Cooperative control method, device and equipment for double manipulators of calandria machine and medium

Abstract

The invention provides a pipe racking machine double-manipulator cooperative control method, device and equipment and a medium, and belongs to the technical field of oil exploitation. The method comprises the following steps: determining a cooperative relationship between a racking platform manipulator and a drill floor manipulator; an instruction is sent to the racking platform manipulator to enable the racking platform manipulator to move to the target coordinate, and the displacement of a servo motor shaft is collected in real time (the drill floor manipulator moves along with the synchronization relation); the current positions of the two manipulators are calculated in real time according to the displacement of the two-layer platform manipulators; and when the difference value between the current position of the racking platform manipulator and the preset coordinate exceeds the threshold value, the displacement of a servo motor of the racking platform manipulator is adjusted, so that the racking platform manipulator accurately reaches the preset coordinate. According to the invention, on the basis of the real-time calculated position information of the double manipulators, the system dynamically eliminates the track deviation through a closed-loop bidirectional speed regulation mechanism, and ensures that high-precision collaborative movement is realized in an absolute / relative synchronous mode.

Description

Technical Field

[0001] The present invention relates to the technical field of oil extraction, and in particular to a dual-manipulator collaborative control method for a pipe laying machine, a dual-manipulator collaborative control device for a pipe laying machine, an electronic device, and a computer-readable storage medium. Background Art

[0002] In modern automated oil drilling operations, pipe handling machines are key equipment for efficient and safe pipe string handling. This core component relies on the precise coordination of the drill floor manipulator (responsible for pipe connection and unloading near the wellhead) and the second-deck manipulator (responsible for accessing drill pipe and casing at the second-deck finger beam). This collaborative operation requires the two manipulators to maintain high synchronization along complex spatial trajectories, whether this requires "absolute synchronization" (such as precise docking) where end points must precisely coincide, or "relative synchronization" (such as integrated pipe string handling) where fixed relative postures or speeds must be maintained. However, in actual operation, dual-manipulator systems often experience motion deviations (loss of synchrony) due to factors such as uneven loads, nonlinear errors in the mechanical transmission chain (such as backlash and elastic deformation), and unpredictable external disturbances (such as vibration and wind load). This accumulated synchronization error not only directly affects the accuracy and efficiency of pipe string docking but can also, in severe cases, lead to equipment collisions, pipe string damage, and even accidents, becoming a key bottleneck restricting the automation level and operational reliability of the pipe handling machine.

[0003] Currently, the synchronization problem of the coordinated motion of two manipulators is solved by the following methods: (1) establishing a high-precision servo control system for each manipulator (drilling platform and second-level platform) (such as using high-resolution encoder feedback, PID / feedforward compensation algorithm) to improve the trajectory tracking accuracy of each manipulator. This strategy focuses on improving individual performance; (2) pre-planning and coordinating the motion trajectories of the two manipulators at the control level to ensure that their motion instructions are strictly synchronized in time under ideal conditions (such as using the same motion planner output instructions); (3) installing additional position sensors (such as laser trackers, vision systems) at key parts of the manipulators (such as end effectors, joints) or in the workspace to monitor the actual position of the two manipulators in real time, and feeding this information back to the control system for deviation correction.

[0004] However, the existing dual-manipulator collaborative motion control methods have the following problems: (1) The solutions that rely on external sensors (such as laser trackers and vision systems) are complex, costly, and easily interfered by harsh working conditions on site. The measurement data has delays and fluctuations, making it difficult to provide highly reliable collaborative position closed-loop feedback, and fail to fully utilize the displacement data of the manipulator's built-in servo motor to accurately solve the collaborative spatial coordinates of the two machines in real time; (2) After the synchronization deviation is detected, there is a lack of a bidirectional collaborative speed regulation mechanism based on the real-time relative position of the two machines. Usually, only unilateral adjustment or simple start and stop can be performed, and the speed of the two motors cannot be dynamically and differentially adjusted at the same time for compensation, resulting in the continuous accumulation and amplification of small errors during movement, making it difficult to effectively suppress the risk of loss of step in the "absolute synchronization" or "relative synchronization" mode; (3) The dynamic compensation capability for mechanical transmission nonlinear errors (such as tooth gap, flexible deformation) and load changes is insufficient, and the errors caused by these disturbances are difficult to eliminate by conventional means.

[0005] In the field of oil drilling automation, the collaborative operation of the pipe laying machine's dual manipulators (the drill floor manipulator and the second-level manipulator) is the core link for achieving efficient pipe transportation. In traditional control methods, the dual manipulators are prone to cumulative end-positioning errors during collaborative movement due to factors such as mechanical structure deformation, servo system response delays, environmental vibration, and dynamic load changes. Especially when the second-level manipulator needs to accurately place drilling tools in a narrow space, the deviation between its actual coordinates and the preset target coordinates can significantly reduce the success rate of pipe string docking and even cause the risk of equipment collision. In addition, the motion coupling disturbance between the dual manipulators and external uncertainties (such as friction mutations and gravity imbalance) further exacerbate the instability of the system, restricting the safety and efficiency of automated pipe laying.

[0006] Currently, the following technical solutions are mainly used to achieve precise positioning of the dual-manipulator system of the pipe laying machine: (1) using servo motor closed-loop control combined with PID adjustment algorithm, calculating the target coordinates through real-time feedback of the manipulator joint displacement data, and driving the motor to execute the motion trajectory; (2) introducing the kinematic inverse solution model to predict the manipulator path, or using sensors (such as encoders and laser rangefinders) to compensate for the positioning error of a single machine. At the collaborative control level, the mainstream method relies on preset collaborative trajectory planning or master-slave tracking strategy, that is, designating the drilling platform manipulator as the master manipulator and the second-level manipulator following its movement sequence for synchronous operation.

