Control method and device for drill floor manipulator and drill floor manipulator

Abstract

The embodiment of the invention provides a control method and device for a drill floor manipulator and the drill floor manipulator. The method comprises the steps that when the drill floor manipulator is in a drilling-out working condition or a drilling-down working condition, a first clamp of a first mechanical arm of the drill floor manipulator and a second clamp of a second mechanical arm of the drill floor manipulator are controlled to clamp a drilling tool to move; a first weight value and a second weight value collected by a first sensor and a second sensor are obtained, the first sensor and the second sensor are located at the joint of the first mechanical arm and the first clamp, the first sensor is closer to the drilling tool than the second sensor, and the first sensor and the second sensor are located at the same installation height; according to the first weight value and the second weight value, the landing state and / or the working posture of the drilling tool in the process of clamping the drilling tool to move are / is determined; the first mechanical arm and / or the second mechanical arm are / is correspondingly controlled according to the landing state and / or the working posture of the drilling tool, the landing state and the working posture of the drilling tool are accurately determined, and the safety of the operation process of the drilling tool is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical control, and particularly to a control method, device and drill floor manipulator for a drill floor manipulator. Background Art

[0002] The automation of drill pipe handling operations for oil drilling rigs is an inevitable trend in the development of oil drilling machinery. With the increasingly widespread application of various pipe handling manipulators with relatively high automation levels, for example, a lifting pipe handling manipulator grips and lifts from the lower part of the drill pipe, and the drill pipe is a slender rod structure, there is a risk of the drill pipe deviating from the center of gravity point during the lower lifting. If the landing or attitude of the drill pipe is identified through machine vision, machine vision is highly demanding on weather, lighting, and the installation position of the camera, with low reliability and accuracy. If it is identified through a height sensor, due to the slight deformation of the drill pipe gripped by the manipulator, the detection is not accurate enough, thus affecting the drilling operation. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a control method, device, drill floor manipulator and mechanical equipment for a drill floor manipulator, so as to solve the technical problem that the detection of the landing state and working attitude of the drill pipe in the prior art is not accurate enough.

[0004] To achieve the above purpose, the first aspect of the present application provides a control method for a drill floor manipulator, including:

[0005] When the drill floor manipulator is in the drill pipe lifting working condition or the drill pipe lowering working condition, controlling the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor manipulator to grip the drill pipe and move;

[0006] Obtaining a first weight value and a second weight value collected by a first sensor and a second sensor, the first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp, the first sensor is closer to the drill pipe than the second sensor and the first sensor and the second sensor are at the same installation height;

[0007] Determining the landing state and / or working attitude of the drill pipe during the process of gripping and moving the drill pipe according to the first weight value and the second weight value;

[0008] Performing corresponding control on the first robotic arm and / or the second robotic arm according to the landing state and / or working attitude of the drill pipe.

[0009] In the embodiments of the present application, determining the working attitude of the drill pipe during the process of gripping and moving the drill pipe according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the weight difference and the total weight between the first weight value and the second weight value; determining the weight of the drill pipe according to the weight of the first clamp and the total weight; determining the working attitude according to the weight difference and the weight of the drill pipe, where the working attitude includes the drill pipe not being tilted and the drill pipe being tilted.

[0010] In the embodiments of the present application, determining the working attitude according to the weight difference and the weight of the drill string includes: when the weight difference is greater than a preset value and less than the weight of the drill string, determining that the working attitude is that the drill string is not tilted; when the weight difference is less than the preset value or greater than the weight of the drill string, determining that the working attitude is that the drill string is tilted.

[0011] In the embodiments of the present application, the method further includes: when the weight difference is less than the preset value, determining that the drill string is tilted away from the second robotic arm; when the weight difference is greater than the weight of the drill string, determining that the drill string is tilted towards the second robotic arm.

[0012] In the embodiments of the present application, determining the landing state of the drill string during the process of gripping and moving the drill string according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the total weight between the first weight value and the second weight value; determining the landing state according to the total weight and the weight of the first clamp, where the landing state includes the drill string landing and the drill string not landing.

[0013] In the embodiments of the present application, determining the landing state according to the total weight and the weight of the first clamp includes: when the total weight is less than or equal to the weight of the first clamp, determining that the landing state is that the drill string lands; when the total weight is greater than the weight of the first clamp, determining that the landing state is that the drill string does not land.

[0014] The second aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the above control method for the drill floor manipulator.

[0015] The third aspect of the present application provides a control device for a drill floor manipulator, including:

[0016] A first control module, configured to control the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor manipulator to grip and move the drill string when the drill floor manipulator is in the hoisting or lowering operation condition;

[0017] A weight acquisition module, configured to acquire the first weight value and the second weight value collected by the first sensor and the second sensor, where the first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp, the first sensor is closer to the drill string than the second sensor and the first sensor and the second sensor are at the same installation height;

[0018] A position state determination module, configured to determine the landing state and / or the working attitude of the drill string during the process of gripping and moving the drill string according to the first weight value and the second weight value;

[0019] A second control module for correspondingly controlling the first robotic arm and / or the second robotic arm according to the landing state and / or the working attitude.

[0020] In an embodiment of the present application, a position state determination module for determining the working attitude of the drill tool during the movement of the clamped drill tool according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the weight difference and the total weight between the first weight value and the second weight value; determining the weight of the drill tool according to the weight of the first clamp and the total weight; determining the working attitude according to the weight difference and the weight of the drill tool, wherein the working attitude includes that the drill tool is not tilted and the drill tool is tilted.

[0021] In an embodiment of the present application, the position state determination module for determining the working attitude according to the weight difference and the weight of the drill tool includes: when the weight difference is greater than a preset value and less than the weight of the drill tool, determining that the working attitude is that the drill tool is not tilted; when the weight difference is less than the preset value or greater than the weight of the drill tool, determining that the working attitude is that the drill tool is tilted.

[0022] In an embodiment of the present application, the position state determination module is further configured to: when the weight difference is less than the preset value, determine that the drill tool is tilted away from the second robotic arm; when the weight difference is greater than the weight of the drill tool, determine that the drill tool is tilted towards the second robotic arm.

