An automatic tube arrangement system and a control method thereof

Abstract

The embodiment of the present application provides an automatic pipe arranging system and a control method thereof, and relates to the technical field of oil drilling tool processing operation, which comprises: an upper computer group and a lower computer group, a first data interface, a second data interface and a third data interface; the first data interface is used for periodically acquiring state parameters and first control parameters of the lower computer group, and controlling corresponding lower computers in the lower computer group according to the state parameters and the first control parameters; the second data interface is used for responding to the second control parameters sent by the lower computer group, calibrating the second control parameters to obtain calibration control parameters through the state parameters and the first control parameters, and controlling corresponding lower computers in the lower computer group according to the calibration control parameters; and the third data interface is used for acquiring a data update instruction of the upper computer group, and updating the first control parameters and the second control parameters of the lower computer group according to the data update instruction. The system improves the real-time performance of automatic pipe arranging data response.

Description

Technical Field

[0001] This invention relates to the field of oil drilling tool handling technology, and more specifically to an automatic pipe laying system and its control method. Background Technology

[0002] As an important component of driller control, the automatic pipe routing system is an inevitable trend in the development of oil drilling machinery, which is to automate and informatize oil drilling tool handling operations. With the increasingly widespread application of various pipe routing robots with relatively high automation, the first priority of the automatic pipe routing system is to achieve interconnection and reliable communication between equipment.

[0003] Current oil drilling tool handling operations have largely transitioned from manual control to rapid automation, achieving near-unmanned operation of the drilling platform. Individual devices are interconnected via fieldbus, enabling pre-defined logic-based automatic control. However, with the development of AI technology, current communication networks built on industrial fieldbuses struggle to support the collection, forwarding, and storage of large volumes and diverse types of data between devices. Redundant and repetitive data consumes valuable bandwidth, reducing the real-time performance of data responses. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic pipe laying system and its control method, which improves the real-time performance of automatic pipe laying data response.

[0005] To achieve the above objectives, embodiments of the present invention provide an automatic pipe laying system, the system comprising: Upper-level and lower-level units, first data interface, second data interface and third data interface; The host computer group includes multiple host computers, and the slave computer group includes multiple slave computers. The first data interface is used to periodically acquire the status parameters and first control parameters of the lower-level machine group, and control the corresponding lower-level machine in the lower-level machine group according to the status parameters and first control parameters; The second data interface is used to respond to receiving the second control parameters sent by the lower-level machine group, calibrating the second control parameters through the status parameters and the first control parameters to obtain calibration control parameters, and controlling the corresponding lower-level machine in the lower-level machine group according to the calibration control parameters; The third data interface is used to obtain the data update instruction from the host computer group, and update the first control parameter and the second control parameter of the slave computer group according to the data update instruction.

[0006] Optionally, the system also includes a status parameter storage module; The status parameter storage module is communicatively connected to the first data interface and is used to update and store the status parameters.

[0007] Optionally, the system may also include a control parameter storage module; The control parameter storage module is communicatively connected to the first data interface and the second data interface, respectively, and is used to update and store the first control parameter and the second control parameter, and to obtain the data access request of the lower-level unit, and send the corresponding data to the corresponding upper-level unit in the upper-level unit according to the data access request.

[0008] Optionally, the third data interface is provided with a counting verification module, which stores verification values; The lower-level unit also includes an operation counter; The operation counter is used to extract the operation count value from the response message of the host computer, compare the operation count value with the verification value, if they are the same, the verification value is incremented by 1 and stored, if they are different, a prompt message is sent to the host computer.

[0009] Optionally, if the operation count value is greater than the verification value, the operation count value sent by the lower unit has skipped counts, and a communication insecurity warning is sent to the upper unit. If the operation count value is less than the verification value, the lower-level unit has a communication failure and sends a fault alarm to the upper-level unit.

[0010] Optionally, the system also includes an isolation monitoring device to isolate communication interference between multiple lower-level machines in the lower-level unit.

[0011] Optionally, the isolation monitoring device includes a traffic self-auditing module; The traffic self-auditing module is used to extract and parse the data packets transmitted on the first data interface and the third data interface to obtain status parameters, first control parameters and second control parameters.

[0012] Optionally, the traffic self-auditing module includes a parameter traffic anomaly detection unit and a device monitoring and management unit; The parameter traffic anomaly detection unit is used to monitor the refresh cycle of the status parameters and the read / write operation frequency of the first control parameter, and to determine the network communication status based on the refresh cycle of the status parameters and the read / write operation frequency of the first control parameter.