[0007] However, the existing positioning method of the dual-manipulator system of the pipe laying machine has the following problems: (1) The single coordinate calculation is easily affected by the nonlinear characteristics of the servo system, and there is a lack of a closed-loop verification mechanism for the calculation results, resulting in the residual error between the actual position of the end of the second-level platform manipulator and the preset target coordinate exceeding the safety threshold; (2) The existing collaborative strategy does not fully consider the dynamic coupling effect and environmental interference between the dual manipulators. When the positioning deviation of the second-level platform manipulator is large, only its own parameters are adjusted, while the torque linkage optimization of the drilling platform manipulator is ignored, and the system-level deviation cannot be collaboratively suppressed; (3) For uncertainties such as friction changes and small cumulative errors during operation, the existing technology lacks a dynamic iteration mechanism. When the error exceeds the limit, manual intervention is required to reset it, and it is impossible to automatically update the initial parameters and re-plan the path, resulting in error correction lag and reliance on manual experience. Summary of the Invention

[0008] The purpose of the embodiments of the present invention is to provide a method, device, equipment and medium for collaborative control of dual manipulators of a pipe laying machine to solve the above-mentioned problems.

[0009] To achieve the above objectives, an embodiment of the present invention provides a method for collaboratively controlling dual manipulators of a pipe racking machine, wherein the dual manipulators include a drilling floor manipulator and a second-floor platform manipulator. The method includes: Determine the collaborative relationship between the second-floor manipulator and the drilling floor manipulator; When the collaborative relationship is a synchronous relationship, a first control instruction is sent to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and the displacement of the servo motor shaft of the second-level platform manipulator is obtained in real time, wherein the drilling platform manipulator moves synchronously with the second-level platform manipulator according to the synchronous relationship; Based on the displacement of the servo motor shaft of the second-level platform manipulator, the current coordinates of the second-level platform manipulator and the current coordinates of the drilling platform manipulator are determined; When the difference between the current coordinates of the second-layer platform manipulator and the preset coordinates is greater than a preset threshold, the displacement of the servo motor shaft of the second-layer platform manipulator is adjusted to control the second-layer platform manipulator to move to the preset coordinates.

[0010] Optionally, the dual-manipulator collaborative control method for the pipe laying machine further includes: When the collaborative relationship is an asynchronous relationship, a first control instruction is sent to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and a second control instruction is sent to the drilling floor manipulator to control the drilling floor manipulator to move to the second target coordinate, and the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator are obtained in real time; Based on the displacement of the servo motor shaft of the second-floor manipulator and the displacement of the servo motor shaft of the drilling floor manipulator, the current coordinates of the second-floor manipulator and the current coordinates of the drilling floor manipulator are determined.

[0011] Optionally, the synchronization relationship includes a relative synchronization relationship; determining the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator includes: If the synchronization relationship is a relative synchronization relationship, the displacement of the servo motor shaft of the drilling floor manipulator is determined based on the displacement of the servo motor shaft of the second-floor manipulator and the preset configuration parameters; Matching the displacement of the servo motor shaft of the two-layer platform manipulator with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the two-layer platform manipulator and the corresponding coordinates; The displacement of the servo motor shaft of the drilling rig manipulator is matched with a pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig manipulator; wherein the pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor shaft of the drilling rig manipulator and the corresponding coordinates.

[0012] Optionally, the preset configuration parameters include: acceleration of the second-level platform manipulator, deceleration of the second-level platform manipulator, acceleration and deceleration change rate of the second-level platform manipulator, and a gear ratio between the second-level platform manipulator and the drilling floor manipulator; Based on the displacement of the servo motor shaft of the second-level platform manipulator and the preset configuration parameters, the displacement of the servo motor shaft of the drilling floor manipulator is determined, including: When the acceleration and deceleration of the servo motor shaft of the second-level platform manipulator are both positive and the acceleration and deceleration change rate of the second-level platform manipulator is non-negative, the displacement of the servo motor shaft of the second-level platform manipulator and the gear ratio between the second-level platform manipulator and the drilling platform manipulator are taken as the displacement of the servo motor shaft of the drilling platform manipulator.

[0013] Optionally, the synchronization relationship includes an absolute synchronization relationship, and the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator are determined based on the displacement of the servo motor shaft of the second-level platform manipulator, including: If the synchronization relationship is an absolute synchronization relationship, the displacement of the servo motor shaft of the second-level platform manipulator is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the second-level platform manipulator and the corresponding coordinates; Based on the current coordinates of the second-floor manipulator and preset configuration parameters, the current coordinates of the drilling floor manipulator are determined.

[0014] Optionally, the preset configuration parameters include: acceleration of the second-level platform manipulator, deceleration of the second-level platform manipulator, acceleration and deceleration change rate of the second-level platform manipulator, and a gear ratio between the second-level platform manipulator and the drilling floor manipulator; Based on the current coordinates of the second-floor manipulator and preset configuration parameters, the current coordinates of the drilling floor manipulator are determined, including: When the acceleration and deceleration of the servo motor shaft of the second-level platform manipulator are both positive and the acceleration and deceleration change rate of the second-level platform manipulator is non-negative, the current coordinate of the drilling platform manipulator is the product of the current coordinate of the second-level platform manipulator and the gear ratio between the second-level platform manipulator and the drilling platform manipulator.

[0015] Optionally, determining the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator includes: Matching the displacement of the servo motor shaft of the two-layer platform manipulator with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the two-layer platform manipulator and the corresponding coordinates; The displacement of the servo motor shaft of the drilling rig manipulator is matched with a pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig manipulator; wherein the pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor shaft of the drilling rig manipulator and the corresponding coordinates.

[0016] Optionally, determining the collaborative relationship between the second-floor manipulator and the drilling floor manipulator includes: Receive synchronization instructions, identity ID and password information sent by the user; If the identity ID and password information are verified, the collaborative relationship between the second-floor manipulator and the drilling floor manipulator is determined based on the synchronization instruction.

[0017] Optionally, the pre-constructed first displacement-coordinate curve and the pre-constructed second displacement-coordinate curve are electronic cam curves having different curve characteristics.

