Virtual debugging method of well drilling pipe column processing system

Abstract

The invention provides a virtual debugging method for a well drilling pipe column processing system, and relates to the technical field of oil drilling, and the method comprises the steps: building a virtual debugging model for pipe column automation equipment in the well drilling pipe column processing system; under different drilling working conditions, drilling process simulation is carried out through the virtual debugging model, and a virtual simulation result is obtained; and improving and updating the design data of the tubular column automation equipment according to the virtual simulation result. According to the pipe column automation equipment virtual debugging method, mechanical automation can be combined with electricity and software, in the design process, the product reliability is virtually debugged through connection of the virtual equipment and the control system, and the product research and development speed is effectively increased.

Description

Technical Field

[0001] The present invention relates to the technical field of oil drilling, and is applied to the virtual commissioning of a drilling string handling system. Specifically, it relates to a virtual commissioning method for a drilling string handling system. Background Art

[0002] A fully automatic drilling rig is a complex automation system involving the coordinated control of multiple sets of unit equipment. In the design, it is impossible to accurately predict the movement trajectories and relative positions of the equipment, which in turn leads to problems such as repeated revisions of the system design, extended test cycles, and increased manufacturing costs. After the design of the drilling string handling system is completed, it is impossible to know whether the designed drilling string handling system can safely and accurately complete the expected automatic drilling process.

[0003] In view of the problems of the prior art, the present invention provides a virtual commissioning method for a drilling string handling system. Summary of the Invention

[0004] In view of the problems of the current prior art, the present invention provides a virtual commissioning method for a drilling string handling system, the method comprising:

[0005] Build a virtual commissioning model for the pipe string automation equipment in the drilling string handling system;

[0006] Under different drilling conditions, perform drilling process simulation through the virtual commissioning model to obtain virtual simulation results;

[0007] Improve and update the design data of the pipe string automation equipment according to the virtual simulation results.

[0008] According to an embodiment of the present invention, the pipe string automation equipment includes: a lifting robot, a drill pipe transfer device, an automatic pipe threading machine, an intelligent pipe racking robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mouse hole, a hydraulic elevator, a power slip, and a jet mud scraper.

[0009] According to an embodiment of the present invention, the virtual commissioning model is built through the following steps:

[0010] Build a software environment for virtual commissioning;

[0011] Construct a three-dimensional virtual mechanical model corresponding to the pipe string automation equipment;

[0012] Import the three-dimensional virtual mechanical model into the software environment and set kinematic pairs;

[0013] Build an electrical logic control system and a simulation communication system corresponding to the pipe string automation equipment.

[0014] According to an embodiment of the present invention, the software environment for virtual commissioning is set up through the following steps: Configuration is performed on an automation software platform to form the software environment including logic control program simulation software, controlled object simulation software, and mechatronics concept design software.

[0015] According to an embodiment of the present invention, the three-dimensional virtual mechanical model is constructed through the following steps: Determine the three-dimensional mechanical structure of the single equipment, and set the power parameters, stroke range, and swing radius of the actuator.

[0016] According to an embodiment of the present invention, the drilling working conditions include: building column condition, removing stand condition, pulling out drill string condition, running in hole condition, drilling condition, running casing condition.

[0017] According to an embodiment of the present invention, the virtual simulation result is obtained through the following steps: Decompose the drilling process under each drilling working condition, and use the digital twin method to obtain the virtual simulation result through the virtual commissioning model.

[0018] According to an embodiment of the present invention, the virtual simulation result includes an abnormal message result, wherein the abnormal message result is used to characterize the abnormal object where an abnormal situation occurs and the operation record information of the abnormal object.

[0019] According to another aspect of the present invention, a storage medium is further provided, which includes a series of instructions for executing the method steps as described in any one of the above.

