrick bearing stresses and the derrick steel structure verticality, and store it in the dynamic response table. The dynamic response table stores the fitting relationship between different derrick bearing stresses and the derrick steel structure verticality under the derrick safe state.

[0137] Step S 32 . Determine the fitting relationship between the current derrick bearing stress and the derrick steel structure verticality, and judge whether it exists in the dynamic response table; if so, the preliminary state of the derrick is stable; if not, the preliminary state of the derrick is to be determined.

[0138] Step S 4.Status determination: Based on the determined preliminary derrick status and combined with the stroke synchronization degree of the buffer hydraulic cylinder, the data analysis unit in the client determines the current derrick lifting status to achieve derrick lifting status monitoring. Specifically, when the preliminary derrick status is stable and the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization, the derrick is in the operation warning state; when the preliminary derrick status is stable and the stroke synchronization degree of the buffer hydraulic cylinder is full synchronization or reverse synchronization, the derrick is in the safe state; when the preliminary derrick status is to be determined and the stroke synchronization degree of the buffer hydraulic cylinder is forward synchronization, the derrick is in the operation warning state; when the preliminary derrick status is to be determined and the stroke synchronization degree of the buffer hydraulic cylinder is full synchronization or reverse synchronization, the derrick is in the operation monitoring reminder state.

[0139] In this embodiment, the actual sensing data during the derrick lifting process is combined with the stroke data of the buffer hydraulic cylinder to comprehensively analyze and judge the derrick lifting status and give an early warning under dangerous working conditions.

[0140] In this embodiment, for the above analysis process and result data, this embodiment also provides a visual content display function, and the display content includes the real-time derrick bearing stress change curve, the derrick steel structure verticality change curve, the buffer hydraulic cylinder balance state change curve, and the derrick lifting status.

[0141] In summary, after reading the present invention document, all other corresponding transformation schemes made by those of ordinary skill in the art without creative mental labor according to the technical solutions and technical concepts of the present invention belong to the scope protected by the present invention.

Claims

1. A method for monitoring the lifting status of a derrick, characterized in that: The following steps are involved: Step S1. Data collection and transmission: During the derrick hoisting process, derrick stress data, derrick deflection data and travel data of the buffer hydraulic cylinder are collected in real time and transmitted; Step S2. Data processing: receiving the data in step S1 and processing it to determine the current derrick bearing stress, the verticality of the derrick steel structure and the synchronization of the buffer hydraulic cylinder stroke; Step S3. Data analysis: determining the initial state of the derrick based on the fitting relationship between the current derrick bearing stress and the verticality of the derrick steel structure; Step S4. Status determination: Based on the determined preliminary status of the derrick and in combination with the synchronization of the buffer hydraulic cylinder stroke, the current derrick lifting status is determined to implement derrick lifting status monitoring.

2. A method for monitoring the lifting status of a derrick according to claim 1, characterized in that: The initial status of the derrick includes stable and pending.

3. A method for monitoring the lifting status of a derrick according to claim 2, characterized in that: The buffer hydraulic cylinder stroke synchronization degree includes forward synchronization, complete synchronization and reverse synchronization.

4. A method for monitoring the lifting status of a derrick according to claim 3, characterized in that: The step S4 specifically means: when the initial state of the derrick is stable and the buffer hydraulic cylinder stroke synchronization is forward synchronization, the derrick is in an operation alarm state; when the initial state of the derrick is stable and the buffer hydraulic cylinder stroke synchronization is fully synchronized or reversely synchronized, the derrick is in a safe state; when the initial state of the derrick is pending and the buffer hydraulic cylinder stroke synchronization is forward synchronization, the derrick is in an operation alarm state; when the initial state of the derrick is pending and the buffer hydraulic cylinder stroke synchronization is fully synchronized or reversely synchronized, the derrick is in an operation monitoring reminder state.

5. A method for monitoring the lifting status of a derrick according to claim 1 or 4, characterized in that: The step S3 specifically comprises the following steps: Step S 31 . Collect the historical derrick bearing stress and derrick steel structure verticality under the safe state, perform relationship fitting, determine the fitting relationship between different derrick bearing stress and derrick steel structure verticality, and store it in the dynamic response table; Step S 32 .Determine the fitting relationship between the current derrick bearing stress and the verticality of the derrick steel structure, and judge whether it exists in the dynamic response table; if so, the initial state of the derrick is stable; if not, the initial state of the derrick is pending.