[0018] Optionally, the gear ratio between the second-floor manipulator and the drilling floor manipulator is determined by: When the second-level platform manipulator moves to the first target coordinate, a clamping control instruction is sent to the second-level platform manipulator and the drilling platform manipulator respectively to obtain the weight that the drilling platform manipulator bears when clamping the drilling tool; If the difference between the weight borne by the drilling rig manipulator when gripping the drill tool and the preset weight borne is less than a preset threshold, then determine whether the weight borne by the drilling rig manipulator when gripping the drill tool is less than the preset weight borne; If so, the product of the gear ratio between the second-floor manipulator and the drilling floor manipulator and the first preset coefficient is calculated to obtain the calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator; or If not, the product of the gear ratio between the second-floor manipulator and the drilling floor manipulator and the second preset coefficient is calculated to obtain the calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator; The calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator is used as the gear ratio between the second-floor manipulator and the drilling floor manipulator; Wherein, 0<first preset coefficient<1<second preset coefficient.

[0019] Optionally, the dual-manipulator collaborative control method for the pipe laying machine further includes: Count the number of times the displacement of the servo motor shaft of the second-level robot is adjusted; If the number of times is greater than the preset number, the second-floor manipulator and the drilling floor manipulator are controlled to stop running.

[0020] In a second aspect of the embodiments of the present invention, a dual-manipulator collaborative control device for a pipe rafting machine is provided, wherein the dual-manipulator includes a drilling floor manipulator and a second-floor platform manipulator, including: A relationship determination module is used to determine the collaborative relationship between the second-floor manipulator and the drilling floor manipulator; a first acquisition module, configured to, when the collaborative relationship is a synchronous relationship, send a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to a first target coordinate, and acquire the displacement of the servo motor shaft of the second-level platform manipulator in real time, wherein the drilling platform manipulator moves synchronously with the second-level platform manipulator according to the synchronous relationship; A first determination module is used to determine the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator; The parameter adjustment module is used to adjust the displacement of the servo motor shaft of the second-layer platform manipulator to control the second-layer platform manipulator to move to the preset coordinate when the difference between the current coordinate of the second-layer platform manipulator and the preset coordinate is greater than a preset threshold.

[0021] Optionally, the dual-manipulator collaborative control device for the pipe laying machine further includes: a second acquisition module and a second determination module; a second acquisition module, configured to, when the collaborative relationship is an asynchronous relationship, send a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and send a second control instruction to the drilling floor manipulator to control the drilling floor manipulator to move to the second target coordinate, and acquire in real time the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator; The second determining module is used to determine the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator.

[0022] In a third aspect of the embodiments of the present invention, an electronic device is provided, comprising: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the above-mentioned dual-manipulator collaborative control method of the pipe laying machine is executed.

[0023] In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the above-mentioned dual-manipulator collaborative control method for the pipe laying machine.

[0024] In an embodiment of the present invention, based on the displacement of the built-in servo motor of the two-layer platform manipulator as the basic data, the precise current position of the two manipulators in the collaborative task space is calculated in real time through a preset kinematic model or mapping relationship algorithm; on this basis, the system continuously compares the actual coordinates of the two-layer platform manipulator with the preset path coordinates in real time. Once the deviation exceeds the allowable threshold (i.e., the preset threshold), the closed-loop bidirectional collaborative adjustment (synchronous acceleration, synchronous deceleration, or differentiated compensation speed regulation) of the servo motors of the dual manipulators is triggered, thereby dynamically eliminating the cumulative error in the two modes of "absolute synchronization" (requiring strict synchronization of the two manipulator ends on the spatial trajectory) or "relative synchronization" (requiring a fixed relative posture or speed relationship between the two manipulators), effectively suppressing the risk of loss of step caused by load changes, mechanical transmission errors or external disturbances, and ultimately ensuring high-precision trajectory tracking and motion stability during the collaborative operation of the dual manipulators.

[0025] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings: Figure 1 1 is a flow chart of a dual-manipulator collaborative control method for a pipe laying machine provided by an embodiment of the present invention; Figure 2 Schematic diagram of the structure of a two-layer robot provided by an embodiment of the present invention; Figure 3 1 is a schematic structural diagram of a drilling floor manipulator provided by an embodiment of the present invention; Figure 4It is a structural diagram of a dual-manipulator collaborative control device for a pipe laying machine provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0029] In the description of the embodiments of this application, the technical terms "first," "second," etc. are used only to distinguish different objects and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise specifically defined.

[0030] Example 1 Please refer to Figure 1 , Figure 1 1 is a flow chart of a dual-manipulator collaborative control method for a pipe laying machine provided by an embodiment of the present invention, the method comprising the following steps: S100, determining the coordination relationship between the second-floor manipulator and the drilling floor manipulator; In one embodiment, step S100 includes: S110, receiving a synchronization instruction, identity ID and password information sent by a user; S120: If the identity ID and password information are verified, the collaborative relationship between the second-floor manipulator and the drilling floor manipulator is determined based on the synchronization instruction.

[0031] S200, when the collaborative relationship is a synchronous relationship, sending a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to a first target coordinate, and obtaining the displacement of the servo motor shaft of the second-level platform manipulator in real time, wherein the drilling platform manipulator moves synchronously with the second-level platform manipulator according to the synchronous relationship; Specifically, if Figure 2As shown, the second-level manipulator is arranged under the drilling platform and is responsible for clamping and moving the drilling tools. In order to save space to the maximum extent and maximize the reach, the manipulator also uses a folding lever structure. When retracted, the space occupies a minimum radius of 500mm, and the extended radius can reach 3800mm. When its clamps clamp the drilling tools, it is necessary to perform mixed control of position and torque to prevent damage to the drilling tools due to over-clamping or slipping of the drilling tools due to under-clamping. In addition, the manipulator is equipped with a push-and-support clamp to meet the pushing and supporting needs of individual drill collars. When moving the drilling tools, it is necessary to cooperate with the drilling platform manipulator. When transporting the drill rods, the actions of the two manipulators need to be synchronized to prevent excessive skew during the movement of the drilling tools.