[0013] Optionally, determining the network communication status based on the refresh cycle of the status parameters and the read / write operation frequency of the first control parameters includes: If the fluctuation range of the refresh cycle is greater than the first baseline, the network communication status is network congestion; If the frequency of read / write operations on the first control parameter is greater than that of the second baseline, the network communication state is network congestion.

[0014] Optionally, the isolation monitoring device includes a mirror server, which is connected to a traffic probe; The mirror server extracts and parses the data packets transmitted on the first and third data interfaces using traffic probes to obtain status parameters, first control parameters, and second control parameters.

[0015] Optionally, the lower-level machine includes a finger beam controller, a robotic arm driver, a pipe laying machine controller, and a cleaning machine controller; The host computer includes a driller's cabin controller, a driller's controller, a winch controller, a traveling block controller, a top drive controller, and a pump station controller.

[0016] Optionally, the status parameters include: warehouse location status, servo axis status, cleaning machine status, pipe laying machine status, and communication status; The storage location status includes the occupancy status, fault status, out-of-use status, and maintenance status of each storage location. The servo axis status includes the current position, current speed, current torque, current current, current error code, and current alarm code for each servo axis; The status of the cleaning machine includes indicators of its working status and fault status. The status of the pipe laying machine includes the position switch data, limit switch data, position data, obstacle data, working status, working mode, and action parameters of the pipe laying machine.

[0017] Optionally, the first control parameters include: control parameters for the beam storage location, control parameters for the robot arm servo axis, control parameters for the cleaning machine, process data for the pipe laying machine, and communication control parameters for external equipment. The second control parameters include: coordinate offset data of the beam storage position, robot internal parameters, sensor operating parameters, drill rod control parameters, and pipe laying machine process parameters.

[0018] Optionally, the control parameters of the finger beam storage location include configuring the storage location's deactivated status, the finger beam lock's locked status, and the storage location type settings; The control parameters for the robot arm's servo axes include configuring the motion parameters and motion modes of the robot arm's servo axes; The control parameters for the cleaning machine include the operating parameters for configuring the cleaning machine. The process data for the pipe laying machine includes the configuration of the working mode of the pipe laying machine and the action steps of the automatic process.

[0019] On the other hand, the present invention also proposes a control method for an automatic pipe laying system, the automatic pipe laying system comprising an upper-level computer unit and a lower-level computer unit, a first data interface, a second data interface, and a third data interface; the upper-level computer unit comprises multiple upper-level computers, and the lower-level computer unit comprises multiple lower-level computers; the control method comprises: The status parameters and first control parameters of the lower-level machine group are periodically obtained using the first data interface, and the corresponding lower-level machine in the lower-level machine group is controlled according to the status parameters and first control parameters. The second control parameter sent by the lower-level machine group is received using the second data interface. The second control parameter is calibrated using the status parameter and the first control parameter to obtain the calibration control parameter. The corresponding lower-level machine in the lower-level machine group is controlled according to the calibration control parameter. The data update instruction of the host computer is obtained using the third data interface, and the first control parameter and the second control parameter of the slave computer are updated according to the data update instruction.

[0020] An automatic pipe routing system of the present invention includes: a host computer group and a slave computer group, a first data interface, a second data interface, and a third data interface; the host computer group includes multiple host computers, and the slave computer group includes multiple slave computers; the first data interface is used to periodically acquire status parameters and first control parameters of the slave computer group, and control the corresponding slave computer in the slave computer group according to the status parameters and the first control parameters; the second data interface is used to respond to receiving second control parameters sent by the slave computer group, calibrate the second control parameters through the status parameters and the first control parameters to obtain calibration control parameters, and control the corresponding slave computer in the slave computer group according to the calibration control parameters; the third data interface is used to acquire data update instructions from the host computer group, and update the first control parameters and second control parameters of the slave computer group according to the data update instructions. This method determines different data reading or updating strategies based on the real-time requirements of parameter data. For status parameters and first control parameters that require real-time updates, a fixed period is used for refreshing to ensure the real-time nature of the feedback signals to the host computer. For second control parameters with lower real-time requirements, the corresponding second control parameters are obtained based on the data access requests received from the second data interface and fed back to the host computer. This avoids the second control parameters occupying valuable bandwidth resources during periods when there is no access requirement, thereby improving the real-time data response of the automatic pipeline network.

[0021] According to the preferred embodiment, this application counts and verifies the response messages of the host computer unit and isolates the communication between multiple lower-level computers of the lower-level computer unit, thereby achieving the function of internal and external communication isolation of the automatic pipe laying system. Furthermore, external devices such as the host computer can only obtain relevant parameter data by reading the control parameter storage module and the status parameter storage module, and cannot directly access the internal devices of the automatic pipe laying system, thus ensuring the information security of the internal devices of the automatic pipe laying system.