[0020] According to another aspect of the present invention, a virtual commissioning system for a drilling string handling system is further provided, which executes the method as described in any one of the above. The virtual commissioning system includes:

[0021] A commissioning model building module, which builds a virtual commissioning model for the pipe string automation equipment in the drilling string handling system;

[0022] A working condition virtual simulation module, which is used to simulate the drilling process through the virtual commissioning model under different drilling working conditions to obtain a virtual simulation result;

[0023] An improvement and update module, which is used to improve and update the design data of the pipe string automation equipment according to the virtual simulation result.

[0024] The present invention provides a virtual commissioning method for a drilling string handling system, which has the following advantages compared with the prior art: The present invention provides a virtual commissioning method for a drilling string handling system to realize the virtual commissioning of the drilling string handling system before actual application. Among them, the string handling system includes: a lifting robot, a drill pipe transfer device, an automatic pipe threading machine, an intelligent pipe racking robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mouse hole, a hydraulic elevator, a power slip, and a jet mud scraper. The virtual commissioning method for the pipe string automation equipment provided by the present invention can combine mechanical automation with electricity and software. During the design process, the virtual equipment is connected to the control system to conduct virtual commissioning on the product reliability, effectively improving the product R & D speed.

[0025] Other features and advantages of the present invention will be described in the following specification, and some of them will become obvious from the specification, or be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation to the present invention. In the drawings:

[0027] Figure 1 It shows a flowchart of the steps of a virtual commissioning method for a drilling string handling system according to an embodiment of the present invention;

[0028] Figure 2 It shows a flowchart of the steps of building a virtual commissioning model according to an embodiment of the present invention;

[0029] Figure 3 It shows a technical roadmap of a virtual commissioning method for a drilling string handling system according to an embodiment of the present invention;

[0030] Figure 4 It shows a schematic diagram of the results of virtual commissioning of drilling conditions according to an embodiment of the present invention.

[0031] In the drawings, the same components are denoted by the same reference numerals. In addition, the drawings are not drawn to actual scale. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the embodiments of the present invention in detail with reference to the drawings.

[0033] A full-automatic drilling rig is a complex automated system involving the interlocking control of multiple sets of unit equipment. During the design process, it is impossible to accurately predict the movement trajectories and relative positions of the equipment, which leads to problems such as repeated revisions of the system design, extended test cycles, and increased manufacturing costs. Moreover, after the design of the pipe handling system is completed, it is impossible to know whether the designed pipe handling system can safely and accurately complete the expected automatic drilling process.

[0034] The prior art (US8793114B2) provides a virtualized configuration for dynamically generating sensors and signals used in drilling system equipment. The virtualized configuration can be used for novel operation tests of the automated system on the drilling rig. These methods and systems can be configured to virtualize actual derrick equipment to have enhanced fault coverage of the automated system. The control network, which is a component of the automated system, can be implemented to accommodate a test loop for virtualized equipment in a manner substantially similar to that of actual equipment. In this way, the test loop can be configured to control elements specific to the controlled equipment and generate test results for those specific control elements.

[0035] The prior art (US8793114B2) can complete tests by virtualizing the mechanical components of the drilling rig. However, the target object of the prior art (US8793114B2) is the drilling rig, not the pipe handling system. Moreover, the prior art (US8793114B2) does not achieve virtual commissioning through a three-dimensional virtual simulation method.

[0036] The prior art (CN105761160A) relates to the field of oilfield production technology, particularly to a decision-making system for offshore oil and gas well test strings and surface processes, including a data layer, an application service layer, and a knowledge base layer. The data layer draws on external data to establish various databases and provides support for the output of the application service layer. The application service layer includes pre-decision-making for test strings and surface processes, flow simulation of test strings and surface processes, flow assurance of test strings and surface processes, and real-time analysis. The knowledge base layer automatically corrects relevant parameters in the simulation model based on the comparison of measured pressure, temperature, and simulation results to guide the flow simulation and flow assurance analysis of test strings and surface processes. This decision-making system can not only achieve individual decision-making for test strings and surface processes but also achieve a high degree of integration and comprehensive decision-making for test strings and surface processes, making the design of test strings and surface processes more scientific and reasonable and providing safety guarantees for test operations.

