Double-mechanical hand cooperative control method, device and equipment for pipe bender and medium

Abstract

The application provides a double-mechanical hand cooperative control method, device, equipment and medium, and belongs to the technical field of oil exploitation. The method comprises the following steps: determining the cooperative relationship between the mechanical hand on the second floor and the mechanical hand on the drilling floor; sending an instruction to the mechanical hand on the second floor, so that the mechanical hand moves to a target coordinate, and the shaft displacement of a servo motor of the mechanical hand is collected in real time (the mechanical hand on the drilling floor moves according to the synchronous relationship); the current positions of the two mechanical hands are calculated in real time according to the displacement of the mechanical hand on the second floor; when the difference between the current position of the mechanical hand on the second floor and a preset coordinate exceeds a threshold value, the displacement of the servo motor of the mechanical hand on the second floor is adjusted, so that the mechanical hand on the second floor accurately reaches the preset coordinate. Based on the position information of the double mechanical hands calculated in real time, the system dynamically eliminates the trajectory deviation through a closed-loop bidirectional speed regulation mechanism, and ensures that high-precision cooperative movement is realized in the absolute / relative synchronous mode.

Description

Technical Field

[0001] This invention relates to the field of oil extraction technology, specifically to a method for coordinated control of two manipulators of a pipe laying machine, a device for coordinated control of two manipulators of a pipe laying machine, an electronic device, and a computer-readable storage medium. Background Technology

[0002] In modern automated oil drilling operations, the pipe handling machine is a key piece of equipment for achieving efficient and safe pipe string handling. Its core relies on the precise coordinated operation of the drilling rig's robotic arm (responsible for connecting / unloading pipes near the wellhead) and the secondary rig's robotic arm (responsible for storing and retrieving drill pipe / casing at the secondary rig's finger beam). This coordinated operation requires the two robotic arms to maintain a high degree of synchronization along complex spatial trajectories, whether it's "absolute synchronization" (such as precise docking) requiring strict overlap of end points, or "relative synchronization" (such as overall pipe string movement) requiring a fixed relative posture or speed. However, in actual operation, dual-robotic arm systems often inevitably experience motion deviations (loss of synchronization) due to factors such as uneven load, 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 in severe cases may lead to equipment collisions, pipe string damage, or even safety 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 and PID / feedforward compensation algorithm) to improve the trajectory tracking accuracy of a single manipulator. This strategy focuses on improving individual performance; (2) pre-planning and coordinating the motion trajectory of the two manipulators at the control level to ensure that their motion commands are strictly synchronized in time under ideal conditions (such as using the same motion planner to output commands); (3) installing additional position sensors (such as laser trackers and vision systems) in key parts of the manipulators (such as end effectors and joints) or in the workspace to monitor the actual pose of the two manipulators in real time and feed this information back to the control system for correction of deviations.

[0004] However, the existing dual-manipulator collaborative motion control methods have the following problems: (1) The schemes that rely on external sensors (such as laser trackers and vision systems) are complex, costly, and susceptible to interference from harsh working conditions. The measurement data is delayed and fluctuates, making it difficult to provide highly reliable collaborative position closed-loop feedback. Furthermore, they fail to fully utilize the displacement data of the manipulator's built-in servo motors to accurately calculate the collaborative spatial coordinates of the two machines in real time. (2) After detecting synchronization deviation, there is a lack of a bidirectional collaborative speed adjustment mechanism based on the real-time relative position of the two machines. Usually, only unilateral adjustment or simple start-stop can be performed. It is impossible to dynamically and differentially adjust the speed of the two machine motors simultaneously for compensation, resulting in the continuous accumulation and amplification of small errors during motion. It is difficult to effectively suppress the risk of step loss in the "absolute synchronization" or "relative synchronization" mode. (3) The dynamic compensation capability for nonlinear errors in mechanical transmission (such as backlash and flexible deformation) and load changes is insufficient. The errors caused by these disturbances are difficult to eliminate through conventional means.

[0005] In the field of oil drilling automation, the coordinated operation of dual manipulators (drill rig manipulator and secondary rig manipulator) is a core element for achieving efficient pipe string delivery. Traditional control methods are prone to accumulated end-positioning errors during coordinated movement due to factors such as mechanical structural deformation, servo system response delays, environmental vibrations, and dynamic load changes. Especially when the secondary rig manipulator needs to precisely place the drill string in confined spaces, the deviation between its actual coordinates and the preset target coordinates significantly reduces the success rate of pipe string docking and may even lead to equipment collision risks. Furthermore, motion coupling disturbances between the two manipulators and external uncertainties (such as sudden frictional changes and gravitational imbalances) further exacerbate system instability, hindering the safety and efficiency of automated pipe string delivery.