[0022] 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

[0023] 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 schematic diagram of an automatic pipe laying system according to the present invention; Figure 2 This is a schematic diagram of one embodiment of the present invention; Figure 3 This is a schematic diagram of another embodiment of the present invention; Figure 4 This is a schematic diagram of the control method for an automatic pipe laying system according to the present invention.

[0024] Figure Labels 100-Automatic Piping System; 200 - Lower-level units; 300 - First Data Interface; 400 - Second Data Interface; 500 - Third Data Interface; 600 - Host computer unit. Detailed Implementation

[0025] 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.

[0026] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0027] Figure 1 This is a schematic diagram of an automatic pipe laying system according to the present invention, as shown below. Figure 1As shown, an automatic pipe laying system of the present invention 100 includes: a host computer group 600 and a slave computer group 200, a first data interface 300, a second data interface 400, and a third data interface 500; the host computer group 600 includes multiple host computers, and the slave computer group 200 includes multiple slave computers; the first data interface 300 is used to periodically acquire the status parameters and first control parameters of the slave computer group 200, and control the corresponding slave computer in the slave computer group 200 according to the status parameters and the first control parameters; the second data interface 400 is used to respond to receiving the second control parameters sent by the slave computer group 200, calibrate the second control parameters through the status parameters and the first control parameters to obtain calibration control parameters, and control the corresponding slave computer in the slave computer group 200 according to the calibration control parameters; the third data interface 500 is used to acquire the data update instruction of the host computer group 600, and update the first control parameters and the second control parameters of the slave computer group 200 according to the data update instruction.

[0028] Specifically, the status parameters include: the pipe laying machine's operating mode, workflow number, and relevant process parameters for each servo axis, such as operating speed, current position, target position, servo driver operating status code, and fault code; drill string placement data for the finger beam magazine, drill string type, drill string number, magazine position number, drill string size data, etc.; and relevant anti-collision status signals for the top drive, iron drill bit, power slips, winch, rotary table, mud pump, etc., mainly including position and operating status.

[0029] The first control parameters include: control parameters for multiple storage locations of the finger beam, control parameters for the servo axis of the robotic arm, control parameters for the cleaning machine, process data for the pipe laying machine, anti-collision data for the pipe laying machine, and communication control parameters for external equipment.

[0030] The control parameters for the multiple storage locations of the finger beam are used to configure the inactivity status of the storage locations, the locking status of the finger beam lock, and the storage location type settings. The control parameters for the robot arm servo axis are used to configure the motion parameters and motion modes of the robot arm servo axis. The control parameters for the cleaning machine are used to configure the motion parameters of the cleaning machine. The process data for the pipe laying machine is used to configure the working mode and automatic process steps of the pipe laying machine. The anti-collision data for the pipe laying machine is used to configure the anti-collision threshold for the hook height, the anti-collision threshold for the coupling height, the timer overload value for the winch watchdog, and the timer overload value for the iron drill watchdog. The external device communication control is used to configure the timer overload values ​​for the top drive communication watchdog, the hanging clamp communication watchdog, and the slip communication watchdog.

[0031] The second control parameters include: coordinate offset data of the beam storage location, robot internal parameters, sensor operating parameters, drill rod control parameters, and pipe laying machine process parameters.

[0032] The robot's intrinsic parameters are used to configure the jog (jog mode), mdi (positioning mode), and ref (zero-point finding mode) speed settings for each servo axis of the robot (please specify the corresponding Chinese characters); the sensor operating parameters are used to configure the sensor's accuracy, acquisition frequency, or signal type; the drill rod control parameters are used to configure the type of drill rod manipulated by the robot; and the pipe laying machine process parameters are used to configure the real-time process parameters and shaping process parameters of the pipe laying machine.

[0033] The second control parameter is acquired non-periodically based on the data access request received by the second data interface. This includes the first data interface communicating with the corresponding lower-level machine when an access request for the second control parameter is received from the host computer, acquiring the corresponding second control parameter and writing it into the control parameter storage module.