[0023] In an embodiment of the present application, the position state determination module for determining the landing state of the drill tool during the movement of the clamped drill tool according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the total weight between the first weight value and the second weight value; determining the landing state according to the total weight and the weight of the first clamp, wherein the landing state includes that the drill tool lands and the drill tool does not land.

[0024] In an embodiment of the present application, the position state determination module for determining the landing state according to the total weight and the weight of the first clamp includes: when the total weight is less than or equal to the weight of the first clamp, determining that the landing state is that the drill tool lands; when the total weight is greater than the weight of the first clamp, determining that the landing state is that the drill tool does not land.

[0025] A fourth aspect of the present application provides a drill floor manipulator, which includes:

[0026] A first robotic arm including a first clamp, and a first sensor and a second sensor are installed at the connection between the first robotic arm and the first clamp;

[0027] A second robotic arm including a second clamp;

[0028] The above control device for the drill floor manipulator.

[0029] The fifth aspect of the present application provides a mechanical device, including the above-mentioned drill floor manipulator.

[0030] Through the above technical solution, when the drill floor manipulator is in the drill pipe pulling or lowering operation condition, control the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor manipulator to grip and move the drill pipe; obtain the first weight value and the second weight value collected by the first sensor and the second sensor, the first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp, the first sensor is closer to the drill pipe than the second sensor and the first sensor and the second sensor are at the same installation height; determine the landing state and / or working posture of the drill pipe during the process of gripping and moving the drill pipe according to the first weight value and the second weight value; perform corresponding control on the first robotic arm and / or the second robotic arm according to the landing state and / or working posture of the drill pipe, accurately determine the landing state and working posture of the drill pipe, and ensure the safety of the drill pipe operation process.

[0031] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation manners, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0033] Figure 1 Schematically shows a flowchart of a control method for a drill floor manipulator according to an embodiment of the present application;

[0034] Figure 2 Schematically shows a structural block diagram of a control device for a drill floor manipulator according to an embodiment of the present application;

[0035] Figure 3 Schematically shows a schematic diagram of a drill floor manipulator according to an embodiment of the present application;

[0036] Figure 4 Schematically shows an internal structure diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0038] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain specific posture (as shown in the attached drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0040] Figure 1 Schematically shows a schematic flow chart of a control method for a drill floor manipulator according to an embodiment of the present application. As Figure 1 shown, in an embodiment of the present application, a control method for a drill floor manipulator is provided, including the following steps:

[0041] Step 101: When the drill floor manipulator is in the hoisting or lowering operation condition, control the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor manipulator to grip the drill pipe and move.

[0042] Among them, the first robotic arm refers to the robotic arm on the monkey board, and the second robotic arm refers to the robotic arm on the drill floor. The drill floor manipulator includes a first robotic arm and a second robotic arm. The first robotic arm includes a first clamp, and the second robotic arm includes a second clamp. Both the first clamp and the second clamp are used to grip the drill pipe.

[0043] When the drill floor manipulator is in the hoisting or lowering operation condition, the processor can control the first clamp of the first robotic arm and the second clamp of the second robotic arm to grip the drill pipe and move. Specifically, it can control the first clamp to grip the upper part of the drill pipe, and control the second clamp to grip the lower part of the drill pipe, and then control the first robotic arm and the second robotic arm to be able to grip the drill pipe and move. In the hoisting operation condition, it can control the first clamp and the second clamp to grip the drill pipe and move in the direction from the wellhead position to the finger board position. In the lowering operation condition, it can control the first clamp and the second clamp to grip the drill pipe and move in the direction from the finger board position to the wellhead position.

[0044] Step 102: Obtain a first weight value and a second weight value collected by a first sensor and a second sensor. The first sensor and the second sensor are located at the connection between a first robotic arm and a first gripper. The first sensor is closer to the drill tool than the second sensor, and the first sensor and the second sensor are at the same installation height.

[0045] A first sensor and a second sensor are installed at the connection between the first robotic arm and the first gripper. The first sensor is closer to the drill tool than the second sensor, and the first sensor and the second sensor are at the same installation height. The installation height can be set according to the actual situation. The first sensor and the second sensor can be pin sensors.

[0046] During the process of gripping and moving the drill tool, the first sensor and the second sensor can collect the first weight value and the second weight value in real time, and can send the first weight value and the second weight value to a processor, and the processor can obtain the first weight value and the second weight value.

[0047] Step 103: Determine the landing state and / or working posture of the drill tool during the process of gripping and moving the drill tool according to the first weight value and the second weight value.

[0048] The processor can determine the landing state and / or working posture of the drill tool during the process of gripping and moving the drill tool according to the first weight value and the second weight value.

[0049] In the embodiment of the present application, determining the working posture of the drill tool during the process of gripping and moving the drill tool according to the first weight value and the second weight value includes: obtaining the weight of the first gripper; determining the weight difference and the weight sum between the first weight value and the second weight value; determining the weight of the drill tool according to the weight of the first gripper and the weight sum; determining the working posture according to the weight difference and the weight of the drill tool, where the working posture includes that the drill tool is not tilted and the drill tool is tilted.

[0050] The processor can obtain the weight of the first gripper, and can determine the weight difference and the weight sum between the first weight value collected by the first sensor and the second weight value collected by the second sensor. The processor can determine the weight of the drill tool according to the weight of the first gripper and the weight sum. Specifically, since the first sensor and the second sensor are installed at the connection between the first robotic arm and the first gripper, the sum of the weights measured by the two of them is the sum of the weight of the first gripper and the gripped drill tool.

[0051] For example, the extension distance of the first robotic arm is less than the extension distance of the second robotic arm. At this time, the first weight value becomes smaller and the second weight value becomes larger, but the sum between the first weight value and the second weight value remains unchanged. If the extension distance of the first robotic arm is greater than the extension distance of the second robotic arm, at this time, the first weight value becomes larger and the second weight value becomes smaller, but the sum between the first weight value and the second weight value remains unchanged.

