Automatic inspection and maintenance control system and method for blowout preventer, electronic equipment and storage medium

Abstract

The invention discloses an automatic inspection and maintenance control system and method for a blowout preventer, electronic equipment and a storage medium. The automatic inspection and maintenance control system for the blowout preventer comprises a blowout preventer disassembly and assembly device, a workpiece sensing assembly, a workpiece position acquisition module, a workpiece position adjustment driving module, a workpiece posture recognition module, a workpiece posture adjustment module, a workpiece posture adjustment driving module, a tool position acquisition module, a tool posture acquisition module and a control center. The control center controls the blowout preventer dismounting device, the workpiece position adjustment driving module and the workpiece posture adjustment driving module to work according to data obtained by the workpiece sensing assembly, the workpiece position obtaining module, the workpiece posture recognition module, the tool position obtaining module and the tool posture obtaining module. According to the automatic inspection and maintenance control system and method for the blowout preventer, the electronic equipment and the storage medium, the blowout preventer can be automatically disassembled and assembled, the working efficiency is improved, and the manual workload and the working intensity are effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of petroleum machinery, and relates to a dismounting device, in particular to an automatic inspection and maintenance control system and method for blowout preventers, an electronic device and a storage medium. BACKGROUND

[0002] A blowout preventer is an important component of well control devices, and is mainly used for closing a drilling rod through hole in drilling, well repairing and oil testing operations, effectively preventing blowout accidents and realizing safe construction. A blowout preventer gate is an important component thereof.

[0003] The blowout preventer can be repeatedly used. In each maintenance operation, the gate assembly bolts need to be removed, the gate assembly needs to be opened or removed, the inner cavity of the blowout preventer needs to be cleaned, the sealing element needs to be replaced, and the internal cavity needs to be repaired and then fixed again with bolts.

[0004] The traditional blowout preventer bolt dismounting method has the following problems: (1) the traditional operation method is to use a row of hoist ropes to lift a pickaxe, one person holds the pickaxe tightly, and the other person aims at the bolt head. If the bolt is rusted and cannot be loosened due to insufficient pickaxe force, the bolt needs to be dismounted by knocking. During the process of dismounting the blowout preventer bolt, the pickaxe will cause the hand to vibrate and become numb and powerless, and the knocking will easily cause the wrench to fall, thereby causing safety problems. After the bolt is removed, the gate assembly needs to be removed, the gate assembly is relatively heavy, and cannot be operated manually, and needs to be pulled out by using a special tool before being repaired.

[0005] Therefore, there is an urgent need to design a new blowout preventer dismounting device to overcome at least some of the above-mentioned defects of the existing blowout preventer dismounting device. SUMMARY

[0006] The present application provides a blowout preventer automatic inspection and maintenance control system, method, electronic device and storage medium, which can automatically dismount the blowout preventer, improve work efficiency, and effectively reduce the labor intensity and work intensity.