[0032] Specifically, if Figure 3 As shown, the drill floor manipulator is arranged in the middle of the left and right root boxes on the drill floor, responsible for pushing and positioning the drill tools; its clamp is equipped with a pushing and supporting mechanism to facilitate precise positioning; in order to save space to the maximum extent and maximize the reach, the manipulator uses a folding lever structure, which occupies a minimum radius of 500mm when retracted and can reach a radius of 3800mm when extended; when moving the drill tools, it needs to cooperate with the second-level platform manipulator to complete the task, and when transporting the drill rod, the actions of the two manipulators need to be synchronized to prevent excessive skew during the movement of the drill tools.

[0033] The second-level manipulator refers to the robotic arm located on the second level of the drilling platform, which is used to handle drill pipes and other equipment.

[0034] The drill floor manipulator refers to the robotic arm located on the drill floor, which is used to assist in drill pipe placement or platform operation.

[0035] For ease of understanding, the following example illustrates how to control the second-level robot to move to the first target coordinate: Step 1: The host computer calls the target coordinates based on the drill rod length (9.5m): Drilling platform manipulator target coordinates: (1520, 650, -200, 0°, 0, 30°); Target coordinates of the second-level robot: (1535, 1800, 860, 0°, 15, 90°).

[0036] Step 2: The drill floor manipulator moves to the target point in linear interpolation mode and clamps the bottom end of the drill pipe; Step 3: The second-level manipulator moves to the target point in an "S-shaped" acceleration and deceleration curve and clamps the top of the drill pipe; Step 4: Both parties simultaneously lift the drill rod, and the second-level platform manipulator performs the stand insertion action (the end position is adjusted to A_t=0°, B_t=0°, C_t=180°).

[0037] The displacement of the servo motor shaft of the second-layer platform robot refers to the displacement of the electric cylinder telescopic rod controlled by the servo motor of the second-layer platform robot.

[0038] It should be noted that the executor of the dual-manipulator collaborative control method of the pipe laying machine provided by the present invention is a manipulator collaborative control system, which includes a control unit and a drive unit. The control unit is a terminal device, and the drive unit is arranged in the second-level platform manipulator and the drilling platform manipulator for controlling the operation of the second-level platform manipulator and the drilling platform manipulator.

[0039] In one embodiment, the control center typically utilizes a PLC logic controller and a motion control CPU capable of implementing various motion control functions. Depending on the number and performance requirements of process objects, different levels of T-CPU modules can be selected to accommodate applications ranging from simple to complex. This architecture offers the following features: standard, motion control, and safety functions are integrated into a single CPU; servo drives can be connected; motion control programming is based on the international PLCopen standard, requiring no specialized knowledge; and a process object (TO)-oriented control approach facilitates engineering, commissioning, and maintenance, simplifying the work of machine manufacturers and users. Process objects can easily implement functions such as positioning, speed control, gear synchronization, cam synchronization, and kinematics calculations.

[0040] In one embodiment, the control unit utilizes a PLC with positioning control capabilities. It establishes IRT (Isochronous Real-Time) communication with two drive units located on the second-deck manipulator and the drill floor manipulator via 105 communication messages. This achieves a response time of approximately 1ms and a jitter of less than 1us, enabling a wider range of motion control functions. This not only meets the needs of automated production but also addresses mid-range applications with higher requirements for performance, flexibility, and network capabilities. It can be used in complex motion control applications, such as cam synchronization and motion mechanism control.

[0041] The 105 communication message has the DSC function. DSC (Dynamic Servo Control) delegates position loop calculation and interpolation to the drive through the message, uses fast calculation speed to control the clock, improves the dynamic responsiveness of the servo, and increases the servo stiffness. This function is suitable for servo control tasks with high dynamics and complex motions.

[0042] In one embodiment, the second-level platform manipulator servo motor and the drilling floor manipulator servo motor are explosion-proof servo motors.

[0043] In one embodiment, both the second-deck manipulator and the drill floor manipulator utilize a new book-type drive. This drive boasts a maximum overload capacity of three times the original load, and features high flexibility, a compact structure, a strong overload capacity, and a separate power unit and closed-loop control module, making it highly capable of handling a wide variety of drive tasks.

[0044] S300, determining the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator; The current coordinates of the second-level manipulator refer to the real-time spatial positioning data of the end effector of the manipulator (such as an elevator or clamping tool) relative to the center point of the wellhead, which usually includes its offset in the horizontal plane (X-axis, Y-axis) and its height from the drilling floor plane (Z-axis).

[0045] The current coordinates of the drill floor manipulator refer to the real-time spatial positioning data of the key working components of the drill floor manipulator (such as the roughneck head, elevator body or clamping arm gripper) relative to the center point of the wellhead, usually including horizontal offset (X-axis, Y-axis) and height (Z-axis).

[0046] Since the relationship between the displacement of the servo motor output shaft and the extension and contraction of the manipulator is nonlinear, it is necessary to generate the first CAM curve (electronic cam curve) and the second CAM curve (electronic cam curve) corresponding to the second-level manipulator and the drilling platform manipulator, respectively, based on the nonlinear relationship between the displacement of the servo motor output shaft and the extension and contraction of the manipulator. That is, the imaginary axis (the extension and contraction of the manipulator, i.e., the position of the manipulator) is bound to the real axis (the displacement of the electric cylinder extension rod controlled by the servo motor, i.e., the displacement of the servo motor output shaft) for linearization conversion. The motion relationship between the imaginary axis and the real axis is achieved using an electronic cam, rather than the previous mechanical cam. The advantages are that there is no mechanical impact, reduced vibration, reduced wear, and reduced downtime when replacing the electronic cam curve. The cam motion operation between the master and slave axes can then be initiated through the motion control command "MC_CamIn". The parameter list of the control command "MC_CamIn" is shown in Table 1: Table 1 Parameter list of control command "MC_CamIn"

[0047] Generally, a synchronization relationship can be established between the second-floor manipulator and the drilling floor manipulator to ensure the stability of the drilling tools during transportation. The synchronization relationship is divided into relative synchronization relationship and absolute synchronization relationship.