[0052] To this end, the processor can determine the difference between the total weight and the weight of the first clamp, and this difference is the weight of the drill string. The processor can determine the working attitude of the drill string based on the weight difference and the weight of the drill string. Among them, the working attitude includes the drill string not being tilted and the drill string being tilted.

[0053] In the embodiment of the present application, determining the working attitude based on the weight difference and the weight of the drill string includes: when the weight difference is greater than a preset value and less than the weight of the drill string, determining that the working attitude is that the drill string is not tilted; when the weight difference is less than the preset value or greater than the weight of the drill string, determining that the working attitude is that the drill string is tilted.

[0054] Among them, the preset value can be set to 0, or can be set to any value close to zero according to the actual situation. If the drill string is in a vertical state, the difference between the first weight value and the second weight value is a fixed value. If the weight difference is greater than the preset value and less than the weight of the drill string, it means that the drill string is vertically downward when the robotic arm extends out of the working surface to move the drill string. At this time, the processor can determine that the working state of the drill string is that the drill string is not tilted. If the weight difference is less than the preset value or greater than the weight of the drill string, it means that the first weight value and the second weight value are not balanced. At this time, the processor can determine that the working attitude of the drill string is that the drill string is tilted.

[0055] In the embodiment of the present application, the method further includes: when the weight difference is less than the preset value, determining that the drill string is tilted in the direction away from the second robotic arm; when the weight difference is greater than the weight of the drill string, determining that the drill string is tilted in the direction close to the second robotic arm.

[0056] If the weight difference is less than the preset value, it means that the second weight value is greater than the first weight value, and the extension distance of the first robotic arm is less than the extension distance of the second robotic arm. The processor can determine that the drill string is tilted in the direction away from the second robotic arm. If the weight difference is greater than the weight of the drill string, the processor can determine that the drill string is tilted in the direction close to the second robotic arm.

[0057] In the above solution, when the synchronization between the first robotic arm and the second robotic arm is poor and the forces on the first sensor and the second sensor change, it is possible to accurately judge whether the drill string is tilted through the changes in the first weight value and the second weight value.

[0058] In the embodiment of the present application, determining the landing state of the drill string during the process of clamping and moving the drill string based on the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the total weight between the first weight value and the second weight value; determining the landing state according to the total weight and the weight of the first clamp, where the landing state includes the drill string landing and the drill string not landing.

[0059] The processor can obtain the weight of the first clamp and determine the total weight between the first weight value and the second weight value. Since the first sensor and the second sensor are installed at the connection of the first robotic arm and the first clamp, the total weight measured by the two is the sum of the weight of the first clamp and the drill tool it holds. The processor can determine the landing state based on the total weight and the weight of the first clamp, where the landing state includes the drill tool landing and the drill tool not landing.

[0060] In the embodiment of the present application, determining the landing state based on the total weight and the weight of the first clamp includes: when the total weight is less than or equal to the weight of the first clamp, determining the landing state as the drill tool landing; when the total weight is greater than the weight of the first clamp, determining the landing state as the drill tool not landing.

[0061] If the total weight is less than or equal to the weight of the first clamp, it indicates that the drill tool may have landed. The first sensor and the second sensor detect the weight of the first clamp. At this time, the processor can determine the landing state of the drill tool as the drill tool landing. If the total weight is greater than the weight of the first clamp, it indicates that the drill tool may not have landed. The first sensor and the second sensor detect the weight of the first clamp and the drill tool. At this time, the processor can determine the landing state of the drill tool as the drill tool not landing.

[0062] Step 104: Perform corresponding control on the first robotic arm and / or the second robotic arm according to the landing state and / or working posture of the drill tool.

[0063] The processor can perform corresponding control on the first robotic arm and / or the second robotic arm according to the landing state and / or working posture of the drill tool.

[0064] Specifically, during the drill pipe pulling operation, the first robotic arm and the second robotic arm can be controlled to move to the wellhead position, and the first clamp can be controlled to hold the upper part of the drill tool, and the second clamp can be controlled to hold the lower part of the drill tool. Then, the first robotic arm and the second robotic arm can be controlled to hold the drill tool and move it from the wellhead position to the position in front of the monkey board. When moving the drill tool to the position in front of the monkey board, the first robotic arm can be controlled to lower the drill tool to an appropriate height, and the first robotic arm and the second robotic arm can be controlled to move the drill tool from the position in front of the monkey board along the direction of the monkey board and the finger board to the target finger board position.

[0065] During the drill pipe running operation, the first robotic arm and the second robotic arm can be controlled to move to the finger board position where the drill tool is located, and the first clamp can be controlled to hold the upper part of the drill tool, and the second clamp can be controlled to hold the lower part of the drill tool. Then, the first robotic arm can be controlled to lift the drill tool and move the drill tool from the finger board position to the position in front of the monkey board, and then the first robotic arm can be controlled to lift the drill tool and move the drill tool to the wellhead position.

[0066] During the process of controlling the movement of the drill string in the hoisting or running-in operation, if the drill string tilts, the extended distance of the corresponding robotic arm can be corrected synchronously to make the extended distances of the first robotic arm and the second robotic arm synchronous, so that the drill string can move vertically downward during the movement of the drill string. If the drill string does not tilt, the first robotic arm and the second robotic arm can be controlled to continue clamping the drill string and move it.

[0067] If the drill string does not land, the first robotic arm and the second robotic arm can be controlled to continue clamping the drill string and move it. If the drill string lands, the first robotic arm and the second robotic arm can be controlled to stop working. When the drill string does not land, the first robotic arm and the second robotic arm can be synchronously controlled in combination with the working attitude of the drill string to correct the working attitude of the drill string.

[0068] Through the above technical solution, when the drill floor manipulator is in the hoisting or running-in operation, the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor manipulator are controlled to clamp the drill string and move it; the first weight value and the second weight value collected by the first sensor and the second sensor are obtained. The first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp. The first sensor is closer to the drill string than the second sensor and the first sensor and the second sensor are at the same installation height; the landing state and / or working attitude of the drill string during the process of clamping and moving the drill string are determined according to the first weight value and the second weight value; the first robotic arm and / or the second robotic arm are correspondingly controlled according to the landing state and / or working attitude of the drill string, accurately determining the landing state and working attitude of the drill string, and ensuring the safety of the drill string operation process.