[0037] In the prior art (CN105761160A), through the flow simulation and flow assurance analysis of the test strings and surface processes generated by pre-decision-making, the risk factors existing in the completion of the tested well or formation by the test strings and surface processes are automatically analyzed. However, the prior art (CN105761160A) does not achieve virtual commissioning through a three-dimensional virtual simulation method.

[0038] The prior art (CN108678690B) discloses an in-plant joint debugging test device and test method for onshore and offshore pipe string automation processing equipment. The test device includes a test bench, a tooling base, an overhead crane, a pipe gripper, a simulated wellhead, a mouse hole, and related supporting facilities. This device can conduct joint debugging tests on onshore and offshore pipe string automation processing systems respectively, and can realize functions such as pipe string transportation, root establishment, and drill string discharging, and can also meet the installation and testing of two systems simultaneously.

[0039] The purpose of the prior art (CN108678690B) is to provide a test device to conduct functional tests and performance tests on pipe string automation processing equipment. However, the prior art (CN108678690B) does not construct a virtual pipe string automation processing system, nor does it achieve virtual debugging through three-dimensional virtual simulation.

[0040] After the design of the pipe string processing system is completed, it is impossible to know whether the designed pipe string processing system can complete the expected drilling process safely and accurately. In view of the above defects of the prior art, the present invention provides a virtual debugging method for a drilling pipe string processing system to achieve virtual debugging of the drilling pipe string processing system before actual application. Among them, the pipe string processing system includes: a lifting robot, a drill pipe transfer device, an automatic pipe threading machine, an intelligent pipe arranging robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mouse hole, a hydraulic elevator, a power slip, and a jet mud scraper. The virtual debugging method for pipe string automation equipment provided by the present invention can combine mechanical automation with electricity and software. During the design process, by connecting virtual equipment to the control system, virtual debugging of product reliability is carried out, effectively improving the product R & D speed.

[0041] Figure 1 The flowchart of the steps of a virtual debugging method for a drilling pipe string processing system according to an embodiment of the present invention is shown.

[0042] As Figure 1 shown, in step S11, a virtual debugging model is built for the pipe string automation equipment in the drilling pipe string processing system.

[0043] In one embodiment, the pipe string automation equipment includes: a lifting robot, a drill pipe transfer device, an automatic pipe threading machine, an intelligent pipe arranging robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mouse hole, a hydraulic elevator, a power slip, and a jet mud scraper.

[0044] Figure 2 The flowchart of the steps of building a virtual debugging model according to an embodiment of the present invention is shown.

[0045] In one embodiment, as Figure 2 shown, the virtual debugging model is built through steps S21 - S24.

[0046] In step S21, a software environment for virtual commissioning is set up.

[0047] In one embodiment, in step S21, a software environment for virtual commissioning is set up through the following steps: configuration is performed on an automation software platform to form a software environment including logic control program simulation software, controlled object simulation software, and mechatronics concept design software.

[0048] Specifically, the automation software platform selects TIA Protal, the logic control program simulation software selects PLC SIMadvance, the controlled object simulation software selects Simit, and the mechatronics concept design software selects NX MCD.

[0049] TIA Portal (Totally Integrated Automation Portal) is an engineering configuration platform integrating controllers, HMIs, and drive devices, integrating automation software tools in a unified development environment. The software platform includes: SIMATIC STEP 7, SIMATIC WinCC, SINAMICS Startdrive, SIMOTION SCOUT TIA, and SIMOCODE ES. PLC SIM advance allows for comprehensive simulation of functions during configuration and engineering design using STEP 7 without physically connecting to S7-1500 / ET 200SP hardware. It supports generating virtual controllers to simulate S7-1500 and ET200SP controllers to test their functions.