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

[0007] However, the existing positioning methods of the dual-manipulator system for pipe laying machines have the following problems: (1) 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, which leads to the residual error between the actual position of the end of the second-level platform manipulator and the preset target coordinates exceeding the safety threshold; (2) The existing collaborative strategy does not fully consider the dynamic coupling effect and environmental interference between the two 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, which cannot collaboratively suppress the system-level deviation; (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, and the initial parameters cannot be automatically updated and the path replanned, resulting in delayed error correction and reliance on manual experience. Summary of the Invention

[0008] The purpose of this invention is to provide a method, device, equipment, and medium for the collaborative control of dual robotic arms in a pipe laying machine, in order to solve the above-mentioned problems.

[0009] To achieve the above objectives, embodiments of the present invention provide a method for coordinated control of a pipe laying machine with two robotic arms. The two robotic arms include a drilling platform robotic arm and a second-floor robotic arm. The method includes: Determine the collaborative relationship between the second-level platform robot and the drilling platform robot; When the collaborative relationship is synchronous, a first control command is sent to the second-level platform robot to control the second-level platform robot to move to the first target coordinate, and the displacement of the servo motor axis of the second-level platform robot is acquired in real time. The drilling platform robot moves synchronously with the second-level platform robot according to the synchronous relationship. Based on the displacement of the servo motor axis of the second-level platform robot, determine the current coordinates of the second-level platform robot and the drilling platform robot. When the difference between the current coordinates of the second-level robot and the preset coordinates is greater than the preset threshold, the displacement of the servo motor axis of the second-level robot is adjusted to control the second-level robot to move to the preset coordinates.

[0010] Optionally, the dual-manipulator collaborative control method for the pipe laying machine also includes: When the collaborative relationship is asynchronous, a first control command is sent to the second-level platform robot to control the second-level platform robot to move to the first target coordinate, and a second control command is sent to the drilling platform robot to control the drilling platform robot to move to the second target coordinate. The displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling platform robot are acquired in real time. Based on the displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling rig robot, the current coordinates of the second-level platform robot and the drilling rig robot are determined.

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

[0012] Optionally, the preset configuration parameters include: the acceleration of the second-level platform robot, the deceleration of the second-level platform robot, the rate of change of acceleration and deceleration of the second-level platform robot, and the gear ratio between the second-level platform robot and the drilling platform robot. Based on the displacement of the servo motor axis of the two-layer platform robot and the preset configuration parameters, the displacement of the servo motor axis of the drilling platform robot is determined, including: When the acceleration and deceleration of the servo motor shaft of the two-layer platform robot are both positive and the rate of change of the acceleration and deceleration of the two-layer platform robot is non-negative, the displacement of the servo motor shaft of the drilling platform robot is the product of the displacement of the servo motor shaft of the two-layer platform robot and the gear ratio between the two-layer platform robot and the drilling platform robot.

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

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

[0015] Optionally, based on the displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling rig robot, the current coordinates of the second-level platform robot and the current coordinates of the drilling rig robot are determined, including: The displacement of the servo motor axis of the two-layer stage robot is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer stage robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the two-layer stage robot and the corresponding coordinates. The displacement of the servo motor axis of the drilling rig robot is matched with the pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig robot. The pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the drilling rig robot and the corresponding coordinates.

[0016] Optionally, the collaborative relationship between the second-level platform robot and the drilling platform robot is determined, including: Receive synchronization commands, 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 robot and the drilling rig robot is determined based on the synchronization command.

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

[0018] Optionally, the gear ratio between the second-level platform robot and the drilling platform robot is determined in the following way: When the second-level platform robot moves to the first target coordinate, a clamping control command is sent to the second-level platform robot and the drilling platform robot respectively to obtain the weight that the drilling platform robot can bear when clamping the drill bit. If the difference between the weight the drilling robot arm can bear when holding the drill bit and the preset weight can bear is less than the preset threshold, then it is determined whether the weight the drilling robot arm can bear when holding the drill bit is less than the preset weight. If so, calculate the product of the gear ratio between the second-floor robot and the drilling robot and the first preset coefficient to obtain the calibrated gear ratio between the second-floor robot and the drilling robot; or If not, calculate the product of the gear ratio between the second-level platform robot and the drilling robot and the second preset coefficient to obtain the calibrated gear ratio between the second-level platform robot and the drilling robot. The gear ratio between the calibrated two-tier platform robot and the drilling platform robot is taken as the gear ratio between the two-tier platform robot and the drilling platform robot. Where 0 < first preset coefficient < 1 < second preset coefficient.

[0019] Optionally, the dual-manipulator collaborative control method for the pipe laying machine also includes: The number of times the displacement of the servo motor axis of the second-floor robotic arm was adjusted was recorded. If the number of attempts exceeds the preset number, the second-floor manipulator and the drilling rig manipulator will be stopped.