[0069] Figure 1 It is a schematic flowchart of a control method for a drill floor manipulator in an embodiment. It should be understood that although Figure 1 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0070] In an embodiment, as Figure 2 shown, a control device 200 for a drill floor manipulator is provided, including a first control module 201, a weight acquisition module 202, a position state determination module 203, and a second control module 204, where:

[0071] The first control module 201 is used to control the first clamp of the first mechanical arm and the second clamp of the second mechanical arm of the drilling floor manipulator to clamp the drilling tool and move when the drilling floor manipulator is in the pulling-out condition or the drilling-down condition.

[0072] The weight acquisition module 202 is used to obtain the first weight value and the second weight value collected by the first sensor and the second sensor. The first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp. The first sensor is closer to the drill bit than the second sensor and the first sensor and the second sensor are at the same installation height.

[0073] The position state determination module 203 is used to determine the landing state and / or working posture of the drilling tool during the movement of the clamped drilling tool according to the first weight value and the second weight value.

[0074] The second control module 204 is used to control the first robotic arm and / or the second robotic arm accordingly according to the landing state and / or the working posture.

[0075] The first mechanical arm refers to the mechanical arm on the second floor, and the second mechanical arm refers to the mechanical arm on the drilling platform. The drilling platform manipulator includes a first mechanical arm and a second mechanical arm, the first mechanical arm includes a first clamp, and the second mechanical arm includes a second clamp. Both the first clamp and the second clamp are used to clamp the drilling tool.

[0076] When the drilling floor manipulator is in the drilling condition or the drilling condition, the first control module 201 can control the first clamp of the first mechanical arm and the second clamp of the second mechanical arm to clamp the drilling tool and move. Specifically, the first clamp can be controlled to clamp the upper part of the drilling tool, and the second clamp can be controlled to clamp the lower part of the drilling tool, thereby controlling the first mechanical arm and the second mechanical arm to clamp the drilling tool and move. In the drilling condition, the first clamp and the second clamp can be controlled to clamp the drilling tool from the wellhead position to the finger beam position. In the drilling condition, the first clamp and the second clamp can be controlled to clamp the drilling tool from the finger beam position to the wellhead position.

[0077] A first sensor and a second sensor are installed at the connection between the first mechanical arm and the first clamp. The first sensor is closer to the drilling tool than the second sensor and the first sensor and the second sensor are at the same installation height. The installation height can be set according to actual conditions. The first sensor and the second sensor can be pin sensors.

[0078] During the movement of the clamped drill bit, the first sensor and the second sensor can collect the first weight value and the second weight value in real time, and can send the first weight value and the second weight value to the weight acquisition module 202, and the weight acquisition module 202 can acquire the first weight value and the second weight value.

[0079] The position status determination module 203 can determine the landing status and / or working attitude of the drill tool during the movement of the clamped drill tool according to the first weight value and the second weight value.

[0080] In an embodiment of the present application, the position status determination module is configured to determine the working attitude of the drill tool during the movement of the clamped drill tool according to the first weight value and the second weight value, including: obtaining the weight of the first clamp; determining the weight difference and the total weight between the first weight value and the second weight value; determining the weight of the drill tool according to the weight of the first clamp and the total weight; and determining the working attitude according to the weight difference and the weight of the drill tool, where the working attitude includes that the drill tool is not tilted and the drill tool is tilted.

[0081] The position status determination module 203 can obtain the weight of the first clamp, and can determine the weight difference and the total weight between the first weight value collected by the first sensor and the second weight value collected by the second sensor. The position status determination module 203 can determine the weight of the drill tool according to the weight of the first clamp and the total weight. Specifically, since the first sensor and the second sensor are installed at the connection of the first robotic arm and the first clamp, the total weight measured by the two is the sum of the weight of the first clamp and the clamped drill tool.

[0082] For example, if the extension distance of the first robotic arm is less than that of the second robotic arm, at this time, the first weight value becomes smaller and the second weight value becomes larger, but the sum between the first weight value and the second weight value remains unchanged. If the extension distance of the first robotic arm is greater than that of the second robotic arm, at this time, the first weight value becomes larger and the second weight value becomes smaller, but the sum between the first weight value and the second weight value remains unchanged.

[0083] Therefore, the position status determination module 203 can determine the difference between the total weight and the weight of the first clamp, and this difference is the weight of the drill tool. The position status determination module 203 can determine the working attitude of the drill tool according to the weight difference and the weight of the drill tool. Among them, the working attitude includes that the drill tool is not tilted and the drill tool is tilted.

[0084] In an embodiment of the present application, the position status determination module is configured to determine the working attitude according to the weight difference and the weight of the drill tool, including: when the weight difference is greater than a preset value and less than the weight of the drill tool, determining that the working attitude is that the drill tool is not tilted; when the weight difference is less than the preset value or greater than the weight of the drill tool, determining that the working attitude is that the drill tool is tilted.

[0085] Among them, the preset value can be set to 0, or can be set to any value close to zero according to the actual situation. If the drill string is in a vertical state, the difference between the first weight value and the second weight value is a fixed value. If the weight difference is greater than the preset value and less than the weight of the drill string, it means that when the robotic arm extends out of the working surface to move the drill string, the drill string is vertically downward. At this time, the position status determination module 203 can determine that the working state of the drill string is that the drill string is not tilted. If the weight difference is less than the preset value or greater than the weight of the drill string, it means that the first weight value and the second weight value are not balanced. At this time, the position status determination module 203 can determine that the working attitude of the drill string is that the drill string is tilted.

[0086] In the embodiment of the present application, the position status determination module is further configured to: when the weight difference is less than the preset value, determine that the drill string is tilted in a direction away from the second robotic arm; when the weight difference is greater than the weight of the drill string, determine that the drill string is tilted in a direction close to the second robotic arm.