[0007] To solve the above technical problems, according to one aspect of the present application, the following technical scheme is adopted: An automatic inspection and maintenance control system for a blowout preventer, comprising: a blowout preventer dismounting device, a workpiece sensing assembly, a workpiece position acquisition module, a workpiece position adjustment driving module, a workpiece posture recognition module, a workpiece posture adjustment module, a workpiece posture adjustment driving module, a tool position acquisition module, a tool posture acquisition module and a control center. The control center is connected with the blowout preventer dismounting device, the sensing assembly, the workpiece position acquisition module, the workpiece position adjustment driving module, the workpiece posture recognition module, the workpiece posture adjustment driving module, the tool position acquisition module and the tool posture acquisition module respectively. The workpiece sensing assembly comprises distance sensing units and a camera mechanism, the distance sensing units are used to sense the initial position data of the workpiece, and the camera mechanism is used to acquire image data of a set region. The workpiece position acquisition module is used to acquire the position data of the workpiece, the workpiece position acquisition module acquires the initial position of the workpiece through the initial position data of the workpiece sensed by the distance sensing units, and the workpiece position acquisition module compares the image data acquired by the camera mechanism with images in a set image database to analyze the accurate position of the center of the workpiece. The workpiece position adjustment driving module is used to support the workpiece and adjust the placement position of the workpiece until the placement position of the workpiece meets the set requirement. The workpiece posture recognition module is used to recognize the posture data of the workpiece, and the workpiece posture recognition module analyzes the posture data of the workpiece according to the image data acquired by the camera mechanism. The workpiece posture adjustment module is used to generate an adjustment command of the workpiece according to the set posture of the workpiece and the preset posture of the workpiece, and the adjustment command comprises a three-dimensional position movement command and a three-dimensional angle rotation command. The workpiece posture adjustment driving module is used to support the workpiece and adjust the placement posture of the workpiece according to the adjustment command generated by the workpiece posture adjustment module until the placement posture of the workpiece meets the set requirement. The tool position acquisition module is used to acquire the specific position data of the dismounting tool of the blowout preventer dismounting device, and the tool position acquisition module acquires the data accurately through the distance sensor arranged on the track. The tool posture acquisition module is used to acquire the specific posture data of the dismounting tool of the blowout preventer dismounting device, and the tool posture acquisition module acquires the tool posture through the position data sensed by the distance sensor arranged on the tool or / and the angle data sensed by the angle sensor or / and the control command of the tool control circuit. The control center controls the blowout preventer dismounting device, the workpiece position adjustment driving module and the workpiece posture adjustment driving module according to the data acquired by the workpiece sensing assembly, the workpiece position acquisition module, the workpiece posture recognition module, the tool position acquisition module and the tool posture acquisition module.

[0008] As an embodiment of the present application, the workpiece posture recognition module compares the image data obtained by the camera mechanism with the images in the set posture image database, analyzes and obtains the posture of the workpiece; the posture data is the included angle data formed by the center axis of the workpiece and the set identification line in the three-dimensional coordinate system; the posture image database stores data including workpiece images, three-dimensional position data and posture data; the workpiece posture recognition module pre-processes the image data obtained by the camera mechanism, extracts the workpiece region image, and compares the workpiece image corresponding to the set three-dimensional position stored in the posture image database with the extracted workpiece region image, and takes the posture data corresponding to the workpiece image with the highest similarity in the posture image database as the posture data of the workpiece.

[0009] As an embodiment of the present application, the blowout preventer automatic inspection and maintenance control system comprises a workpiece posture mathematical model construction module, which is used to construct a workpiece posture mathematical model; the workpiece posture mathematical model construction module pre-processes the data in the training data set; the pre-processed data is subjected to feature extraction to extract key features; and then the extracted key features are combined, counted, grouped and coded, and the key features are standardized and normalized to form a key feature combination; the key feature combination includes workpiece images, workpiece three-dimensional position data and workpiece posture data; the workpiece posture data is the included angle formed by the center axis of the workpiece and the set straight line in the three-dimensional coordinate system; the workpiece posture mathematical model is constructed according to the formed key feature combination; the workpiece posture recognition module is used to pre-process the image data obtained by the camera mechanism, extract the workpiece region image, and input the extracted workpiece region image and the three-dimensional position data of the workpiece into the workpiece posture mathematical model, and obtain the workpiece posture data by using the workpiece posture mathematical model.

[0010] As an embodiment of the present application, the blowout preventer dismounting device comprises a master control device, a track, at least one hoisting device, at least one moving drive device, at least one bolt dismounting device, at least one hoisting tool and at least one gate plate dismounting device; each hoisting device is arranged based on the track, the moving drive device is connected to the corresponding hoisting device and can drive the hoisting device to move along the track; each bolt dismounting device is detachably arranged on the corresponding hoisting device and can move with the hoisting device, and the bolt dismounting device is used to dismount the bolts of the blowout preventer; one end of the hoisting device is provided with a first quick-change mechanism, and the ends of the bolt dismounting device and the hoisting tool are respectively provided with second quick-change mechanisms, and the first quick-change mechanism and the second quick-change mechanisms can be quickly replaced by cooperating with each other; the gate plate dismounting device is arranged close to the track, and the gate plate dismounting device is used to dismount the gate plate of the blowout preventer.