[0048] In one embodiment, step S300 includes: S310, if the synchronization relationship is a relative synchronization relationship, determining the displacement of the servo motor shaft of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator and preset configuration parameters; The preset configuration parameters include but are not limited to: the acceleration of the second-level platform manipulator, the deceleration of the second-level platform manipulator, the acceleration and deceleration change rate of the second-level platform manipulator, and the gear ratio between the second-level platform manipulator and the drilling floor manipulator.

[0049] Specifically, step S310 includes: When the acceleration and deceleration of the servo motor shaft of the second-level platform manipulator are both positive and the acceleration and deceleration change rate of the second-level platform manipulator is non-negative, the displacement of the servo motor shaft of the second-level platform manipulator and the gear ratio between the second-level platform manipulator and the drilling platform manipulator are taken as the displacement of the servo motor shaft of the drilling platform manipulator.

[0050] Specifically, the following describes a specific implementation method for relative synchronization of manipulators in a PLC application scenario (i.e., step S310): The MC_GearIn command establishes relative synchronization between the upper and lower manipulator axes. During synchronization, the dynamic characteristics of the slave axis are defined using parameters such as "Jerk," "Acceleration," and "Deceleration." The electronic gear ratio is specified as the relationship between two integers (numerator / denominator) using the "RatioNumerator" and "RatioDenominator" parameters. Table 2 shows the parameters for the "MC_GearIn" control command: Table 2 Parameter list of control command "MC_GearIn"

[0051] The duration and distance of synchronization depend on the following parameters: the start time of the "MC_GearIn" command, the dynamic values ​​of the slave axis at the start, the dynamic parameter settings of the synchronization command, and the dynamic values ​​of the master axis. The gear ratio can be specified as a positive or negative number. A positive number means that the master and slave axes run in the same direction, and a negative number means that the master and slave axes run in opposite directions. Synchronization can be started when the master axis is stopped or in motion. For the input acceleration and deceleration parameters: the input value is effective when it is greater than 0, and is not allowed when it is equal to 0 (Configuration>Extended parameters>Dynamic defaults). For the input Jerk parameter: the input value is effective when it is greater than 0, and a trapezoidal velocity profile is used when it is equal to 0 (Configuration>Extended parameters>Dynamic defaults).

[0052] S320, matching the displacement of the servo motor shaft of the second-level platform manipulator with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the second-level platform manipulator and the corresponding coordinates; S330, matching the displacement of the servo motor shaft of the drilling rig manipulator with a pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig manipulator; wherein the pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor shaft of the drilling rig manipulator and the corresponding coordinates.

[0053] In one embodiment, step S300 includes: S310', if the synchronization relationship is an absolute synchronization relationship, then the displacement of the servo motor shaft of the second-level platform manipulator is matched with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the second-level platform manipulator and the corresponding coordinates; S320': Determine the current coordinates of the drilling floor manipulator based on the current coordinates of the second-floor manipulator and preset configuration parameters.

[0054] The preset configuration parameters include but are not limited to: the acceleration of the second-level platform manipulator, the deceleration of the second-level platform manipulator, the acceleration and deceleration change rate of the second-level platform manipulator, and the gear ratio between the second-level platform manipulator and the drilling floor manipulator.

[0055] Specifically, step S320′ includes: When the acceleration and deceleration of the servo motor shaft of the second-level platform manipulator are both positive and the acceleration and deceleration change rate of the second-level platform manipulator is non-negative, the current coordinate of the drilling platform manipulator is the product of the current coordinate of the second-level platform manipulator and the gear ratio between the second-level platform manipulator and the drilling platform manipulator.

[0056] Specifically, the following describes a specific implementation method for absolute synchronization of the robot in a PLC application scenario (ie, step SS320 ′): The "MC_GearInPos" command establishes an absolute synchronization relationship with the second-level manipulator as the main axis and the drilling floor manipulator as the slave axis. The synchronization position can be specified. The absolute synchronization relationship can be established by specifying the main axis running distance or dynamic response value. The synchronization direction can also be defined. The parameter list of the control command "MC_GearInPos" is shown in Table 3: Table 3 Parameter list of control command "MC_GearInPos"

[0057] Synchronization based on the spindle running distance (SynProfileReference=0) When the spindle running position reaches "MasterSynPosition-MasterStartDistance", the slave axis starts to move. After the spindle runs the "MasterStartDistance" distance and reaches the "MasterSynPosition" and the slave axis position reaches the "SlaveSynPosition", the slave axis and the spindle are synchronized and run at the same speed.

[0058] Alternatively, the system starts the slave axis based on the dynamic response parameters entered (SynProfileReference=1). When the master axis reaches the "MasterSynPosition" and the slave axis position reaches the "SlaveSynPosition", the slave axis is synchronized with the master axis and runs at the same speed. In general, the establishment of an absolute synchronization relationship is synchronized before the master and slave axes specify the synchronization position. Use the parameters "RatioNumerator" and "RatioDenominator" to specify the transmission ratio as the relationship between two integers (numerator / denominator). The numerator of the transmission ratio is specified as a positive or negative number. Positive number: the master and slave axes run in the same direction, negative number: the master and slave axes run in opposite directions. Synchronous operation can be started when the master axis is in a stopped state or in a moving state. For input acceleration and deceleration parameters: the input value is effective when it is greater than 0, and it is not allowed when it is equal to 0 (Configuration>Extended parameters>Dynamic defaults). For input Jerk parameters: the input value is effective when it is greater than 0, and a trapezoidal velocity profile is used when it is equal to 0 (Configuration>Extended parameters>Dynamic defaults).