[0020] In a second aspect of the present invention, a dual-manipulator collaborative control device for a pipe laying machine is provided, wherein the dual manipulators include a drilling platform manipulator and a second-floor platform manipulator, comprising: The relationship determination module is used to determine the collaborative relationship between the second-level platform robot and the drilling platform robot; The first acquisition module is used to send a first control command to the second-level platform robot when the collaboration relationship is a synchronous relationship, so as to control the second-level platform robot to move to the first target coordinate, and acquire the displacement of the servo motor axis of the second-level platform robot in real time. The drilling platform robot moves synchronously with the second-level platform robot according to the synchronization relationship. The first determining module is used to determine the current coordinates of the second-layer platform robot and the drilling platform robot based on the displacement of the servo motor axis of the second-layer platform robot. The parameter adjustment module is used to adjust the displacement of the servo motor axis of the second-level platform robot to control the second-level platform robot to move to the preset coordinate when the difference between the current coordinates of the second-level platform robot and the preset coordinates is greater than the preset threshold.

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

[0022] In a third aspect 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 the machine-readable instructions, when executed by the processor, execute the above-described pipe-laying machine dual-manipulator collaborative control method.

[0023] In a fourth aspect of the present invention, a computer-readable storage medium is provided, storing computer instructions that, when executed on a computer, cause the computer to perform the above-described pipe-laying machine dual-manipulator collaborative control method.

[0024] In this embodiment of the invention, based on the displacement of the built-in servo motor of the two-layer platform robot as the basic data, the precise current position of the two robots in the collaborative task space is calculated in real time through a preset kinematic model or mapping algorithm. On this basis, the system continuously compares the actual coordinates of the two-layer platform robot with the preset path coordinates in real time. Once the deviation exceeds the allowable threshold (i.e., the preset threshold), a closed-loop bidirectional collaborative adjustment (synchronous acceleration, synchronous deceleration, or differentiated compensation speed adjustment) is triggered for the rotational speed of the servo motors of the two robots. Thus, in both "absolute synchronization" (requiring the two robot ends to be strictly synchronized on the spatial trajectory) and "relative synchronization" (requiring the two robots to maintain a fixed relative posture or speed relationship), the accumulated error is dynamically eliminated, effectively suppressing the risk of step loss 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 two robots.

[0025] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating the dual-manipulator collaborative control method for a pipe laying machine provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the two-tiered robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the drilling rig robot provided in an embodiment of the present invention; Figure 4This is a schematic diagram of the structure of the dual-manipulator collaborative control device for the pipe laying machine provided in an embodiment of the present invention. Detailed Implementation

[0027] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.

[0029] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0030] Example 1 Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the dual-manipulator collaborative control method for a pipe laying machine provided in an embodiment of the present invention. The method includes the following steps: S100, determine the collaborative relationship between the second-level platform robot and the drilling platform robot; In one embodiment, step S100 includes: S110 receives synchronization commands, identity ID, and password information sent by the user; S120, if the identity ID and password information are verified, the collaborative relationship between the second-floor robot and the drilling robot is determined based on the synchronization command.

[0031] S200, when the collaboration relationship is a synchronous relationship, a first control command is sent to the second-level platform robot to control the second-level platform robot to move to the first target coordinate, and the displacement of the servo motor axis of the second-level platform robot is obtained in real time. The drilling platform robot moves synchronously with the second-level platform robot according to the synchronous relationship. Specifically, such as Figure 2As shown, the second-level robotic arm is positioned below the drill rig and is responsible for gripping and moving drill bits. To maximize space efficiency and reach, this robotic arm also uses a folding lever structure, with a minimum retracted radius of 500mm and an extended radius of up to 3800mm. When gripping drill bits, the robotic arm requires a combination of position and torque control to prevent over-gripping that could damage the drill bits or under-gripping that could cause them to slip. In addition, the robotic arm is equipped with a pusher tong to assist individual drill collars as needed. When moving drill bits, it needs to work in conjunction with the drill rig robotic arm. When moving drill pipes, the movements of both robotic arms need to be synchronized to prevent excessive tilting during the movement of drill bits.

[0032] Specifically, such as Figure 3 As shown, the drilling rig robot is positioned in the middle of the left and right vertical support boxes on the drilling rig surface, responsible for pushing and positioning the drill bit; its clamps are equipped with a pushing mechanism to facilitate precise positioning; in order to save space to the maximum extent and maximize the reach, the robot uses a folding lever structure, with a minimum radius of 500mm when retracted and a maximum radius of 3800mm when extended; when moving the drill bit, it needs to cooperate with the second-level rig robot, and the movements of the two robots need to be synchronized when moving the drill rod to prevent excessive tilting during the movement of the drill bit.