[0034] According to a specific implementation method, the calibration control parameter is obtained by calibrating the second control parameter through the state parameter and the first control parameter. For example, the calibration of the collected data and the physical equipment can be divided into two cases: configuring a zero-point switch and mechanical marking. The motor used by the pipe laying machine is an absolute value encoder motor. The zero-point position has been calibrated during equipment installation. When the equipment is working, the current position is fed back in real time by the motor encoder. The calibration of the reference position is carried out by the configured switch or the marking set on the mechanical structure. When the deviation is too large, the system automatically stops running. The above is the calibration method of the reference position. The calibration of the relative position between the equipment is carried out when the equipment origin is normal. During the operation of the equipment, the current position status of the equipment is fed back in real time. The system relies on monitoring the relative position between each piece of equipment to realize the relative position monitoring between the equipment. This position monitoring function is mainly used for anti-collision protection between the equipment.

[0035] In one specific implementation, the first data interface 300 is used to periodically acquire the corresponding lower-level machine status parameters and first control parameters based on the real-time requirements of the parameter data. The second control parameters are acquired non-periodically based on the data access requests received by the second data interface 400.

[0036] The second data interface and the control parameter storage module are integrated into a first data block; the second data interface and the status parameter storage module are integrated into a second data block. Specifically, the first data interface periodically acquires status parameters and periodically acquires first control parameters, including: the first data interface communicates with the lower-level unit every preset data acquisition cycle to acquire the corresponding status parameters of the lower-level unit and write them into the status parameter storage module, or acquires the corresponding first control parameters of the lower-level unit and writes them into the control parameter storage module.

[0037] Status parameters are periodically written to the status parameter storage module, and the first control parameter is periodically written to the control parameter storage module. The second control parameter is only obtained by communicating with the lower-level machine through the data interface and written to the control parameter storage module for the upper-level machine to read when the upper-level machine needs to read it, or when the upper-level machine needs to write the second control parameter, it writes the second control parameter to the control parameter storage module for the lower-level machine to read. The second data interface has read-only access to the status parameter storage module, and read-write access to the control parameter storage module.

[0038] Status parameters are periodically written to the first data block, enabling the system to acquire equipment operating status information at a fixed frequency. This information is typically real-time and frequently changing, such as equipment temperature, speed, and current. Periodic writing ensures the host computer receives equipment status promptly, facilitating real-time monitoring and data analysis. First control parameters are periodically written to the second data block, suitable for routine equipment operation control, such as start / stop control and speed adjustment by the slave device. Periodic writing ensures timely issuance of control commands, maintaining stable equipment operation. Second control parameters are written or read according to the host computer's needs, avoiding unnecessary data transmission and processing, reducing system resource consumption, and improving data processing efficiency. For example, infrequently used equipment configuration parameters are only transmitted when the host computer needs to modify or view them, significantly reducing data transmission volume.

[0039] Because the second control parameter is transmitted on demand, unnecessary data traffic in the network is reduced, lowering the network load. When network bandwidth is limited, this method ensures stable transmission of critical data (such as status parameters and the first control parameter), avoids network congestion, and improves the reliability and stability of network communication. The second data interface has read-only access to the status parameters in the first storage module, preventing attackers from outside the pipeline system from tampering with the status parameters and affecting the host computer's perception of the pipeline system's true status.

[0040] The system also includes a status parameter storage module; the status parameter storage module is communicatively connected to the first data interface and is used to update and store the status parameters. The system also includes a control parameter storage module; the control parameter storage module is communicatively connected to both the first and second data interfaces, and is used to update and store the first and second control parameters, and to obtain data access requests from the lower-level machine group, and send the corresponding data to the corresponding upper-level machine in the upper-level machine group according to the data access requests.

[0041] The third data interface is equipped with a counting verification module, which stores a verification value. The lower-level unit also includes an operation counter. The operation counter is used to extract the operation count value from the response message of the upper-level unit, compare the operation count value with the verification value, and if they are the same, increment the verification value by 1 and store it. If they are different, send a prompt message to the upper-level unit. If the operation count value is greater than the verification value, the operation count value sent by the lower-level unit has skipped counts, and a communication insecurity prompt is sent to the upper-level unit. If the operation count value is less than the verification value, the lower-level unit has a communication failure, and a fault alarm prompt is sent to the upper-level unit.