[0087] If the weight difference is less than the preset value, it means that the second weight value is greater than the first weight value, and the extension distance of the first robotic arm is less than the extension distance of the second robotic arm. The position status determination module 203 can determine that the drill string is tilted in a direction away from the second robotic arm. If the weight difference is greater than the weight of the drill string, the position status determination module 203 can determine that the drill string is tilted in a direction close to the second robotic arm.

[0088] In the above solution, when the synchronization between the first robotic arm and the second robotic arm is poor and the forces on the first sensor and the second sensor change, it can accurately judge whether the drill string is tilted through the changes in the first weight value and the second weight value.

[0089] In the embodiment of the present application, the position status determination module is configured to determine the landing status of the drill string during the process of clamping and moving the drill string according to the first weight value and the second weight value, including: obtaining the weight of the first clamp; determining the total weight between the first weight value and the second weight value; determining the landing status according to the total weight and the weight of the first clamp, where the landing status includes the drill string landing and the drill string not landing.

[0090] The position status determination module 203 can obtain the weight of the first clamp and can determine the total weight between the first weight value and the second weight value. Since the first sensor and the second sensor are installed at the connection between the first robotic arm and the first clamp, the total weight measured by the two is the sum of the weight of the first clamp and the clamped drill string. The position status determination module 203 can determine the landing status according to the total weight and the weight of the first clamp, where the landing status includes the drill string landing and the drill string not landing.

[0091] In the embodiment of the present application, the position status determination module is configured to determine the landing status according to the total weight and the weight of the first clamp, including: when the total weight is less than or equal to the weight of the first clamp, determining that the landing status is that the drill string has landed; when the total weight is greater than the weight of the first clamp, determining that the landing status is that the drill string has not landed.

[0092] If the total weight is less than or equal to the weight of the first clamp, it indicates that the drill string may have landed. The first sensor and the second sensor detect the weight of the first clamp. At this time, the position status determination module 203 can determine that the landing status of the drill string is that the drill string has landed. If the total weight is greater than the weight of the first clamp, it indicates that the drill string may not have landed. The first sensor and the second sensor detect the weight of the first clamp and the drill string. At this time, the position status determination module 203 can determine that the landing status of the drill string is that the drill string has not landed.

[0093] The second control module 204 can perform corresponding control on the first robotic arm and / or the second robotic arm according to the landing status and / or working attitude of the drill string.

[0094] Specifically, during the drill string pulling out operation, the first robotic arm and the second robotic arm can be controlled to move to the wellhead position, the first clamp can be controlled to grip the upper part of the drill string, and the second clamp can be controlled to grip the lower part of the drill string. Then, the first robotic arm and the second robotic arm can be controlled to grip the drill string and move it from the wellhead position to the position in front of the monkey board. When moving the drill string to the position in front of the monkey board, the first robotic arm can be controlled to lower the drill string to an appropriate height, and the first robotic arm and the second robotic arm can be controlled to move the drill string from the position in front of the monkey board along the direction of the monkey board and the finger board to the target finger board position.

[0095] During the drill string lowering operation, the first robotic arm and the second robotic arm can be controlled to move to the finger board position where the drill string is located, the first clamp can be controlled to grip the upper part of the drill string, and the second clamp can be controlled to grip the lower part of the drill string. Then, the first robotic arm can be controlled to lift the drill string and move the drill string from the finger board position to the position in front of the monkey board, and then the first robotic arm can be controlled to lift the drill string and move the drill string to the wellhead position.

[0096] During the process of controlling the movement of the drill string during the drill string pulling out operation or the drill string lowering operation, if the drill string is tilted, the extended distance of the corresponding robotic arm can be synchronously corrected so that the extended distances of the first robotic arm and the second robotic arm are synchronized, ensuring that the drill string can move vertically downward during the movement. If the drill string is not tilted, the first robotic arm and the second robotic arm can be controlled to continue gripping the drill string and move it.

[0097] If the drill string has not landed, the first robotic arm and the second robotic arm can be controlled to continue gripping the drill string and move it. If the drill string has landed, the first robotic arm and the second robotic arm can be controlled to stop working. When the drill string has not landed, the first robotic arm and the second robotic arm can be synchronously controlled in combination with the working attitude of the drill string to correct the working attitude of the drill string.

[0098] Through the above technical solution, a first control module is configured to control the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor robotic arm to grip and move the drill string when the drill floor robotic arm is in the hoisting or lowering operation condition; a weight acquisition module is configured to acquire a first weight value and a second weight value collected by a first sensor and a second sensor, the first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp, the first sensor is closer to the drill string than the second sensor and the first sensor and the second sensor are at the same installation height; a position state determination module is configured to determine the landing state and / or working attitude of the drill string during the process of gripping and moving the drill string according to the first weight value and the second weight value; a second control module is configured to perform corresponding control on the first robotic arm and / or the second robotic arm according to the landing state and / or working attitude, accurately determine the landing state and working attitude of the drill string, and ensure the safety of the drill string operation process.

[0099] The control device 200 for the drill floor robotic arm includes a processor and a memory. The above first control module 201, weight acquisition module 202, position state determination module 203, second control module 204, etc. are all stored in the memory as program units and implemented corresponding functions by the processor executing the above program modules stored in the memory.

[0100] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the control method for the drill floor robotic arm is realized.

[0101] The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0102] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the above control method for the drill floor robotic arm is realized.

[0103] In one embodiment, a processor is provided, and the processor is used to run a program, wherein when the program runs, the above control method for the drill floor robotic arm is executed.

[0104] In the embodiment of the present application, as Figure 3 shown, a drill floor robotic arm is provided, including:

[0105] A first sensor (pin shaft sensor 1 shown in the figure) and a second sensor (pin shaft sensor 2 shown in the figure) are installed at the connection between the first robotic arm (the robotic arm on the second floor shown in the figure) and the first clamp;

[0106] The second robotic arm (the drill floor robotic arm in the illustration) includes a second clamp;

[0107] A control device for the drill floor robotic manipulator (not shown in the figure).