[0033] A second-level platform manipulator refers to a robotic arm located on the second level of a drilling platform, used to handle equipment such as drill pipes.

[0034] A drilling rig robot is a robotic arm located on a drilling rig, used to assist in the placement of drill pipes or platform operation.

[0035] To facilitate understanding, the following example illustrates how to control the robotic arm on the second-floor platform to move to the first target coordinate: Step 1: The host computer retrieves the target coordinates based on the drill rod length (9.5m): Target coordinates of the drilling rig robot: (1520, 650, -200, 0°, 0, 30°); The target coordinates of the robot arm on the second-floor platform are: (1535, 1800, 860, 0°, 15, 90°).

[0036] Step 2: The drilling rig robot moves to the target point in linear interpolation mode and clamps the bottom of the drill rod; Step 3: The robotic arm on the second-floor platform 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 pipe, and the robot arm on the second platform performs the root insertion action (the end posture is adjusted to A_t=0°, B_t=0°, C_t=180°).

[0037] The displacement of the servo motor shaft of the two-tiered robot refers to the displacement of the electric cylinder extension rod controlled by the servo motor of the two-tiered robot.

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

[0039] In one embodiment, the control center typically uses a PLC logic controller with a motion control CPU, capable of implementing various motion control functions. Depending on the number and performance requirements of the process objects, different levels of T-CPU modules can be selected to adapt to applications ranging from simple to complex. This structure has the following characteristics: 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 standard PLCopen, requiring no specialized knowledge; and the process object (TO) oriented control method facilitates engineering, debugging, and maintenance, simplifying the work of machine manufacturers and users. Positioning, speed control, gear synchronization, cam synchronization, and kinematic calculations can be easily achieved through process objects.

[0040] In one embodiment, the control unit uses a PLC with positioning control functionality. It establishes a communication connection via IPv105 communication messages with two drive units located on the second-level platform robot and the drilling rig robot using IRT (Isochronous Real-Time Synchronization). The response time is approximately 1ms, and the jitter time is less than 1µs, enabling more motion control functions. This not only meets the automation needs of production but also excels in mid-range applications with higher requirements for performance, flexibility, and networking capabilities. It can be used in complex motion control fields, such as cam synchronization and motion mechanism control.

[0041] The 105 communication message has DSC (Dynamic Servo Control) function. DSC is a function that uses messages to push position loop calculation and interpolation down to the driver. It uses the speed of fast calculation to control the clock, thereby improving the dynamic responsiveness and stiffness of the servo. This function is suitable for servo control tasks with high dynamics and complex motion.

[0042] In one embodiment, the servo motors of the two-layer platform robot and the drilling platform robot are explosion-proof servo motors.

[0043] In one embodiment, both the two-tier platform manipulator actuator and the drilling rig manipulator actuator adopt a brand-new book-type actuator. It possesses up to three times the overload capacity and features high flexibility, compact structure, strong overload capacity, and separation of the power unit and closed-loop control module, enabling it to excellently handle various driving tasks.

[0044] S300, based on the displacement of the servo motor axis of the second-level platform robot, determines the current coordinates of the second-level platform robot and the drilling platform robot. The current coordinates of the second-level platform manipulator refer to the real-time spatial positioning data of the end effector (such as a lifting clamp or gripping tool) of the manipulator relative to the center point of the wellhead. It usually includes its offset in the horizontal plane (X-axis, Y-axis) and its height from the drilling platform plane (Z-axis).

[0045] The current coordinates of the drilling rig manipulator refer to the real-time spatial positioning data of the key working components of the manipulator on the drilling rig surface (such as the drill bit, the chuck body, or the gripper arm) relative to the center point of the wellhead. It usually includes horizontal offset (X-axis, Y-axis) and height (Z-axis).

[0046] Because the relationship between the displacement of the servo motor output shaft and the extension / retraction of the robot arm is non-linear, it is necessary to generate the first CAM curve (electronic cam curve) and the second CAM curve (electronic cam curve) for the two-layer platform robot arm and the drilling platform robot arm respectively, based on this non-linear relationship. This involves linearizing the virtual axis (the extension / retraction of the robot arm, i.e., the position of the robot arm) by binding it 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). The motion relationship between the virtual and real axes is achieved using an electronic cam, instead of the previous mechanical cam. The advantages are no mechanical impact, reduced vibration, reduced wear, and reduced downtime when changing the electronic cam curve. The cam motion operation between the main shaft and the slave shaft can then be initiated via the motion control command "MC_CamIn". The parameter list for the control command "MC_CamIn" is shown in Table 1. Table 1. Parameter list for the control command “MC_CamIn”

[0047] Generally, a synchronization relationship can be established between the second-level platform manipulator and the drilling platform manipulator to ensure the stability of the drill string during transport. This synchronization relationship can be divided into relative synchronization and absolute synchronization.