6. A method for monitoring the lifting status of a derrick according to claim 1 or 4, characterized in that: The method for determining the buffer hydraulic cylinder stroke synchronization in step S2 is: constructing a corresponding relationship between the buffer hydraulic cylinder standard stroke and the drilling operation load stress; determining the actual stroke and standard stroke of the buffer hydraulic cylinder corresponding to the current drilling operation load stress; determining the difference between the actual stroke and the standard stroke, when the difference is greater than 0, the buffer hydraulic cylinder stroke synchronization is forward synchronization, when the difference is 0, the buffer hydraulic cylinder stroke synchronization is complete synchronization, and when the difference is less than 0, the buffer hydraulic cylinder stroke synchronization is reverse synchronization.

7. A method for monitoring the lifting status of a derrick according to claim 1 or 4, characterized in that: The method for determining the current derrick bearing stress in step S2 is: Step S 2A1 .Construct the finite element model of the derrick; Step S 2A2 .Perform static analysis on the constructed finite element model to determine the initial structural weaknesses of the derrick; Step S 2A3 .During the derrick hoisting operation, collect the initial stress data on the initial structural weak points; Step S 2A4 .According to the collected initial stress data, the finite element model is modified; Step S A25 .Perform static analysis on the modified finite element model to determine the real-time structural weak points of the derrick; Step S 2A6 .Substitute the stress data collected from the real-time structural weak points into the finite element model to obtain the current derrick bearing stress.

8. A method for monitoring the lifting status of a derrick according to claim 1 or 4, characterized in that: The method for determining the verticality of the current derrick steel structure in step S2 is: Step S 2B1 . Obtain the distance data and attitude angle data of the derrick test point; Step S 2B2 .Calculate the three-dimensional coordinates of the test point based on the distance data and attitude angle data of the test point of the derrick; Step S 2B3 .Translate and rotate the three-dimensional coordinates of the measured point, convert them to the same coordinate system, and obtain the converted coordinates; Step S 2B4 .Calculate the inclination angle of the derrick point to be measured based on the converted coordinates, and then determine the verticality of the current derrick steel structure.

9. A method for monitoring the derrick hoisting state according to claim 8, characterized in that: The step S 2B2 The three-dimensional coordinates of the point to be measured (x n ,y n ,z n )for: Where, L n is the distance from any point on the plane formed by the measuring points to the point to be measured, α n is the angle between the line segment between any point on the plane formed by the measuring points and the point to be measured and the plane, β n is the angle between any point on the plane formed by the measuring points and the line segment between the two measuring points and the horizontal plane, and satisfies 10. A method for monitoring the derrick hoisting state according to claim 9, characterized in that: The step S 2B3 Specifically: After translating the plane ABCD formed by the test points A, B, C and D to the plane A1B1C1D1, and then rotating A1B1C1D1 to the plane A2B2C2D2, the coordinates A2, B2, C2 and D2 of the test points after transformation are obtained: A2: B2: C2:(0,0) D2: In the formula, x 23 =x2-x3,y 23 =y2-y3,x 43 =x4-x3,y 43 =y4-y3, where (x2, y2) are the horizontal and vertical coordinates of the point B to be measured, (x3, y3) are the horizontal and vertical coordinates of the point C to be measured, and (x4, y4) are the horizontal and vertical coordinates of the point D to be measured.

11. A method for monitoring the derrick hoisting state according to claim 10, characterized in that: The step S 2B4 In the figure, the inclination angle α of the derrick point to be measured is: In the formula, V1 is the normal vector of plane A1B1C1D1.

12. A derrick hoisting status monitoring system, characterized in that: It includes a data acquisition module, a client, and a communication device as a data communication medium between the data acquisition module and the client; the client includes a data processing unit, a data analysis unit, and a database; The data acquisition module is used to collect the derrick stress data, derrick deflection data and the travel data of the buffer hydraulic cylinder during the derrick lifting process, and transmit it to the client through the communication device; The data processing unit is used to receive the data collected by the data collection module, and analyze and process the data to obtain the current derrick bearing stress, the verticality of the derrick steel structure and the synchronization degree of the buffer hydraulic cylinder stroke; The data analysis unit is used to analyze and determine the initial state of the derrick in real time according to the current bearing stress of the derrick and the verticality of the steel structure of the derrick, and to determine the current lifting state of the derrick in real time in combination with the synchronization of the hydraulic cylinder stroke; The database is used to store received data, data analysis process and result data.

13. A derrick hoisting status monitoring system according to claim 12, characterized in that: The client also includes a visualization component for displaying the real-time derrick bearing stress change curve, the derrick steel structure verticality change curve, the buffer hydraulic cylinder balance state change curve and the derrick lifting state according to the data analysis process and result data.

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