[0011] As an embodiment of the present application, the first quick change mechanism comprises a T-shaped hanging platform, which comprises a platform body and T-shaped hanging and lifting mechanisms arranged on the left and right sides of the platform body respectively; the second quick change mechanism comprises a hanging rack mechanism, which is a hollow structure, and the top of the hanging rack mechanism is provided with a space for the T-shaped hanging platform to enter, so that part of the T-shaped hanging platform can enter the hollow structure; the two sides of the top of the hanging rack mechanism are respectively provided with hanging ears, which can hold the T-shaped hanging and lifting mechanisms, so that the T-shaped hanging platform is hung on the hanging rack mechanism, thereby achieving quick change.

[0012] As an embodiment of the present application, the bolt dismounting device comprises a bolt automatic dismounting mechanism and a rotary driving mechanism; the rotary driving mechanism is connected to the bolt automatic dismounting mechanism and can drive the bolt automatic dismounting mechanism to rotate.

[0013] As an embodiment of the present application, the gate dismounting device comprises a lifting mechanism, a gate driving mechanism and a side door fixing mechanism; the gate driving mechanism and the side door fixing mechanism are arranged based on the lifting mechanism; the side door fixing mechanism can hold the side wall plane of the gate fixing frame, and the gate driving mechanism can dismount the gate from the blowout preventer or mount the gate into the blowout preventer.

[0014] As an embodiment of the present application, the lifting mechanism is provided with a support platform and a lifting driving mechanism; the lifting driving mechanism is connected to the support platform and can drive the support platform to lift; the support platform is provided with a sliding groove corresponding to the placement position of the gate; the gate driving mechanism comprises a push-pull oil cylinder and a push-pull rod; the push-pull rod is arranged at one end of the push-pull oil cylinder and can push and pull the gate under the driving of the push-pull oil cylinder; the push-pull oil cylinder and the push-pull rod are arranged in the sliding groove, so that the gate can be driven to slide along the sliding groove.

[0015] As an embodiment of the present application, the moving driving device comprises a moving driving mechanism, a ball screw and a ball nut; the moving driving mechanism is connected to the ball screw and can drive the ball screw to rotate; the ball nut is nested in the ball screw and can slide along the ball screw when the ball screw rotates; the lifting device is arranged on the ball nut and can slide with the ball nut; the ball screw is arranged along the track.

[0016] As an embodiment of the present application, the lifting tool is a ring-shaped lifting tool, which can be connected to the top of the blowout preventer and lift the blowout preventer under the cooperation of the lifting device.

[0017] As an embodiment of the present application, the blowout preventer dismounting device further comprises a blowout preventer moving vehicle capable of supporting the blowout preventer and moving the blowout preventer to a set position; the blowout preventer moving vehicle is provided with a lifting mechanism capable of driving the blowout preventer to lift.

[0018] As an embodiment of the present application, the track is arranged based on a truss.

[0019] As an embodiment of the present application, the blowout preventer dismounting device can further comprise a master control device connected to the hoisting device, the moving driving device, the bolt dismounting device and the gate dismounting device, and capable of sending control signals to the hoisting device, the moving driving device, the bolt dismounting device and the gate dismounting device.