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

[0049] Specifically, step S310 includes: When the acceleration and deceleration of the servo motor shaft of the two-layer platform robot are both positive and the rate of change of the acceleration and deceleration of the two-layer platform robot is non-negative, the displacement of the servo motor shaft of the drilling platform robot is the product of the displacement of the servo motor shaft of the two-layer platform robot and the gear ratio between the two-layer platform robot and the drilling platform robot.

[0050] Specifically, the following describes the specific implementation method (i.e., step S310) for the relative synchronization of the robot arm in a PLC application scenario: The MC_GearIn command is used to establish relative synchronization between the axes of the upper and lower robotic arms. During the synchronization process, the dynamic characteristics of the axes are defined using parameters such as "Jerk", "Acceleration", and "Deceleration". The electronic gear ratio is specified as a relationship between two integers (numerator / denominator) using the parameters "RatioNumerator" and "RatioDenominator". The parameter list for the control command "MC_GearIn" is shown in Table 2. Table 2 Parameter List of Control Command "MC_GearIn"

[0051] The synchronization duration and distance are related to the following parameters: the start time of the "MC_GearIn" command, the dynamic value of the slave axis at start time, the dynamic parameter settings of the synchronization command, and the dynamic value of the spindle. The transmission ratio can be specified as positive or negative; positive: the master and slave axes run in the same direction; negative: the master and slave axes run in opposite directions. Synchronization operation can be initiated whether the spindle is stopped or in motion. For input acceleration and deceleration parameters: values ​​greater than 0 are effective; values ​​equal to 0 are not allowed (Configuration > Extended parameters > Dynamic defaults). For input Jerk parameters: values ​​greater than 0 are effective; values ​​equal to 0 use a trapezoidal velocity profile (Configuration > Extended parameters > Dynamic defaults).

[0052] S320, Match the displacement of the servo motor axis of the second-layer stage robot with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-layer stage robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the second-layer stage robot and the corresponding coordinates. S330, the displacement of the servo motor axis of the drilling rig manipulator is matched with the 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 axis 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 axis of the second-level platform robot is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level platform robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the second-level platform robot and the corresponding coordinates. S320' determines the current coordinates of the drilling rig robot based on the current coordinates of the second-level platform robot and preset configuration parameters.

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

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

[0056] Specifically, the following describes the specific implementation method (i.e., step SS320') for absolute synchronization of robotic arms in PLC application scenarios: The "MC_GearInPos" command establishes an absolute synchronization relationship with the second-level gantry robot as the main axis and the drilling rig robot as the slave axis. The synchronization position can be specified, and the absolute synchronization relationship can be established by specifying the main axis travel distance or dynamic response value. The direction of synchronization can also be defined. The parameter list for the control command "MC_GearInPos" is shown in Table 3. Table 3. Parameter list for the 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 moving. When the spindle runs a distance of “MasterStartDistance” and its position reaches “MasterSynPosition”, and the slave axis position reaches “SlaveSynPosition”, the slave axis synchronizes with the spindle and runs at the same speed.

[0058] Alternatively, the state-response-based synchronization (SynProfileReference=1) system starts the slave axis according to the input dynamic response parameters. When the master axis runs to "MasterSynPosition" and the slave axis reaches "SlaveSynPosition", the slave axis synchronizes with the master axis and runs at the same speed. Generally, absolute synchronization is established before the specified synchronization positions of the master and slave axes. The transmission ratio is specified as a relationship between two integers (numerator / denominator) using the parameters "RatioNumerator" and "RatioDenominator". The numerator of the transmission ratio can be positive or negative. Positive: master and slave axes run in the same direction; negative: master and slave axes run in opposite directions. Synchronization can be initiated whether the master axis is stopped or in motion. For input acceleration and deceleration parameters: values ​​greater than 0 are effective; values ​​equal to 0 are not allowed (Configuration > Extended parameters > Dynamic defaults). For input Jerk parameters: values ​​greater than 0 are effective; values ​​equal to 0 use a trapezoidal velocity profile (Configuration > Extended parameters > Dynamic defaults).

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

[0060] Understandably, when the collaboration relationship is asynchronous, the second-level platform robot and the drilling platform robot operate independently. Therefore, the target coordinates they need to reach are different. Thus, the second-level platform robot is controlled to move to the first target coordinate and the drilling platform robot is controlled to move to the second target coordinate.

[0061] S2, based on the displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling platform robot, determine the current coordinates of the second-level platform robot and the drilling platform robot.

[0062] Specifically, S2 includes: S21, Match the displacement of the servo motor axis of the second-layer robot with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-layer robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the second-layer robot and the corresponding coordinates. S22, Match the displacement of the servo motor axis of the drilling rig manipulator with the 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 axis 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 with different curve characteristics.