[0059] In one or more of the above embodiments, the dual-manipulator collaborative control method for a pipe laying machine further includes: S1, when the collaborative relationship is an asynchronous relationship, sends a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to a first target coordinate, and sends a second control instruction to the drilling floor manipulator to control the drilling floor manipulator to move to a second target coordinate, and obtains the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator in real time; The displacement of the servo motor shaft of the drilling floor manipulator refers to the displacement of the electric cylinder telescopic rod controlled by the servo motor of the drilling floor manipulator.

[0060] It is understandable that when the collaborative relationship is an asynchronous relationship, the second-level platform manipulator and the drilling platform manipulator operate independently, so the target coordinates they need to run to are inconsistent, so the second-level platform manipulator is controlled to move to the first target coordinate and the drilling platform manipulator is controlled to move to the second target coordinate.

[0061] S2, determining the current coordinates of the second-floor manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-floor manipulator and the displacement of the servo motor shaft of the drilling floor manipulator.

[0062] Specifically, S2 includes: S21, matching the displacement of the servo motor shaft of the second-level platform manipulator with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the second-level platform manipulator and the corresponding coordinates; S22, matching the displacement of the servo motor shaft of the drilling rig manipulator with a pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig manipulator; wherein the pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor shaft of the drilling rig manipulator and the corresponding coordinates.

[0063] In one embodiment, the pre-constructed first displacement-coordinate curve and the pre-constructed second displacement-coordinate curve are electronic cam curves having different curve characteristics.

[0064] An electronic cam curve is a predefined or real-time calculated mathematical function or data set in a motion control system that describes how the slave axis position (displacement, velocity, acceleration, etc.) accurately follows the changes in the master axis position (or time).

[0065] In one embodiment, the pre-constructed first displacement-coordinate curve and the pre-constructed second displacement-coordinate curve are pre-processed; wherein the pre-processing includes interpolation processing.

[0066] In this embodiment, the original data points, which may be sparse, uneven, or incomplete, are converted into a high-resolution, smooth, and evenly distributed continuous curve. This significantly improves the data quality, makes the curve more consistent with physical reality, and provides essential high-quality basic data for subsequent accurate analysis.

[0067] In one embodiment, the gear ratio between the second deck manipulator and the drill floor manipulator is determined by: When the second-level platform manipulator moves to the first target coordinate, a clamping control instruction is sent to the second-level platform manipulator and the drilling platform manipulator respectively to obtain the weight that the drilling platform manipulator bears when clamping the drilling tool; If the difference between the weight borne by the drilling rig manipulator when gripping the drill tool and the preset weight borne is less than a preset threshold, then determine whether the weight borne by the drilling rig manipulator when gripping the drill tool is less than the preset weight borne; If so, the product of the gear ratio between the second-floor manipulator and the drilling floor manipulator and the first preset coefficient is calculated to obtain the calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator; or If not, the product of the gear ratio between the second-floor manipulator and the drilling floor manipulator and the second preset coefficient is calculated to obtain the calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator; The calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator is used as the gear ratio between the second-floor manipulator and the drilling floor manipulator; Wherein, 0<first preset coefficient<1<second preset coefficient.

[0068] In this embodiment, by detecting the actual weight borne by the drill floor manipulator gripping the drill tool in real time and comparing it with the preset weight, the gear ratio between the second-level platform and the drill floor manipulator is accurately calibrated dynamically and bidirectionally (using a coefficient less than 1 or greater than 1). This effectively eliminates transmission errors caused by factors such as gear wear, manufacturing errors, or installation deviations, ensuring precise matching of force transmission and synchronization of movements between the two manipulators during collaborative operations (such as handing over drill tools), thereby significantly improving operational safety and reliability and reducing the risk of equipment damage.

[0069] S400, when the difference between the current coordinates of the second-level platform manipulator and the preset coordinates is greater than a preset threshold, adjusting the displacement of the servo motor shaft of the second-level platform manipulator to control the second-level platform manipulator to move to the preset coordinates.

[0070] Specifically, when the difference between the current coordinates of the second-level platform manipulator and the preset target exceeds a threshold, the displacement of its servo motor shaft is adjusted to ensure that the manipulator is driven closer to the preset coordinates.

[0071] In one or more of the above embodiments, the dual-manipulator collaborative control method for a pipe laying machine further includes: Count the number of times the displacement of the servo motor shaft of the second-level robot is adjusted; If the number of times is greater than the preset number, the second-floor manipulator and the drilling floor manipulator are controlled to stop running.

[0072] In this embodiment, by statistically adjusting the number of times the servo motor shaft displacement exceeds a limit and shutting down the machine when it exceeds a preset value, this mechanism can proactively prevent damage or failure of key components of the second-level platform and drilling floor manipulator (such as the motor, reducer, and transmission structure) due to overload, effectively extending the life of the equipment and avoiding costly repairs. Furthermore, it can prevent catastrophic accidents caused by equipment overload (such as a falling load or loss of manipulator control), greatly ensuring the safety of on-site personnel and the integrity of production equipment, while reducing unplanned downtime and improving the reliability and safety of overall operations.

[0073] In an embodiment of the present invention, based on the displacement of the built-in servo motor of the two-layer platform manipulator as the basic data, the precise current position of the two manipulators in the collaborative task space is calculated in real time through a preset kinematic model or mapping relationship algorithm; on this basis, the system continuously compares the actual coordinates of the two-layer platform manipulator with the preset path coordinates in real time. Once the deviation exceeds the allowable threshold (i.e., the preset threshold), the closed-loop bidirectional collaborative adjustment (synchronous acceleration, synchronous deceleration, or differentiated compensation speed regulation) of the servo motors of the dual manipulators is triggered, thereby dynamically eliminating the cumulative error in the two modes of "absolute synchronization" (requiring strict synchronization of the two manipulator ends on the spatial trajectory) or "relative synchronization" (requiring a fixed relative posture or speed relationship between the two manipulators), effectively suppressing the risk of loss of step caused by load changes, mechanical transmission errors or external disturbances, and ultimately ensuring high-precision trajectory tracking and motion stability during the collaborative operation of the dual manipulators.