[0050] NX MCD (Mechatronics ConceptDesigner) combines mechanical automation with electricity and software for concept design of components in multiple fields such as machinery, mechatronics, sensors, and drives. It can be used for new product integration management, 3D modeling and simulation of professional concepts such as mechanical design, electricity, and automation, providing simulation and debugging of hardware in the environment during the design process of mechatronic equipment. It connects to the PLC through virtual devices for virtual commissioning of product reliability.

[0051] SIMIT+PLCSIM Advanced can be used to implement software-in-the-loop, and PLCSIM Advanced is used to simulate the hardware PLC in the actual device; in addition to being used to implement signal coupling with MCD and PLCSIM Advanced, the SIMIT software can also be used to simulate the electrical behavior of the device.

[0052] In one embodiment, Table 1 shows the test results of the software environment.

[0053] Table 1 Software Test Results

[0054]

[0055]

[0056] In step S22, a three-dimensional virtual mechanical model corresponding to the tubular string automation equipment is constructed.

[0057] In one embodiment, in step S22, the three-dimensional virtual mechanical model is constructed through the following steps: determining the three-dimensional mechanical structure of the single equipment, and setting the power parameters, stroke range, and swing radius of the actuator. Specifically, the actuator includes motors, cylinders, hydraulic motors, etc.

[0058] In step S23, the three-dimensional virtual mechanical model is imported into the software environment, and kinematic pairs are set.

[0059] In one embodiment, in step S23, the three-dimensional virtual mechanical model is imported and kinematic pairs are set through the following steps: importing the three-dimensional virtual mechanical model in the MCD software, creating equipment kinematic pairs, and configuring equipment signals and expressions simultaneously to lay a foundation for physical control.

[0060] In step S24, an electrical logic control system and a simulation communication system corresponding to the tubular string automation equipment are built.

[0061] In one embodiment, in step S24, the electrical logic control system and the simulation communication system are built through the following steps: writing a distribution table of programmable I / O signals and sensor signals; sorting out the hardware list of the virtual commissioning system.

[0062] As Figure 1 shown, in step S12, under different drilling conditions, the drilling process is simulated through the virtual commissioning model to obtain virtual simulation results.

[0063] In one embodiment, the drilling conditions include: building a stand condition, removing a stand condition, pulling out the drill string condition, running in the hole condition, drilling condition, and running casing condition.

[0064] In one embodiment, in step S12, the virtual simulation results are obtained through the following steps: decomposing the drilling process under each drilling condition, and using the digital twin method to obtain the virtual simulation results through the virtual commissioning model.

[0065] Specifically, after the process is decomposed, the drill-out operation conditions can be divided into: lifting the drill collar with the elevator - opening the slips (holding the pipe string) - traveling the traveling block to the second floor platform to grab the pipe position - closing the slips - the iron roughneck unscrewing the connection - grabbing the pipe at the wellhead during drill-out - opening the pipe-holding crane - the pipe string entering the second floor platform. During the process of lifting the drill collar with the elevator: opening the elevator - tilting the top drive backward - lowering the traveling block - collar identification - moving to below the collar - suspending the elevator link - closing the elevator. During the process of opening the slips (holding the pipe string): continuously opening the slips - raising the traveling block. During the process of closing the slips: closing the slips - lowering the traveling block. During the process of the iron roughneck unscrewing the connection: the iron roughneck at the wellhead - extending the tong head - clamping the back-up tong - unscrewing with the main tong - the iron roughneck retracting. During the process of grabbing the pipe at the wellhead during drill-out: the pipe handling robot grabs the pipe - the pipe pushing and guiding robot synchronizes. During the process of opening the pipe-holding crane: the pipe handling robot holds the pipe - the pipe pushing and guiding robot holds the pipe. During the process of the pipe string entering the second floor platform: the pipe handling robot feeds the pipe - the pipe pushing and guiding robot synchronizes.