[0064] Electronic cam profiles refer to mathematical functions or data sets in motion control systems that are predefined or calculated in real time to describe how the slave axis position (displacement, velocity, acceleration, etc.) precisely follows the changes in the master axis position (or time).

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

[0066] In this embodiment, the original potentially sparse, uneven, or incomplete data points are transformed into a high-resolution, smooth, and uniformly distributed continuous curve. This significantly improves data quality, makes the curve more physically accurate, and provides indispensable high-quality foundational data for subsequent precise analysis.

[0067] In one embodiment, the gear ratio between the two-tier manipulator and the drilling manipulator is determined as follows: When the second-level platform robot moves to the first target coordinate, a clamping control command is sent to the second-level platform robot and the drilling platform robot respectively to obtain the weight that the drilling platform robot can bear when clamping the drill bit. If the difference between the weight the drilling robot arm can bear when holding the drill bit and the preset weight can bear is less than the preset threshold, then it is determined whether the weight the drilling robot arm can bear when holding the drill bit is less than the preset weight. If so, calculate the product of the gear ratio between the second-floor robot and the drilling robot and the first preset coefficient to obtain the calibrated gear ratio between the second-floor robot and the drilling robot; or If not, calculate the product of the gear ratio between the second-level platform robot and the drilling robot and the second preset coefficient to obtain the calibrated gear ratio between the second-level platform robot and the drilling robot. The gear ratio between the calibrated two-tier platform robot and the drilling platform robot is taken as the gear ratio between the two-tier platform robot and the drilling platform robot. Where 0 < first preset coefficient < 1 < second preset coefficient.

[0068] In this embodiment, by real-time detection of the actual weight borne by the drilling tool held by the drilling rig robot and comparison with the preset weight, the gear ratio between the second-level platform and the drilling rig robot is dynamically and bidirectionally calibrated (using a coefficient less than 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 actions when the two robots work together (such as handing over drilling tools). This significantly improves the safety and reliability of operation and reduces the risk of equipment damage.

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

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

[0071] In one or more of the above embodiments, the dual-manipulator collaborative control method for the pipe laying machine further includes: The number of times the displacement of the servo motor axis of the second-floor robotic arm was adjusted was recorded. If the number of attempts exceeds the preset number, the second-floor manipulator and the drilling rig manipulator will be stopped.

[0072] In this embodiment, by statistically adjusting the number of times the servo motor shaft displacement exceeds the limit and stopping the machine when it exceeds a preset value, this mechanism can proactively prevent key components (such as motors, reducers, and transmission structures) of the second-level platform and drilling rig robot from being damaged or failing due to overload, effectively extending equipment life and avoiding expensive maintenance. In addition, it can prevent catastrophic accidents caused by equipment overload (such as load falling or robot malfunction), greatly ensuring the safety of on-site personnel and the integrity of production equipment, while reducing unexpected downtime and improving the overall reliability and safety of the operation.

[0073] In this embodiment of the invention, based on the displacement of the built-in servo motor of the two-layer platform robot as the basic data, the precise current position of the two robots in the collaborative task space is calculated in real time through a preset kinematic model or mapping algorithm. On this basis, the system continuously compares the actual coordinates of the two-layer platform robot with the preset path coordinates in real time. Once the deviation exceeds the allowable threshold (i.e., the preset threshold), a closed-loop bidirectional collaborative adjustment (synchronous acceleration, synchronous deceleration, or differentiated compensation speed adjustment) is triggered for the rotational speed of the servo motors of the two robots. Thus, in both "absolute synchronization" (requiring the two robot ends to be strictly synchronized on the spatial trajectory) and "relative synchronization" (requiring the two robots to maintain a fixed relative posture or speed relationship), the accumulated error is dynamically eliminated, effectively suppressing the risk of step loss 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 two robots.

[0074] Example 2 Based on the same inventive concept, such as Figure 4 As shown, this embodiment of the invention also provides a dual-manipulator collaborative control device 200 for a pipe laying machine. The dual manipulators include a drilling platform manipulator and a second-floor manipulator, comprising: The relationship determination module 210 is used to determine the collaborative relationship between the second-level platform robot and the drilling platform robot; The first acquisition module 220 is used to send a first control command to the second-level platform robot when the collaboration relationship is a synchronous relationship, so as to control the second-level platform robot to move to the first target coordinate, and acquire the displacement of the servo motor axis of the second-level platform robot in real time. The drilling platform robot moves synchronously with the second-level platform robot according to the synchronous relationship. The first determining module 230 is used to determine the current coordinates of the second-layer platform robot and the drilling platform robot based on the displacement of the servo motor axis of the second-layer platform robot. The parameter adjustment module 240 is used to adjust the displacement of the servo motor axis of the second-layer robot to control the second-layer robot to move to the preset coordinate when the difference between the current coordinate of the second-layer robot and the preset coordinate is greater than the preset threshold.