[0020] According to another aspect of the present application, the following technical solution is adopted: a dismounting control method of the blowout preventer automatic maintenance control system, the dismounting control method comprising: The workpiece position acquisition module acquires position data of a set workpiece; the workpiece position acquisition module acquires a preliminary position of the workpiece through preliminary position data of the workpiece sensed by the distance sensing unit, and then compares image data acquired by the camera mechanism with images in a set image database to analyze the accurate position of the workpiece; The workpiece posture recognition module recognizes posture data of the workpiece; the workpiece posture recognition module analyzes the posture of the workpiece according to image data acquired by the camera mechanism; The tool position acquisition module acquires specific position data of a dismounting tool of the blowout preventer dismounting device; the tool position acquisition module acquires the specific position data through data sensed by a distance sensor arranged on the track; The tool posture acquisition module acquires specific posture data of the dismounting tool of the blowout preventer dismounting device; the tool posture acquisition module acquires the tool posture through position data sensed by a distance sensor arranged on the tool or / and angle data sensed by an angle sensor or / and a control command of the tool control circuit to the tool; The control center controls the blowout preventer dismounting device, the workpiece position adjustment driving module and the workpiece posture adjustment driving module according to data acquired by the workpiece sensing assembly, the workpiece position acquisition module, the workpiece posture recognition module, the tool position acquisition module and the tool posture acquisition module; The workpiece position adjustment driving module supports the workpiece and adjusts the placement position of the workpiece until the placement position of the workpiece meets the set requirement; The workpiece posture adjustment module generates an adjustment command of the workpiece according to the set posture of the workpiece and the preset posture of the workpiece, and the adjustment command comprises a three-dimensional position moving command and a three-dimensional angle rotating command; The workpiece posture adjustment driving module is used for supporting the workpiece and adjusting the placement posture of the workpiece according to the adjustment command generated by the workpiece posture adjustment module until the placement posture of the workpiece meets the set requirement.

[0021] As an embodiment of the present application, the workpiece posture recognition module compares the image data acquired by the camera mechanism with the images in the set posture image database, analyzes and obtains the posture of the workpiece; the data stored in the posture image database includes workpiece images, three-dimensional position data and posture data; the workpiece posture recognition module pre-processes the image data acquired by the camera mechanism, extracts the workpiece region image, and compares the workpiece image corresponding to the set three-dimensional position stored in the posture image database with the extracted workpiece region image, and takes the posture data corresponding to the workpiece image with the highest similarity in the posture image database as the posture data of the workpiece.

[0022] As an embodiment of the present application, the disassembly and assembly control method comprises a workpiece posture mathematical model construction step: constructing a workpiece posture mathematical model; the workpiece posture mathematical model construction step comprises: pre-processing the data in the training data set; extracting key features from the pre-processed data; combining, counting and grouping the extracted key features, and standardizing and normalizing the key features to form a key feature combination; the key feature combination includes workpiece images, workpiece three-dimensional position data and workpiece posture data; the workpiece posture data is the included angle formed by the workpiece central axis and the set straight line in the three-dimensional coordinate system; and constructing the workpiece posture mathematical model according to the formed key feature combination.

[0023] The workpiece posture recognition module is used for pre-processing the image data acquired by the camera mechanism, extracting the workpiece region image, inputting the extracted workpiece region image and the three-dimensional position data of the workpiece into the workpiece posture mathematical model, and acquiring the workpiece posture data by using the workpiece posture mathematical model.

[0024] According to another aspect of the present application, the following technical solution is adopted: an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0025] According to another aspect of the present application, the following technical solution is adopted: a storage medium, which stores computer program instructions, wherein the computer program instructions are executed by a processor to implement the steps of the above method.

[0026] The beneficial effects of the present application are that the blowout preventer automatic inspection and maintenance control system, method, electronic equipment and storage medium provided by the present application can automatically disassemble the blowout preventer, improve work efficiency, and effectively reduce the labor workload and work intensity. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a composition schematic diagram of the blowout preventer automatic inspection and maintenance control system in an embodiment of the present application.

[0028] Figure 2 It is a flowchart of the blowout preventer disassembly control method in an embodiment of the present application.

[0029] Figure 3 It is a structure schematic diagram of the blowout preventer disassembly device in an embodiment of the present application.

[0030] Figure 4 It is a structure schematic diagram of the blowout preventer disassembly device in an embodiment of the present application.

[0031] Figure 5 It is a structure schematic diagram of the blowout preventer disassembly device in an embodiment of the present application.

[0032] Figure 6 It is a structure schematic diagram of the cooperation of the first quick change mechanism and the second quick change mechanism in an embodiment of the present application.