[0066] Specifically, after the process is decomposed, the drill-in operation conditions can be divided into: the pipe string reaching the waiting position - cleaning and greasing the thread - the pipe string reaching the wellhead - aligning the pipe string - the iron roughneck making up the connection - the drill-in pipe string entering the elevator - the pipe handling robot returning to the waiting position - opening the slips (holding the pipe string) - the traveling block moving to the drill-in position - the drill-in pipe string exiting the elevator. During the process of the pipe string reaching the waiting position: the pipe handling robot holds the pipe - the pipe pushing and guiding robot synchronizes. During the process of the pipe string reaching the wellhead: the pipe handling robot releasing the pipe - the pipe pushing and guiding robot synchronizes. During the process of aligning the pipe string: the pipe handling robot feeding the pipe - the pipe pushing and guiding robot synchronizes. During the process of the iron roughneck making up the connection: the iron roughneck at the wellhead - extending the tong head - clamping the back-up tong - making up the connection with the main tong - the iron roughneck retracting. During the process of the drill-in pipe string entering the elevator: opening the elevator - tilting the top drive backward - lowering the traveling block - collar identification - moving to below the collar - suspending the elevator link - closing the elevator. During the process of the pipe handling robot returning to the waiting position: the pipe handling robot returning to the waiting position - the pipe pushing and guiding robot synchronizes. During the process of opening the slips (holding the pipe string): continuously opening the slips - raising the traveling block. During the process of the drill-in pipe string exiting the elevator: opening the elevator - tilting the top drive backward - raising the traveling block - suspending the elevator link.

[0067] The present invention can complete virtual commissioning of more than 6 kinds of automated operation processes (such as building a stand, breaking down a stand, drill-out, drill-in, drilling, casing running, etc.); the digital twin model can display a time lag ≤ 100 ms in real time, the system configuration page opening time < 2 s (intranet environment), and the visualization configuration rate of the digital twin scenario > 95%.

[0068] As Figure 1 shown, in step S13, the design data of the pipe string automated equipment is improved and updated according to the virtual simulation results.

[0069] In one embodiment, the virtual simulation results include abnormal message results, where the abnormal message results are used to characterize the abnormal objects in the abnormal situation and the operation record information of the abnormal objects.

[0070] Figure 3Shows the technical roadmap of the virtual commissioning method of a drilling string processing system according to an embodiment of the present invention.

[0071] As Figure 3 shown, in step S31, data pre-combing. Specifically, data collection, inspection, and understanding of the process flow are carried out. Step S31 is the premise of virtual simulation.

[0072] As Figure 3 shown, in step S32, equipment simulation verification. Specifically, the 3D virtual mechanical model is subjected to model lightweighting to obtain a lightweight 3D virtual mechanical model; for the lightweight 3D virtual mechanical model, kinematic pairs, transmissions, and motion control processes are set; according to the motion control process, the lightweight 3D virtual mechanical model is subjected to motion simulation to check the equipment action logic and interference conditions. Step S32 is mainly for timing simulation to verify the equipment action logic and interference.

[0073] As Figure 3 shown, in step S33, electrical component creation. Specifically, sensors, device signals, and expressions are created, and signal mapping links are implemented. Step S33 is mainly for establishing the PLC docking signals before virtual commissioning to prepare for virtual commissioning.

[0074] As Figure 3 shown, in step S34, simit development and electrical configuration. Specifically, communication setup and inspection between various software are carried out, simit configuration and logic block development are carried out, and preliminary debugging is carried out. Step S34 is mainly for simit software configuration and logic block development before virtual commissioning to prepare for virtual commissioning.

[0075] As Figure 3 shown, in step S35, equipment virtual commissioning. Specifically, full-system automation commissioning of the workstations is carried out, and the automatic operation, manual operation, jogging operation, and emergency stop operation modes of the workstations are tested and adjusted.