[0042] According to one specific implementation, when the lower-level machine receives a read / write instruction from the third data interface, it executes the read / write instruction. After completing the read / write instruction, it increments the current operation count value A of the operation counter by 1, and simultaneously returns the operation count value A to the third data interface along with a response message. The counting verification module of the third data interface is equipped with a verification counter for each lower-level machine. When a response message is received from the corresponding lower-level machine, the module extracts the operation count value A from the response message and compares it with the verification value B stored in the local verification counter (the initial values ​​in the verification counter and the operation counter are the same). If they are the same, there is no abnormality, and the value stored in the local verification counter is incremented by 1 for the next verification. If the operation count value A is greater than the verification value B, that is, the operation count value A sent by the lower-level machine has skipped counts, it indicates that the lower-level machine has previously processed illegal read / write instructions (e.g., illegal instruction injection in the lower-level machine). The information security status of the lower-level machine is adjusted to dangerous, and a warning is sent to the upper-level machine. The control device (including the first data interface, the second data interface, the third data interface, the status parameter storage module, and the control parameter storage module, wherein the status parameter storage module is the first storage module and the control parameter storage module is the second storage module) can also isolate the lower-level machine from other normal lower-level machines to ensure the overall communication security of the pipeline system. If the operation count value A is less than the verification value B, it indicates a possible communication failure, and a fault alarm will be triggered.

[0043] The aforementioned counting verification module, in conjunction with the lower-level machine's operation counter, enables lightweight communication anomaly detection within the pipeline system. Moreover, this setup requires only a single two-byte counter, consuming minimal network resources and enabling the external display of internal information security status with extremely low bandwidth overhead. This makes it particularly suitable for countering covert instruction injection attacks.

[0044] The system also includes an isolation monitoring device for isolating communication interference between multiple lower-level machines in the lower-level unit. The isolation monitoring device includes a traffic self-auditing module; this module extracts and parses data packets transmitted on the first and third data interfaces to obtain status parameters, first control parameters, and second control parameters.

[0045] The traffic self-auditing module includes a parameter traffic anomaly detection unit and a device monitoring and management unit; the parameter traffic anomaly detection unit is used to monitor the refresh cycle of status parameters and the read / write operation frequency of the first control parameter, and determine the network communication status based on the refresh cycle of the status parameters and the read / write operation frequency of the first control parameter.

[0046] The step of determining the network communication status based on the refresh period of the status parameters and the read / write operation frequency of the first control parameters includes: if the fluctuation range of the refresh period is greater than the first baseline, the network communication status is network congestion; if the read / write operation frequency of the first control parameters is greater than the second baseline, the network communication status is network congestion.

[0047] According to one specific implementation, the parameter traffic anomaly detection unit is used to monitor the refresh cycle of the status parameters. If the fluctuation range of the refresh cycle exceeds 15% of the first baseline, network congestion may exist. It also monitors the read / write operation frequency of the first control parameter. If the fluctuation range of the read / write operation frequency exceeds 15% of the second baseline, network congestion may exist. If the fluctuation range of the write operation frequency is greater than 50% of the second baseline, malicious tampering may exist. Furthermore, it monitors the read / write operation time period of the second control parameter. If read / write operations occur during the non-working time period of the pipeline system, non-compliant operation behavior may exist.

[0048] The isolation monitoring device includes a mirror server connected to a traffic probe. The mirror server extracts and parses data packets transmitted on the first and third data interfaces using the traffic probe to obtain status parameters, a first control parameter, and a second control parameter. The mirror server can be located inside the pipeline system, extracting data packets transmitted on the first and third data interfaces using the traffic probe and parsing the data packets to obtain the status parameters, first control parameter, and second control parameter; alternatively, the mirror server can be located outside the pipeline system, extracting data packets transmitted on the second data interface using the traffic probe and parsing the data packets to obtain status data, the first control parameter, and the second control parameter. The mirror server obtains data packets through the traffic probe without consuming the data transmission efficiency of the first, second, and third data interfaces.

[0049] The equipment fault diagnosis unit is used to monitor the health status of some equipment by monitoring some key status parameters of the lower-level machine, and prompt the user to perform maintenance in a timely manner. Taking the status parameters of the robot arm servo axis as an example, the "current position" of the robot arm servo axis status parameters is taken from multiple status parameter data packets corresponding to one refresh cycle of the first control parameter as the key status parameter of the robot arm, forming a position time series. The position time series is input into a convolutional neural network (CNN) to predict the current motion parameters of the robot arm as the prediction result. The motion parameters in the robot arm servo axis control parameters in the first control parameter corresponding to the refresh cycle are taken and compared with the prediction result. If the error between the two is less than a threshold, it indicates that the robot arm is in good health; otherwise, a robot arm health status warning message is generated.

[0050] The convolutional neural network (CNN) is trained on historical data with appropriate model parameters. The historical data consists of the state data of the servo axes of a healthy robotic arm responding to servo control parameters. Based on different action parameters, the current historical position is extracted from the corresponding historical servo axis state data in chronological order, forming a historical position time series. The action parameters corresponding to this historical position time series are used as the true values. The historical position time series is input into the CNN for prediction to obtain predicted action parameters. The predicted action parameters are compared with the true values, and the model parameters of the CNN are adjusted based on the error between the prediction and the true values. After a predetermined number of training rounds, a CNN with appropriate model parameters is obtained.