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

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

[0077] Example 3 Based on the same inventive concept, embodiments of the present invention also provide an electronic device, including: 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-described pipe laying machine dual-manipulator collaborative control method is performed.

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

[0079] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0080] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0081] Example 4 Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform the above-described pipe laying machine dual-manipulator collaborative control method.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

[0087] In addition, the functional modules in the various embodiments of this 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 "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0089] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for coordinated control of two robotic arms in a pipe laying machine, characterized in that, The dual-manipulator system includes a drilling platform manipulator and a second-level platform manipulator, and the method includes: Determine the collaborative relationship between the second-level platform robot and the drilling platform robot; When the collaborative relationship is synchronous, a first control command is sent to the second-level platform robot to control the second-level platform robot to move to the first target coordinate, and the displacement of the servo motor axis of the second-level platform robot is acquired in real time. The drilling platform robot moves synchronously with the second-level platform robot according to the synchronous relationship. Based on the displacement of the servo motor axis of the second-level platform robot, determine the current coordinates of the second-level platform robot and the drilling platform robot. When the collaborative relationship is asynchronous, a first control command is sent to the second-level platform robot to control the second-level platform robot to move to the first target coordinate, and a second control command is sent to the drilling platform robot to control the drilling platform robot to move to the second target coordinate. The displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling platform robot are acquired in real time. Based on the displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling rig robot, determine the current coordinates of the second-level platform robot and the current coordinates of the drilling rig robot. When the difference between the current coordinates of the second-level robot and the preset coordinates is greater than the preset threshold, the displacement of the servo motor axis of the second-level robot is adjusted to control the second-level robot to move to the preset coordinates. Synchronization relationships include relative synchronization relationships; based on the displacement of the servo motor axis of the second-level platform manipulator, the current coordinates of the second-level platform manipulator and the drilling rig manipulator are determined, including: If the synchronization relationship is a relative synchronization relationship, the displacement of the servo motor axis of the drilling rig robot is determined based on the displacement of the servo motor axis of the second-layer platform robot and the preset configuration parameters. The displacement of the servo motor axis of the two-layer stage robot is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer stage robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the two-layer stage robot and the corresponding coordinates. The displacement of the servo motor axis of the drilling rig robot is matched with the pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig robot. The pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the drilling rig robot and the corresponding coordinates.

2. The dual-manipulator collaborative control method for pipe laying machine according to claim 1, characterized in that, The preset configuration parameters include: the acceleration of the second-level platform robot, the deceleration of the second-level platform robot, the rate of change of acceleration and deceleration of the second-level platform robot, and the gear ratio between the second-level platform robot and the drilling platform robot; Based on the displacement of the servo motor axis of the two-layer platform robot and the preset configuration parameters, the displacement of the servo motor axis of the drilling platform robot is determined, including: When the acceleration and deceleration of the servo motor shaft of the two-layer platform robot are both positive and the rate of change of the acceleration and deceleration of the two-layer platform robot is non-negative, the displacement of the servo motor shaft of the drilling platform robot is the product of the displacement of the servo motor shaft of the two-layer platform robot and the gear ratio between the two-layer platform robot and the drilling platform robot.

3. The dual-manipulator collaborative control method for pipe laying machine according to claim 1, characterized in that, Synchronization relationships include absolute synchronization relationships. Based on the displacement of the servo motor shafts of the second-level platform robot, the current coordinates of the second-level platform robot and the drilling rig robot are determined, including: If the synchronization relationship is absolute synchronization, the displacement of the servo motor axis of the second-level robot is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the second-level robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the second-level robot and the corresponding coordinates. Based on the current coordinates of the second-level platform robot and the preset configuration parameters, the current coordinates of the drilling platform robot are determined.

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

5. The dual-manipulator collaborative control method for pipe laying machine according to claim 1, characterized in that, Based on the displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling rig robot, the current coordinates of the second-level platform robot and the drilling rig robot are determined, including: The displacement of the servo motor axis of the two-layer stage robot is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer stage robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the two-layer stage robot and the corresponding coordinates. The displacement of the servo motor axis of the drilling rig robot is matched with the pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig robot. The pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the drilling rig robot and the corresponding coordinates.

6. The dual-manipulator collaborative control method for pipe laying machine according to claim 1, characterized in that, Determine the collaborative relationship between the second-level platform robot and the drilling platform robot, including: Receive synchronization commands, 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 robot and the drilling rig robot is determined based on the synchronization command.