[0076] Figure 4 Shows the schematic diagram of the results of the virtual commissioning of the drilling working conditions according to an embodiment of the present invention.

[0077] As Figure 4 When the pipe string enters the V-groove, there is an interference problem found in the virtual commissioning, which needs to be further optimized to improve the overall process rhythm, and can be further tested through entity control.

[0078] The present invention provides a virtual commissioning method for a drilling string handling system, enabling virtual commissioning of the drilling string handling system before actual application. Among them, the string handling system includes: a lifting robot, a drill pipe transfer device, an automatic make-up machine, an intelligent pipe arranging robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mousehole, a hydraulic elevating slip, a power slip, and a jet mud scraper. The virtual commissioning method for the pipe string automation equipment provided by the present invention can combine mechanical automation with electricity and software. During the design process, by connecting virtual equipment to the control system, virtual commissioning of product reliability is carried out, effectively improving the product R & D speed.

[0079] The virtual commissioning method for a drilling string handling system provided by the present invention can also cooperate with a computer-readable storage medium. A computer program is stored on the storage medium, and the computer program is executed to run a virtual commissioning method for a drilling string handling system. The computer program can run computer instructions, and the computer instructions include computer program code, which can be in the form of source code, object code, executable file, or some intermediate form, etc.

[0080] The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0081] It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0082] According to another aspect of the present invention, a virtual commissioning system for a drilling string handling system is also provided, which executes a virtual commissioning method for a drilling string handling system. The virtual commissioning system includes: a commissioning model building module, a working condition virtual simulation module, and an improvement and update module.

[0083] The commissioning model building module builds a virtual commissioning model for the pipe string automation equipment in the drilling string handling system; the working condition virtual simulation module is used to simulate the drilling process through the virtual commissioning model under different drilling working conditions to obtain virtual simulation results; the improvement and update module is used to improve and update the design data of the pipe string automation equipment based on the virtual simulation results.

[0084] In summary, the present invention provides a virtual commissioning method for a drilling string handling system. Compared with the prior art, it has the following advantages: The present invention provides a virtual commissioning method for a drilling string handling system to achieve virtual commissioning of the drilling string handling system before actual application. Among them, the string handling system includes: a lifting robot, a drill pipe transfer device, an automatic pipe threading machine, an intelligent pipe arranging robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mouse hole, a hydraulic elevator, a power slip, and a jet mud scraper. The virtual commissioning method for the pipe string automation equipment provided by the present invention can combine mechanical automation with electricity and software. During the design process, by connecting virtual devices to the control system, virtual commissioning of product reliability is carried out, effectively improving the product R & D speed.

[0085] It should be understood that the embodiments disclosed in the present invention are not limited to the specific structures, processing steps or materials disclosed herein, but should extend to equivalent alternatives of these features understood by those of ordinary skill in the relevant art. It should also be understood that the terms used herein are only for the purpose of describing specific embodiments and do not mean to limit.

[0086] In the description of the present invention, unless otherwise specified, "a plurality of" means two or more; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0087] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] Certain terms are used throughout this application document to refer to specific system components. As will be recognized by those skilled in the art, the same components can generally be referred to by different names, and thus this application document does not intend to distinguish components that differ only in name but not in function. In this application document, the terms "comprise", "include", and "have" are used in an open form and should therefore be interpreted to mean "including but not limited to...". In addition, the terms "substantially", "essentially", or "approximately" as may be used herein refer to the tolerances accepted by the industry for the corresponding terms. The term "coupled" as may be used herein includes direct coupling and indirect coupling via additional components, elements, circuits, or modules, where for indirect coupling, the intervening components, elements, circuits, or modules do not change the information of the signal but may adjust its current level, voltage level, and / or power level. Inferred coupling (e.g., where one element is coupled to another element by inference) includes direct and indirect coupling between the two elements in the same manner as "coupled".