[0074] Example 2 Based on the same inventive concept, Figure 4 As shown, an embodiment of the present invention further provides a dual-manipulator collaborative control device 200 for a pipe laying machine, wherein the dual-manipulator includes a drilling floor manipulator and a second-floor platform manipulator, including: A relationship determination module 210 is used to determine the coordination relationship between the second-floor manipulator and the drilling floor manipulator; The first acquisition module 220 is configured to, when the collaborative relationship is a synchronous relationship, send a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and acquire the displacement of the servo motor shaft of the second-level platform manipulator in real time, wherein the drilling platform manipulator moves synchronously with the second-level platform manipulator according to the synchronous relationship; A first determining module 230 is configured to determine the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator; The parameter adjustment module 240 is used to adjust the displacement of the servo motor shaft of the second-level platform manipulator to control the second-level platform manipulator to move to the preset coordinate when the difference between the current coordinate of the second-level platform manipulator and the preset coordinate is greater than a preset threshold.

[0075] In one embodiment, the dual-manipulator collaborative control device for a pipe laying machine further includes: a second acquisition module 250 and a second determination module 260; The second acquisition module 250 is configured to, when the collaborative relationship is an asynchronous relationship, send a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and send a second control instruction to the drilling floor manipulator to control the drilling floor manipulator to move to the second target coordinate, and acquire in real time the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator; The second determining module 260 is configured to determine the current coordinates of the second-level manipulator and the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level manipulator and the displacement of the servo motor shaft of the drilling floor manipulator.

[0076] It should be understood that this device corresponds to the aforementioned embodiment of the dual-manipulator collaborative control method for a pipe-laying machine and is capable of executing each of the steps involved in the aforementioned method embodiment. The specific functions of this device can be found in the description above; to avoid repetition, a detailed description is omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or embedded in the device's operating system (OS).

[0077] Example 3 Based on the same inventive concept, an embodiment of the present invention also provides an electronic device, including: a processor and a memory, the memory storing machine-readable instructions executable by the processor, and the machine-readable instructions executing the above-mentioned pipe laying machine dual-manipulator collaborative control method when executed by the processor.

[0078] In a typical configuration, an electronic device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0079] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0080] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission 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 computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0081] Example 4 Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed on a computer, the computer executes the above-mentioned dual-manipulator collaborative control method of the pipe laying machine.

[0082] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0084] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0086] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0087] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0088] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0089] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A dual-manipulator collaborative control method for a pipe laying machine, characterized in that: The dual manipulators include a drilling floor manipulator and a second-floor manipulator, and the method includes: Determine the collaborative relationship between the second-floor manipulator and the drilling floor manipulator; When the collaborative relationship is a synchronous relationship, a first control instruction is sent to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and the displacement of the servo motor shaft of the second-level platform manipulator is obtained in real time, wherein the drilling platform manipulator moves synchronously with the second-level platform manipulator according to the synchronous relationship; Based on the displacement of the servo motor shaft of the second-level platform manipulator, the current coordinates of the second-level platform manipulator and the current coordinates of the drilling platform manipulator are determined; When the difference between the current coordinates of the second-layer platform manipulator and the preset coordinates is greater than a preset threshold, the displacement of the servo motor shaft of the second-layer platform manipulator is adjusted to control the second-layer platform manipulator to move to the preset coordinates.

2. The dual-manipulator collaborative control method for a pipe laying machine according to claim 1 is characterized in that: The method further comprises: When the collaborative relationship is an asynchronous relationship, a first control instruction is sent to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and a second control instruction is sent to the drilling floor manipulator to control the drilling floor manipulator to move to the second target coordinate, and the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator are obtained in real time; Based on the displacement of the servo motor shaft of the second-floor manipulator and the displacement of the servo motor shaft of the drilling floor manipulator, the current coordinates of the second-floor manipulator and the current coordinates of the drilling floor manipulator are determined.

3. The dual-manipulator collaborative control method for a pipe laying machine according to claim 1, characterized in that: The synchronization relationship includes a relative synchronization relationship; based on the displacement of the servo motor shaft of the second-level platform manipulator, the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator are determined, including: If the synchronization relationship is a relative synchronization relationship, the displacement of the servo motor shaft of the drilling floor manipulator is determined based on the displacement of the servo motor shaft of the second-floor manipulator and the preset configuration parameters; Matching the displacement of the servo motor shaft of the two-layer platform manipulator with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the two-layer platform manipulator and the corresponding coordinates; The displacement of the servo motor shaft of the drilling rig manipulator is matched with a pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig manipulator; wherein the pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor shaft of the drilling rig manipulator and the corresponding coordinates.

4. The dual-manipulator collaborative control method for a pipe laying machine according to claim 3 is characterized in that: The preset configuration parameters include: the acceleration of the second-level platform manipulator, the deceleration of the second-level platform manipulator, the acceleration and deceleration rate of the second-level platform manipulator, and the gear ratio between the second-level platform manipulator and the drilling floor manipulator; Based on the displacement of the servo motor shaft of the second-level platform manipulator and the preset configuration parameters, the displacement of the servo motor shaft of the drilling floor manipulator is determined, including: When the acceleration and deceleration of the servo motor shaft of the second-level platform manipulator are both positive and the acceleration and deceleration change rate of the second-level platform manipulator is non-negative, the displacement of the servo motor shaft of the second-level platform manipulator and the gear ratio between the second-level platform manipulator and the drilling platform manipulator are taken as the displacement of the servo motor shaft of the drilling platform manipulator.