7. The dual-manipulator collaborative control method for a pipe laying machine according to claim 1, 3, or 5, characterized in that, The pre-constructed first displacement-coordinate curve and the pre-constructed second displacement-coordinate curve are electronic cam curves with different curve characteristics.

8. The dual-manipulator collaborative control method for a pipe laying machine according to claim 2 or 4, characterized in that, The gear ratio between the second-level platform robot and the drilling platform robot is determined in the following way: When the second-level platform robot moves to the first target coordinate, a clamping control command is sent to the second-level platform robot and the drilling platform robot respectively to obtain the weight that the drilling platform robot can bear when clamping the drill bit. If the difference between the weight the drilling robot arm can bear when holding the drill bit and the preset weight can bear is less than the preset threshold, then it is determined whether the weight the drilling robot arm can bear when holding the drill bit is less than the preset weight. If so, calculate the product of the gear ratio between the second-floor robot and the drilling robot and the first preset coefficient to obtain the calibrated gear ratio between the second-floor robot and the drilling robot. If not, calculate the product of the gear ratio between the second-level platform robot and the drilling robot and the second preset coefficient to obtain the calibrated gear ratio between the second-level platform robot and the drilling robot. The gear ratio between the calibrated two-tier platform robot and the drilling platform robot is taken as the gear ratio between the two-tier platform robot and the drilling platform robot. Where 0 < first preset coefficient < 1 < second preset coefficient.

9. The dual-manipulator collaborative control method for pipe laying machine according to claim 1, characterized in that, The method further includes: The number of times the displacement of the servo motor axis of the second-floor robotic arm was adjusted was recorded. If the number of attempts exceeds the preset number, the second-floor manipulator and the drilling rig manipulator will be stopped.

10. A dual-manipulator collaborative control device for a pipe laying machine, characterized in that, The pipe laying machine dual-manipulator collaborative control method for implementing any one of claims 1-9, wherein the dual manipulators include a drilling platform manipulator and a second-level platform manipulator, and the pipe laying machine dual-manipulator collaborative control device includes: The relationship determination module is used to determine the collaborative relationship between the second-level platform robot and the drilling platform robot; The first acquisition module is used to send a first control command to the second-level platform robot when the collaboration relationship is a synchronous relationship, so as to control the second-level platform robot to move to the first target coordinate, and acquire the displacement of the servo motor axis of the second-level platform robot in real time. The drilling platform robot moves synchronously with the second-level platform robot according to the synchronization relationship. The first determining module is used to determine the current coordinates of the second-layer platform robot and the drilling platform robot based on the displacement of the servo motor axis of the second-layer platform robot. The second acquisition module is used to send a first control command to the second-level platform robot to control the second-level platform robot to move to the first target coordinate when the collaboration relationship is asynchronous, and to send a second control command to the drilling platform robot to control the drilling platform robot to move to the second target coordinate, and to acquire the displacement of the servo motor axis of the second-level platform robot and the displacement of the servo motor axis of the drilling platform robot in real time. The second determining module is used to determine the current coordinates of the second-layer platform robot and the drilling platform robot based on the displacement of the servo motor axis of the second-layer platform robot and the displacement of the servo motor axis of the drilling platform robot. The parameter adjustment module is used to adjust the displacement of the servo motor axis of the second-level platform robot to control the second-level platform robot to move to the preset coordinate when the difference between the current coordinate of the second-level platform robot and the preset coordinate is greater than the preset threshold. Synchronization relationships include relative synchronization relationships; the first determining module is specifically used for: Based on the displacement of the servo motor axis of the second-level platform robot, the current coordinates of the second-level platform robot and the drilling rig robot are determined, including: If the synchronization relationship is a relative synchronization relationship, the displacement of the servo motor axis of the drilling rig robot is determined based on the displacement of the servo motor axis of the second-layer platform robot and the preset configuration parameters. The displacement of the servo motor axis of the two-layer stage robot is matched with the pre-constructed first displacement-coordinate curve to obtain the current coordinates of the two-layer stage robot; wherein, the pre-constructed first displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the two-layer stage robot and the corresponding coordinates. The displacement of the servo motor axis of the drilling rig robot is matched with the pre-constructed second displacement-coordinate curve to obtain the current coordinates of the drilling rig robot. The pre-constructed second displacement-coordinate curve is used to characterize the mapping relationship between different displacements of the servo motor axis of the drilling rig robot and the corresponding coordinates.

11. An electronic device, characterized in that, include: A processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when executed by the processor, perform the dual-manipulator collaborative control method for the pipe laying machine as described in any one of claims 1-9.

12. A computer-readable storage medium storing computer instructions, characterized in that, When the computer instructions are executed on the computer, the computer performs the dual-manipulator collaborative control method for the pipe laying machine as described in any one of claims 1-9.

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