[0108] The robotic arm on the second floor is installed below the monkey board of the derrick and can rotate within a range of 180°. The front end of the telescopic arm is equipped with a clamp assembly controlled by servo torque. The drill string is lifted, lowered and transported in cooperation with the drill floor robotic arm by clamping the upper end of the drill string with the clamp. The transportation range is between the wellhead position at the front end of the monkey board and the drill string storage position in the finger board. The clamping pliers assembly clamps the drill string body and moves up and down along the boom to lift and lower the drill string. After the robotic arm on the second floor lifts the drill string, the weight data of the drill string is obtained through the pin shaft weight sensor between the clamp and the robotic arm. When the robotic arm on the second floor clamps the drill string and lowers it, when the drill string slowly touches the ground, the measured weight value gradually decreases. When it is lower than the set threshold, it is judged that the drill string has safely touched the ground, and the robotic arm on the second floor stops the lowering operation and performs subsequent actions.

[0109] The drill floor robotic arm has functions of walking, rotating and telescoping, and its operating range can cover the wellhead position, the position in front of the monkey board and the entire finger board range. The drill floor robotic arm cooperates with the robotic arm on the second floor to transport the drill string between the wellhead position, the position in front of the monkey board and the drill string placement position in the finger board. When measuring the weight of the drill string, the drill floor robotic arm uses the pushing clamp to straighten the drill string and ensure its stability, so that the robotic arm on the second floor can measure the accurate weight value of the drill string. When the drill string tilts towards the robotic arm, that is, when the extended distance of the robotic arm on the second floor is less than the extended distance of the drill floor robotic arm, the data of pin shaft weight sensor 1 becomes smaller and the data of pin shaft weight sensor 2 becomes larger, and their sum remains unchanged, which is still the weight of the entire drill string; when the drill string tilts away from the robotic arm, that is, when the extended distance of the robotic arm on the second floor is greater than the extended distance of the drill floor robotic arm, the data of pin shaft weight sensor 1 becomes larger and the data of pin shaft weight sensor 2 becomes smaller, and their sum is still the weight of the entire drill string. The tilt angle of the drill string can be judged by the numerical changes of the two pin shafts.

[0110] Specifically, during the operation of pulling out the drill pipe: When the drill pipe is lifted by the traveling block and hook system of the drilling rig to a suitable position, the slips are lowered by the power slip device to set the slips. After the traveling block and hook system is lowered until the hydraulic elevator has no load, the iron roughneck moves to the wellhead position for the make-and-break operation. After the drill pipe is disconnected, the iron roughneck leaves the wellhead position. At this time, the manipulator on the second floor and the manipulator on the drill floor act jointly, extend from the standby position to the wellhead position. The manipulator on the drill floor clamps the lower part of the drill pipe column, and the manipulator on the second floor clamps the upper part of the drill pipe column and lifts it. At the same time, after confirming that the manipulator on the second floor clamps the drill pipe, the hydraulic elevator is opened. After the drill pipe column leaves the coupling of the wellhead drill pipe, the manipulator on the second floor and the manipulator on the drill floor act jointly to transport the drill pipe column from the wellhead position to the position in front of the monkey board. During this process, the drill pipe column remains in a vertical state, so it is not hindered when disengaging from the hydraulic elevator. When the pipe column reaches the position in front of the monkey board, the drill pipe traveling block and hook system can be lowered for the next operation of pulling out the drill pipe. After the manipulator on the second floor clamps the pipe and lowers it to a suitable height, the manipulator on the second floor and the manipulator on the drill floor act jointly to transport the drill pipe column from the junction position in front of the monkey board along the gap between the monkey board and the finger board to the target finger board position. The finger board lock in front of the storage position in the target finger board automatically opens. The manipulator on the second floor and the manipulator on the drill floor act jointly to transport the drill pipe column along the finger board direction to the target storage position, and then the finger board lock closes. The pin sensors between the tongs and the manipulator measure the weight data of the drill pipe and the tongs. Subtracting the weight of the tongs from this data gives the weight value of the drill pipe. This data is saved in the system drill pipe database for subsequent query and retrieval.

[0111] The manipulator on the second floor is lowered until the value of the weight sensor is the weight of the tong head and then stops. After confirming that the drill pipe clamped by the tongs of the manipulator on the second floor has landed, the tongs open and return to the standby position, and the tongs of the manipulator on the drill floor open and return to the standby position, preparing for the operation of pulling out the next drill pipe column. Regardless of the state of the drill pipe, the sum of the values of the two weight sensors is the sum of the weights of the tong head and the drill pipe. When the drill pipe is in a vertical state, the difference between the values of the two weight sensors is a fixed value. When the angle deviates forward towards the tongs, the difference data value between the front weight sensor and the rear weight sensor is larger. When the angle deviates backward towards the tongs, the difference data value between the front weight sensor and the rear weight sensor is smaller.

[0112] During the drilling operation: the mechanical arm on the second-level platform and the mechanical arm on the drilling table work together to move to the drilling tool column and the drilling tool storage position in the finger beam. When the mechanical arm on the second-level platform moves to the target position and the hanging clamp detects the position of the pipe in the clamp, the jaws of the clamp are closed and locked. After the mechanical arm on the drilling table moves to the target position and detects the drilling tool, the clamp is closed. After confirming that the lifting clamp of the mechanical arm on the second-layer platform and the clamping claw of the mechanical arm on the drilling table are closed, the mechanical arm on the second-layer platform lifts up the drill tool column, and the corresponding finger beam lock is opened. The mechanical arm on the second-layer platform and the mechanical arm on the drilling table work together to move the drill tool column to the position in front of the monkey platform. The mechanical arm on the second-layer platform lifts the drill tool until the thread at the lower end of the drill tool column is higher than the height of the wellhead drill tool joint. After confirming that the height of the traveling hoist system is appropriate, the mechanical arm on the second-layer platform and the mechanical arm on the drilling table work together to move the drill tool column to the wellhead position. After confirming that the drill tool column has reached the wellhead position, the mechanical arm on the drilling table straightens the lower joint of the drill tool for buckling. The weight of the drill tool at this time is measured and recorded in the drill tool weight data system. The mechanical arm on the second-layer platform is lowered until the male buckle at the lower part of the drill tool column enters the female buckle at the upper end of the wellhead drill tool and the mechanical arm on the second-layer platform detects that the weight is less than the clamp head weight threshold and stops lowering. At this time, the upper end of the drill tool column has entered the hydraulic elevator, triggering the hydraulic elevator to close. After the mechanical arm on the second floor confirms that there is no load and the hydraulic elevator is in the closed state, the clamp opens, and the jaws of the mechanical arm on the drilling table open at the same time. The mechanical arm on the second floor and the mechanical arm on the drilling table retreat to the standby position to prepare for the movement of the next drilling column. After the mechanical arm on the drilling table moves away from the wellhead position, the iron driller goes to the wellhead position to make a buckle operation. After buckling to the predetermined torque, the iron driller moves away from the wellhead position to the standby position. After the travel hoist system lifts the drill with load, the power slip device lifts the slip to release the jam. After confirming the jam is released, the travel hoist system lowers the drilling tool into the wellbore.