5. The dual-manipulator collaborative control method for a pipe laying machine according to claim 1, characterized in that: The synchronization relationship includes an absolute synchronization relationship. Based on the displacement of the servo motor shaft of the second-level platform manipulator, the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator are determined, including: If the synchronization relationship is an absolute synchronization relationship, the displacement of the servo motor shaft of the second-level platform manipulator is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the second-level platform manipulator and the corresponding coordinates; Based on the current coordinates of the second-floor manipulator and preset configuration parameters, the current coordinates of the drilling floor manipulator are determined.

6. The dual-manipulator collaborative control method for a pipe laying machine according to claim 5, characterized in that: The preset configuration parameters include: the acceleration of the second-level platform manipulator, the deceleration of the second-level platform manipulator, the acceleration and deceleration rate of the second-level platform manipulator, and the gear ratio between the second-level platform manipulator and the drilling floor manipulator; Based on the current coordinates of the second-floor manipulator and preset configuration parameters, the current coordinates of the drilling floor manipulator are determined, including: When the acceleration and deceleration of the servo motor shaft of the second-level platform manipulator are both positive and the acceleration and deceleration change rate of the second-level platform manipulator is non-negative, the current coordinate of the drilling platform manipulator is the product of the current coordinate of the second-level platform manipulator and the gear ratio between the second-level platform manipulator and the drilling platform manipulator.

7. The dual-manipulator collaborative control method for a pipe laying machine according to claim 2, characterized in that: Based on the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling platform manipulator, the current coordinates of the second-level platform manipulator and the current coordinates of the drilling platform manipulator are determined, including: Matching the displacement of the servo motor shaft of the two-layer platform manipulator with a pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer platform manipulator; wherein the pre-constructed first displacement-coordinate curve is used to represent the mapping relationship between different displacements of the servo motor shaft of the two-layer platform manipulator and the corresponding coordinates; The displacement of the servo motor shaft of the drilling rig manipulator is matched with a pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig manipulator; wherein the pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor shaft of the drilling rig manipulator and the corresponding coordinates.

8. The dual-manipulator collaborative control method for a pipe laying machine according to claim 1, characterized in that: Determine the collaborative relationship between the second-floor manipulator and the drilling floor manipulator, including: Receive synchronization instructions, identity ID and password information sent by the user; If the identity ID and password information are verified, the collaborative relationship between the second-floor manipulator and the drilling floor manipulator is determined based on the synchronization instruction.

9. The dual-manipulator collaborative control method for a pipe laying machine according to claim 3, 5 or 7, characterized in that: The pre-constructed first displacement-coordinate curve and the pre-constructed second displacement-coordinate curve are electronic cam curves having different curve characteristics.

10. The dual-manipulator collaborative control method for a pipe laying machine according to claim 4 or 6, characterized in that: The gear ratio between the second deck manipulator and the drilling floor manipulator is determined by the following method: When the second-level platform manipulator moves to the first target coordinate, a clamping control instruction is sent to the second-level platform manipulator and the drilling platform manipulator respectively to obtain the weight that the drilling platform manipulator bears when clamping the drilling tool; If the difference between the weight borne by the drilling rig manipulator when gripping the drill tool and the preset weight borne is less than a preset threshold, then determine whether the weight borne by the drilling rig manipulator when gripping the drill tool is less than the preset weight borne; If so, the product of the gear ratio between the second-floor manipulator and the drilling floor manipulator and the first preset coefficient is calculated to obtain the calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator; or If not, the product of the gear ratio between the second-floor manipulator and the drilling floor manipulator and the second preset coefficient is calculated to obtain the calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator; The calibrated gear ratio between the second-floor manipulator and the drilling floor manipulator is used as the gear ratio between the second-floor manipulator and the drilling floor manipulator; Wherein, 0<first preset coefficient<1<second preset coefficient.

11. The dual-manipulator collaborative control method for a pipe laying machine according to claim 1, characterized in that: The method further comprises: Count the number of times the displacement of the servo motor shaft of the second-level robot is adjusted; If the number of times is greater than the preset number, the second-floor manipulator and the drilling floor manipulator are controlled to stop running.

12. A dual-manipulator collaborative control device for a pipe laying machine, characterized in that: The dual manipulators include a drilling floor manipulator and a second-floor manipulator, including: A relationship determination module is used to determine the collaborative relationship between the second-floor manipulator and the drilling floor manipulator; a first acquisition module, configured to, when the collaborative relationship is a synchronous relationship, send a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to a first target coordinate, and acquire the displacement of the servo motor shaft of the second-level platform manipulator in real time, wherein the drilling platform manipulator moves synchronously with the second-level platform manipulator according to the synchronous relationship; A first determination module is used to determine the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator; The parameter adjustment module is used to adjust the displacement of the servo motor shaft of the second-layer platform manipulator to control the second-layer platform manipulator to move to the preset coordinate when the difference between the current coordinate of the second-layer platform manipulator and the preset coordinate is greater than a preset threshold.

13. The dual-manipulator cooperative control device for a pipe laying machine according to claim 12, characterized in that: The apparatus further includes: a second acquisition module and a second determination module; a second acquisition module, configured to, when the collaborative relationship is an asynchronous relationship, send a first control instruction to the second-level platform manipulator to control the second-level platform manipulator to move to the first target coordinate, and send a second control instruction to the drilling floor manipulator to control the drilling floor manipulator to move to the second target coordinate, and acquire in real time the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator; The second determining module is used to determine the current coordinates of the second-level platform manipulator and the current coordinates of the drilling floor manipulator based on the displacement of the servo motor shaft of the second-level platform manipulator and the displacement of the servo motor shaft of the drilling floor manipulator.

14. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the dual-manipulator collaborative control method for a pipe laying machine according to any one of claims 1 to 11 is executed.

15. A computer-readable storage medium storing computer instructions, characterized in that: When the computer instructions are executed on a computer, the computer is enabled to execute the dual-manipulator collaborative control method for a pipe laying machine according to any one of claims 1 to 11.

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