[0089] As used in the specification, the phrase "an embodiment" or "embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the phrases "an embodiment" or "embodiments" that appear throughout the specification do not necessarily all refer to the same embodiment.

[0090] Embodiments of the present invention are given for purposes of illustration and description and are not exhaustive or limit the present invention to the disclosed forms. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles of the present invention and its practical applications and to enable those of ordinary skill in the art to understand the present invention and design various embodiments with various modifications suitable for a particular purpose.

[0091] Although the embodiments disclosed in the present invention are as above, the content described is only an embodiment adopted for the convenience of understanding the present invention and is not intended to limit the present invention. Any person skilled in the art within the technical field to which the present invention pertains, without departing from the spirit and scope disclosed by the present invention, can make any modifications and changes in the form of implementation and details, but the scope of patent protection of the present invention shall still be subject to the scope defined by the appended claims.

Claims

1. A virtual commissioning method for a drilling string processing system, characterized in that The method includes: Build a virtual commissioning model for the pipe string automation equipment in the drilling pipe string processing system; Under different drilling conditions, simulate the drilling process through the virtual commissioning model to obtain virtual simulation results; Improve and update the design data of the pipe string automation equipment according to the virtual simulation results.

2. The virtual commissioning method of a drilling string processing system according to claim 1, characterized in that The pipe string automation equipment includes: a lifting robot, a drill pipe transfer device, an automatic threader, an intelligent pipe arranging robot, a drill floor positioning robot, a drill floor multi-functional robot, a power mouse hole, a hydraulic elevator, a power slip, and a jet mud scraper.

3. The virtual commissioning method of a drilling string processing system according to claim 1 or 2, characterized in that Build the virtual commissioning model through the following steps: Build a software environment for virtual commissioning; Construct a three-dimensional virtual mechanical model corresponding to the pipe string automation equipment; Import the three-dimensional virtual mechanical model into the software environment and set the kinematic pairs; Build an electrical logic control system and a simulation communication system corresponding to the pipe string automation equipment.

4. The virtual commissioning method of a drilling string processing system according to claim 3, characterized in that, Build the software environment for virtual commissioning through the following steps: Configure in an automation software platform to form the software environment including a logic control program simulation software, a controlled object simulation software, and a mechatronics concept design software.

5. The virtual commissioning method of a drilling string processing system according to claim 3 or 4, characterized in that Construct the three-dimensional virtual mechanical model through the following steps: Determine the three-dimensional mechanical structure of the single equipment and set the power parameters, stroke range, and swing radius of the actuator.

6. A virtual commissioning method for a drilling string processing system according to any one of claims 1-5, characterized in that The drilling conditions include: building a stand condition, removing a stand condition, pulling out of the hole condition, running in the hole condition, drilling condition, and running casing condition.

7. A virtual commissioning method for a drilling string processing system according to any one of claims 1-6, characterized in that, Obtain the virtual simulation results through the following steps: Decompose the drilling process under each drilling condition, and use the digital twin method to obtain the virtual simulation results through the virtual commissioning model.

8. A virtual commissioning method for a drilling string processing system according to any one of claims 1-7, characterized in that, The virtual simulation results include abnormal message results, where the abnormal message results are used to characterize the abnormal object with abnormal conditions and the operation record information of the abnormal object.

9. A storage medium, characterized in that, It includes a series of instructions for executing the method steps described in any one of claims 1-8.

10. A virtual commissioning system for a drilling string processing system, characterized in that, Execute the method described in any one of claims 1-8. The virtual commissioning system includes: A commissioning model building module that builds a virtual commissioning model for the pipe string automation equipment in the drilling pipe string processing system; A working condition virtual simulation module that is used to simulate the drilling process through the virtual commissioning model under different drilling conditions to obtain virtual simulation results; An improvement and update module that is used to improve and update the design data of the pipe string automation equipment according to the virtual simulation results.

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