[0113] When the upper and lower manipulators are not synchronized well, the forces on the two weight sensors under the clamp will change, and the posture of the drill can be determined by the changes in the values ​​of the two sensors. Specifically, the weight of the drill can be determined by the following formula:

[0114] Drill tool weight ≈ pin value 1 + pin value 2 - clamp weight.

[0115] When the following conditions are met, make sure that the manipulator extends out of the working surface and the drill tool is vertically downward, and the posture of the drill tool is normal, that is, not tilted:

[0116] 0<pin value 1-pin value 2<drill tool weight.

[0117] Make sure the drill is tilted away from the lower manipulator (drilling floor manipulator arm) when the following conditions are met:

[0118] 0>Pin value 1-Pin value 2.

[0119] When the following conditions are met, make sure the drill is close to the lower manipulator and tilted:

[0120] The pin value 1 - the pin value 2 > the weight of the drill string.

[0121] Through the above solution, the weight of the drill string can be measured, the landing state and working attitude of the drill string can be accurately determined, and the safety of the drill string operation process can be ensured.

[0122] In an embodiment of the present application, a mechanical device is provided, including the above-mentioned drill floor manipulator. Among them, the mechanical device may include a petroleum drilling machine.

[0123] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 4 shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the landing state and / or working attitude of the drill string. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it is used to implement a control method for the drill floor manipulator.

[0124] Those skilled in the art can understand that Figure 4 the structure shown is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0125] In one embodiment, the control device for the drill floor manipulator provided by the present application can be implemented in the form of a computer program, and the computer program can run on a computer device as Figure 4 shown. Each program module constituting the control device for the drill floor manipulator can be stored in the memory of the computer device. For example, Figure 2 the first control module 201, the weight acquisition module 202, the position state determination module 203, and the second control module 204 shown. The computer program constituted by each program module enables the processor to execute the steps in the control method for the drill floor manipulator in each embodiment of the present application described in this specification.

[0126] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when the drill floor manipulator is in the hoisting or lowering operation condition, control the first clamp of the first robotic arm and the second clamp of the second robotic arm of the drill floor manipulator to grip the drill string and move; obtain the first weight value and the second weight value collected by the first sensor and the second sensor, where the first sensor and the second sensor are located at the connection between the first robotic arm and the first clamp, the first sensor is closer to the drill string than the second sensor, and the first sensor and the second sensor are at the same installation height; determine the landing state and / or working attitude of the drill string during the process of gripping and moving the drill string according to the first weight value and the second weight value; and perform corresponding control on the first robotic arm and / or the second robotic arm according to the landing state and / or working attitude of the drill string.

[0127] In one embodiment, determining the working attitude of the drill string during the process of gripping and moving the drill string according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the weight difference and the weight sum between the first weight value and the second weight value; determining the weight of the drill string according to the weight of the first clamp and the weight sum; and determining the working attitude according to the weight difference and the weight of the drill string, where the working attitude includes the drill string not being tilted and the drill string being tilted.

[0128] In one embodiment, determining the working attitude according to the weight difference and the weight of the drill string includes: when the weight difference is greater than a preset value and less than the weight of the drill string, determining that the working attitude is that the drill string is not tilted; and when the weight difference is less than the preset value or greater than the weight of the drill string, determining that the working attitude is that the drill string is tilted.

[0129] In one embodiment, the method further includes: when the weight difference is less than the preset value, determining that the drill string is tilted away from the second robotic arm; and when the weight difference is greater than the weight of the drill string, determining that the drill string is tilted towards the second robotic arm.

[0130] In one embodiment, determining the landing state of the drill string during the process of gripping and moving the drill string according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining the weight sum between the first weight value and the second weight value; and determining the landing state according to the weight sum and the weight of the first clamp, where the landing state includes the drill string landing and the drill string not landing.

[0131] In one embodiment, determining the landing state according to the weight sum and the weight of the first clamp includes: when the weight sum is less than or equal to the weight of the first clamp, determining that the landing state is that the drill string lands; and when the weight sum is greater than the weight of the first clamp, determining that the landing state is that the drill string does not land.

[0132] The present application also provides a computer program product which, when executed on a data processing device, is adapted to execute a program that initializes the steps of a control method for a drill floor manipulator.

[0133] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0134] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0135] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0137] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0138] The memory may include non - permanent memory in the form of computer - readable media, such as random access memory (RAM) and / or non - volatile memory, such as read - only memory (ROM) or flash RAM. The memory is an example of computer - readable media.

[0139] Computer - readable media includes both permanent and non - permanent, removable and non - removable media and can store information by any method or technology. The information can be computer - readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase - change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read - only memory (ROM), electrically erasable programmable read - only memory (EEPROM), flash memory or other memory technologies, compact disc read - only memory (CD - ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non - transitory media that can be used to store information that can be accessed by a computing device. As defined herein, computer - readable media does not include transitory media, such as modulated data signals and carrier waves.