[0051] like Figure 2 and Figure 3 As shown, the lower-level unit communicates with the control device (first data interface, second data interface, third data interface, status parameter storage module, and control parameter storage module, wherein the status parameter storage module is the first storage module and the control parameter storage module is the second storage module) based on the PROFINET protocol. The automatic pipe routing system also includes a management switch; the management switch communicates with the upper-level unit based on the UPC UA protocol or the S7 protocol. The automatic pipe routing system is applied to the driller's control system, which includes a redundant media manager and at least one upper-level computer; the upper-level computer, the redundant media manager, and the management switch communicate in a ring topology based on the MRP protocol. This application uses the UPC UA protocol or the S7 protocol to communicate with the upper-level computer through the management switch. To ensure information security, the S7 protocol is only allowed for devices within the driller's control system to access the control device, and external devices of the automatic pipe routing system must use passwords or certificates to ensure communication security and reduce information security risks when communicating with other data interfaces using the OPC UA protocol.

[0052] This embodiment prioritizes the use of the OPCUA protocol for communication with external devices. The PLC of the pipe laying system activates its internal OPCUA server, while external devices utilize symbolic access. To ensure compatibility of device communication, the S7 protocol is reserved, and interface data blocks are accessed using address-based methods. These two communication methods complement each other, ensuring stable and reliable communication between devices. Additionally, if a host computer with communication needs can be programmed and online debugged, this application can also use UDP to transmit large amounts of data. This setup effectively improves the communication system's compatibility with devices and ensures communication efficiency. Based on the mature and widely used S7 and OPCUA protocols, the communication system provided in this embodiment improves compatibility with both new and old devices, facilitating interconnection and interoperability. It also facilitates the information technology transformation of devices, is suitable for the layering of information and control flows, and prevents control and information data from being coupled together, affecting the control of field devices and reducing their reliability. The host computer, redundant media manager, and management switch communicate in a ring topology based on the MRP protocol.

[0053] MRP (Media Redundancy Protocol) is a network redundancy protocol based on ring topology. This embodiment employs a ring topology network based on the MRP protocol to improve the availability of the communication system. When a single failure occurs in the ring network transmission path, the MRP protocol can restore network communication functionality within a maximum of 200ms, further ensuring the real-time response of the automatic pipe routing system to data from the host computer. Specifically, the Media Redundancy Manager, through function blocks in the PROFINET data log library, can obtain the IP addresses, MAC addresses, and MRP ring network status of PROFINET devices in the ring network, and detect the connectivity of each device in the ring network. When a problem occurs on one side of the ring network, data is communicated from the other side of the ring network, and the faulty network port is displayed. The aforementioned ring topology structure based on the MRP protocol significantly improves the availability of devices in the ring network because the failure of a single device does not affect communication. Maintenance of faulty devices can be performed without downtime, thus eliminating time pressure. In the event of a network failure, rapid network diagnosis and troubleshooting can be accelerated.

[0054] This application separates different types of data into different data blocks, facilitating data classification and management. Regarding data storage, different storage strategies can be adopted based on the characteristics of each data block, improving storage efficiency and data security. During data querying and analysis, the required data block can be quickly located, reducing data retrieval time. For example, when analyzing equipment failures, the status parameters of the equipment failure can be directly obtained from the first data block, and the relevant control parameters can be obtained from the second data block, facilitating quick and easy troubleshooting.

[0055] The communication system provided in this embodiment standardizes the external interface data access format through the control device. The separate definition of periodic and non-periodic data improves data utilization, saves network bandwidth, and thus improves the real-time performance of signal transmission. The hardware ring topology network and communication protocol are optimized for the field communication of the automatic pipe laying system, realizing efficient, redundant, reliable, and stable communication between external devices and the pipe laying machine.

[0056] The first data interface of this invention communicates with the corresponding lower-level machine according to the real-time requirement of the parameter data, periodically acquiring status parameters, periodically acquiring first control parameters, or non-periodically acquiring second control parameters. This allows the second data interface to return data stored in the status parameter storage module or control parameter storage module to the upper-level machine based on data access requests, and / or update the first or second control parameters in the control parameter storage module. This invention determines different data reading or updating strategies based on the real-time requirement of the parameter data: status parameters and first control parameters requiring real-time updates are refreshed at a fixed period to ensure the real-time response to signals from the upper-level machine; for second control parameters with lower real-time requirements, the corresponding second control parameters are acquired based on data access requests received by the second data interface and fed back to the upper-level machine, avoiding the second control parameters from occupying valuable bandwidth resources during periods without access demand, thereby improving the real-time data response of the automatic pipeline management network.

[0057] Furthermore, based on the aforementioned configuration of the first data interface, the second data interface, the control parameter storage module, and the status parameter storage module, this application also achieves the function of isolating internal and external communication of the automatic pipe laying system. The parameter data inside the automatic pipe laying system is stored in the control parameter storage module and the status parameter storage module of the control device. External devices such as host computers can only obtain relevant parameter data by reading the control parameter storage module and the status parameter storage module, and cannot directly access the devices inside the automatic pipe laying system, thereby ensuring the information security of the devices inside the automatic pipe laying system.

[0058] On the other hand, the present invention also proposes a control method for an automatic pipe laying system, such as... Figure 4As shown, the automatic pipe routing system includes a host computer group and a slave computer group, a first data interface, a second data interface, and a third data interface; the host computer group includes multiple host computers, and the slave computer group includes multiple slave computers; the control method includes: periodically acquiring the status parameters and first control parameters of the slave computer group using the first data interface, and controlling the corresponding slave computer in the slave computer group according to the status parameters and the first control parameters; receiving the second control parameters sent by the slave computer group using the second data interface, calibrating the second control parameters through the status parameters and the first control parameters to obtain calibration control parameters, and controlling the corresponding slave computer in the slave computer group according to the calibration control parameters; acquiring the data update instruction of the host computer group using the third data interface, and updating the first control parameters and the second control parameters of the slave computer group according to the data update instruction.

[0059] An automatic pipe routing system of the present invention includes: a host computer group and a slave computer group, a first data interface, a second data interface, and a third data interface; the host computer group includes multiple host computers, and the slave computer group includes multiple slave computers; the first data interface is used to periodically acquire status parameters and first control parameters of the slave computer group, and control the corresponding slave computer in the slave computer group according to the status parameters and the first control parameters; the second data interface is used to respond to receiving second control parameters sent by the slave computer group, calibrate the second control parameters through the status parameters and the first control parameters to obtain calibration control parameters, and control the corresponding slave computer in the slave computer group according to the calibration control parameters; the third data interface is used to acquire data update instructions from the host computer group, and update the first control parameters and second control parameters of the slave computer group according to the data update instructions. This method determines different data reading or updating strategies based on the real-time requirements of parameter data. For status parameters and first control parameters that require real-time updates, a fixed period is used for refreshing to ensure the real-time nature of the feedback signals to the host computer. For second control parameters with lower real-time requirements, the corresponding second control parameters are obtained based on the data access requests received from the second data interface and fed back to the host computer. This avoids the second control parameters occupying valuable bandwidth resources during periods when there is no access requirement, thereby improving the real-time data response of the automatic pipeline network.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0065] 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.

[0066] 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 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.

[0067] 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.

[0068] 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. An automatic pipe laying system, characterized in that, The system includes: Upper-level and lower-level units, first data interface, second data interface and third data interface; The host computer group includes multiple host computers, and the slave computer group includes multiple slave computers. The first data interface is used to periodically acquire the status parameters and first control parameters of the lower-level machine group, and control the corresponding lower-level machine in the lower-level machine group according to the status parameters and first control parameters; The second data interface is used to respond to receiving the second control parameters sent by the lower-level machine group, calibrating the second control parameters through the status parameters and the first control parameters to obtain calibration control parameters, and controlling the corresponding lower-level machine in the lower-level machine group according to the calibration control parameters; The third data interface is used to obtain the data update instruction from the host computer group, and update the first control parameter and the second control parameter of the lower computer group according to the data update instruction. The status parameters include: warehouse location status, servo axis status, cleaning machine status, pipe laying machine status, and communication status; The first control parameters include: control parameters for the beam storage location, control parameters for the robot arm servo axis, control parameters for the cleaning machine, process data for the pipe laying machine, and communication control parameters for external equipment. The second control parameters include: coordinate offset data of the beam storage position, robot internal parameters, sensor operating parameters, drill rod control parameters, and pipe laying machine process parameters.

2. The system according to claim 1, characterized in that, The system also includes a status parameter storage module; The status parameter storage module is communicatively connected to the first data interface and is used to update and store the status parameters.

3. The system according to claim 1, characterized in that, The system also includes a control parameter storage module; The control parameter storage module is communicatively connected to the first data interface and the second data interface, respectively, and is used to update and store the first control parameter and the second control parameter, and to obtain the data access request of the lower-level unit, and send the corresponding data to the corresponding upper-level unit in the upper-level unit according to the data access request.