[0140] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0141] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A control method for a drilling platform manipulator, characterized in that: The control method comprises: When the drilling floor manipulator is in a pulling-out working condition or a lowering-in working condition, controlling the first clamp of the first mechanical arm and the second clamp of the second mechanical arm of the drilling floor manipulator to clamp the drilling tool and move; Acquire a first weight value and a second weight value collected by a first sensor and a second sensor, wherein the first sensor and the second sensor are located at a connection between the first mechanical arm and the first clamp, the first sensor is closer to the drilling tool than the second sensor, and the first sensor and the second sensor are at the same installation height; Determine the landing state and / or working posture of the drilling tool in the process of clamping and moving the drilling tool according to the first weight value and the second weight value; The first mechanical arm and / or the second mechanical arm are controlled accordingly according to the landing state and / or working posture of the drilling tool.

2. The control method for a drilling floor manipulator according to claim 1, characterized in that: The determining, according to the first weight value and the second weight value, the working posture of the drilling tool in the process of clamping and moving the drilling tool comprises: obtaining the weight of the first clamp; determining a weight difference and a weight sum between the first weight value and the second weight value; determining the weight of the drilling tool according to the weight of the first clamp and the sum of the weights; The working posture is determined according to the weight difference and the weight of the drilling tool, wherein the working posture includes the drilling tool being not tilted and the drilling tool being tilted.

3. The control method for a drilling floor manipulator according to claim 2, characterized in that: Determining the working posture according to the weight difference and the weight of the drilling tool comprises: When the weight difference is greater than a preset value and less than the weight of the drilling tool, determining that the working posture is that the drilling tool is not tilted; When the weight difference is smaller than a preset value or larger than the weight of the drilling tool, the working posture is determined to be that the drilling tool is tilted.

4. The control method for a drilling floor manipulator according to claim 3, characterized in that: The method further comprises: When the weight difference is less than the preset value, determining that the drilling tool is tilted in a direction away from the second mechanical arm; When the weight difference is greater than the weight of the drilling tool, it is determined that the drilling tool is tilted toward a direction approaching the second mechanical arm.

5. The control method for a drilling floor manipulator according to claim 1, characterized in that: The step of determining the landing state of the drilling tool in the process of clamping and moving the drilling tool according to the first weight value and the second weight value includes: obtaining the weight of the first clamp; determining a sum of weights between the first weight value and the second weight value; The landing state is determined according to the total weight and the weight of the first clamp, wherein the landing state includes the drilling tool landing and the drilling tool not landing.

6. The control method for a drilling floor manipulator according to claim 5, characterized in that: Determining the landing state according to the total weight and the weight of the first clamp includes: When the total weight is less than or equal to the weight of the first clamp, determining that the landing state is the landing of the drilling tool; When the total weight is greater than the weight of the first clamp, it is determined that the landing state is that the drilling tool has not landed.

7. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for a drilling floor robot according to any one of claims 1 to 6.

8. A control device for a drilling platform manipulator, characterized in that: The device comprises: A first control module is used to control the first clamp of the first mechanical arm and the second clamp of the second mechanical arm of the drilling floor manipulator to clamp the drilling tool and move when the drilling floor manipulator is in a pulling-out condition or a drilling-down condition; a weight acquisition module, used for acquiring a first weight value and a second weight value collected by a first sensor and a second sensor, wherein the first sensor and the second sensor are located at a connection between the first mechanical arm and the first clamp, the first sensor is closer to the drilling tool than the second sensor, and the first sensor and the second sensor are at the same installation height; a position state determination module, configured to determine the landing state and / or working posture of the drilling tool in the process of clamping and moving the drilling tool according to the first weight value and the second weight value; The second control module is used to control the first robotic arm and / or the second robotic arm accordingly according to the landing state and / or working posture.

9. The control device for a drilling floor manipulator according to claim 8, characterized in that: The position state determination module is used to determine the working posture of the drilling tool in the process of clamping the drilling tool and moving it according to the first weight value and the second weight value, including: obtaining the weight of the first clamp; determining a weight difference and a weight sum between the first weight value and the second weight value; determining the weight of the drilling tool according to the weight of the first clamp and the sum of the weights; The working posture is determined according to the weight difference and the weight of the drilling tool, wherein the working posture includes the drilling tool being not tilted and the drilling tool being tilted.

10. The control device for a drilling floor manipulator according to claim 9, characterized in that: The position state determination module, used for determining the working posture according to the weight difference and the weight of the drilling tool, comprises: When the weight difference is greater than a preset value and less than the weight of the drilling tool, determining that the working posture is that the drilling tool is not tilted; When the weight difference is smaller than a preset value or larger than the weight of the drilling tool, the working posture is determined to be that the drilling tool is tilted.

11. The control device for a drilling floor manipulator according to claim 10, characterized in that: The position state determination module is also used for: When the weight difference is less than the preset value, determining that the drilling tool is tilted in a direction away from the second mechanical arm; When the weight difference is greater than the weight of the drilling tool, it is determined that the drilling tool is tilted toward a direction approaching the second mechanical arm.

12. The control device for a drilling floor manipulator according to claim 8, characterized in that: The position state determination module, for determining the landing state of the drilling tool in the process of clamping and moving the drilling tool according to the first weight value and the second weight value, includes: obtaining the weight of the first clamp; determining a sum of weights between the first weight value and the second weight value; The landing state is determined according to the total weight and the weight of the first clamp, wherein the landing state includes the drilling tool landing and the drilling tool not landing.

13. The control device for a drilling floor manipulator according to claim 12, characterized in that: The position state determination module, for determining the landing state according to the total weight and the weight of the first clamp, comprises: When the total weight is less than or equal to the weight of the first clamp, determining that the landing state is the landing of the drilling tool; When the total weight is greater than the weight of the first clamp, it is determined that the landing state is that the drilling tool has not landed.

14. A drilling platform manipulator, characterized in that: The drilling floor manipulator comprises: A first mechanical arm includes a first clamp, and a first sensor and a second sensor are installed at a connection between the first mechanical arm and the first clamp; a second robotic arm including a second gripper; A control device for a drilling floor manipulator according to any one of claims 8 to 13.

15. A mechanical device, characterized in that: Comprising a drill floor robot according to claim 14.

Images