4. The system according to claim 1, characterized in that, The third data interface is equipped with a counting verification module, which stores verification values; The lower-level unit also includes an operation counter; The operation counter is used to extract the operation count value from the response message of the host computer, compare the operation count value with the verification value, if they are the same, the verification value is incremented by 1 and stored, if they are different, a prompt message is sent to the host computer.

5. The system according to claim 4, characterized in that, If the operation count value is greater than the verification value, the operation count value sent by the lower unit has skipped numbers, and a communication insecurity warning is sent to the upper unit. If the operation count value is less than the verification value, the lower-level unit has a communication failure and sends a fault alarm to the upper-level unit.

6. The system according to claim 1, characterized in that, The system also includes An isolation monitoring device is used to isolate communication interference between multiple lower-level machines in a lower-level unit.

7. The system according to claim 6, characterized in that, The isolation monitoring device includes a traffic self-auditing module; The traffic self-auditing module is used to extract and parse the data packets transmitted on the first data interface and the third data interface to obtain status parameters, first control parameters and second control parameters.

8. The system according to claim 7, characterized in that, The traffic self-audit module includes a parameter traffic anomaly detection unit and a device monitoring and management unit; The parameter traffic anomaly detection unit is used to monitor the refresh cycle of the status parameters and the read / write operation frequency of the first control parameter, and to determine the network communication status based on the refresh cycle of the status parameters and the read / write operation frequency of the first control parameter.

9. The system according to claim 8, characterized in that, The step of determining the network communication status based on the refresh cycle of the status parameters and the read / write operation frequency of the first control parameters includes: If the fluctuation range of the refresh cycle is greater than the first baseline, the network communication status is network congestion; If the frequency of read / write operations on the first control parameter is greater than that of the second baseline, the network communication status is network congestion.

10. The system according to claim 6, characterized in that, The isolation monitoring device includes a mirror server, which is connected to a traffic probe. The mirror server extracts and parses the data packets transmitted on the first and third data interfaces using traffic probes to obtain status parameters, first control parameters, and second control parameters.

11. The system according to claim 1, characterized in that, The lower-level machine includes a finger beam controller, a robotic arm actuator, a pipe laying machine controller, and a cleaning machine controller; The host computer includes a driller's cabin controller, a driller's controller, a winch controller, a traveling block controller, a top drive controller, and a pump station controller.

12. The system according to claim 1, characterized in that, The storage location status includes the occupancy status, fault status, out-of-use status, and maintenance status of each storage location. The servo axis status includes the current position, current speed, current torque, current current, current error code, and current alarm code for each servo axis; The status of the cleaning machine includes indicators of its working status and fault status. The status of the pipe laying machine includes the position switch data, limit switch data, position data, obstacle data, working status, working mode, and action parameters of the pipe laying machine.

13. The system according to claim 1, characterized in that, The control parameters for the finger beam storage location include configuring the storage location's inactive status, the finger beam lock's locking status, and the storage location type settings; The control parameters for the robot arm's servo axes include configuring the motion parameters and motion modes of the robot arm's servo axes; The control parameters for the cleaning machine include the operating parameters for configuring the cleaning machine. The process data for the pipe laying machine includes the configuration of the working mode of the pipe laying machine and the action steps of the automatic process.

14. A control method for an automatic pipe laying system, characterized in that, The automatic pipe laying system includes a host computer unit and a slave computer unit, a first data interface, a second data interface, and a third data interface; the host computer unit includes multiple host computers, and the slave computer unit includes multiple slave computers; the control method includes: The status parameters and first control parameters of the lower-level machine group are periodically obtained using the first data interface, and the corresponding lower-level machine in the lower-level machine group is controlled according to the status parameters and first control parameters. The second control parameter sent by the lower-level machine group is received using the second data interface. The second control parameter is calibrated using the status parameter and the first control parameter to obtain the calibration control parameter. The corresponding lower-level machine in the lower-level machine group is controlled according to the calibration control parameter. The data update instruction of the host computer is obtained using the third data interface, and the first and second control parameters of the lower computer are updated according to the data update instruction. The status parameters include: warehouse location status, servo axis status, cleaning machine status, pipe laying machine status, and communication status; The first control parameters include: control parameters for the beam storage location, control parameters for the robot arm servo axis, control parameters for the cleaning machine, process data for the pipe laying machine, and communication control parameters for external equipment. The second control parameters include: coordinate offset data of the beam storage position, robot internal parameters, sensor operating parameters, drill rod control parameters, and pipe laying machine process parameters.

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