[0033] Figure 7 It is a structure schematic diagram of the first quick change mechanism in an embodiment of the present application.

[0034] Figure 8 It is a structure schematic diagram of the second quick change mechanism and the hoisting tool in an embodiment of the present application.

[0035] Figure 9 It is a structure schematic diagram of the gate plate disassembly device in an embodiment of the present application.

[0036] Figure 10 It is a structure schematic diagram of the gate plate disassembly device in an embodiment of the present application.

[0037] Figure 11 It is a structure schematic diagram of the gate plate in an embodiment of the present application.

[0038] Figure 12 It is a structure schematic diagram of the bolt disassembly device in an embodiment of the present application.

[0039] Figure 13 It is a composition schematic diagram of the electronic equipment in an embodiment of the present application.

[0040] Figure 14 It is a use scenario schematic diagram of the blowout preventer automatic inspection and maintenance control system in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present application will be described in detail below with reference to the drawings.

[0042] In order to further understand the present application, the preferred embodiments of the present application will be described in detail below with reference to the embodiments, but it should be understood that the description is only for further illustrating the features and advantages of the present application, and is not a limitation on the claims of the present application.

[0043] The description of this part is only for several typical embodiments, and the present application is not limited to the scope described in the embodiments. The same or similar prior art means and some technical features in the embodiments can be replaced with each other, which is within the description and protection scope of the present application.

[0044] In the specification, “connection” includes both direct connection and indirect connection.

[0045] The present application discloses an automatic inspection and maintenance control system for blowout preventers, Figure 1 The present application discloses an automatic inspection and maintenance control system for blowout preventers, Figure 1 The automatic inspection and maintenance control system for blowout preventers comprises a blowout preventer dismounting device 100, a workpiece sensing assembly 101, a workpiece position acquisition module 102, a workpiece position adjustment driving module 103, a workpiece posture recognition module 104, a workpiece posture adjustment module 105, a workpiece posture adjustment driving module 106, a tool position acquisition module 107, a tool posture acquisition module 108, and a control center 200.

[0046] The control center 200 is connected to the blowout preventer dismounting device 100, the workpiece sensing assembly 101, the workpiece position acquisition module 102, the workpiece position adjustment driving module 103, the workpiece posture recognition module 104, the workpiece posture adjustment module 105, the workpiece posture adjustment driving module 106, the tool position acquisition module 107, and the tool posture acquisition module 108.

[0047] The workpiece sensing assembly 101 comprises a plurality of distance sensing units and at least one camera 1011. The distance sensing units are used to sense the initial position data of the workpiece, and the camera 1011 is used to acquire image data of a set region.

[0048] The workpiece position acquisition module 102 is configured to acquire position data of the workpiece; the workpiece position acquisition module 102 acquires a preliminary position of the workpiece through preliminary position data of the workpiece sensed by the distance sensing unit; and the workpiece position acquisition module 102 compares image data acquired by the camera mechanism with images in a set image database, and analyzes to obtain an accurate position of the workpiece center. The workpiece position acquisition module 102 can include a plurality of distance sensors, and the preliminary position of the workpiece is acquired through distance information sensed by the distance sensors.

[0049] The workpiece position adjustment driving module 103 is configured to support the workpiece and adjust the placement position of the workpiece until the placement position of the workpiece meets the set requirement; the workpiece posture recognition module 104 is configured to recognize posture data of the workpiece; and the workpiece posture recognition module analyzes to obtain the posture data of the workpiece according to image data acquired by the camera mechanism.

[0050] The workpiece posture adjustment module 105 is configured to generate an adjustment command of the workpiece according to a set posture of the workpiece and a preset posture of the workpiece, and the adjustment command includes a three-dimensional position movement command and a three-dimensional angle rotation command; and the workpiece posture adjustment driving module 106 is configured to support the workpiece and adjust the placement posture of the workpiece according to the adjustment command generated by the workpiece posture adjustment module until the placement posture of the workpiece meets the set requirement.

[0051] The tool position acquisition module 107 is configured to acquire specific position data of a dismounting tool of the blowout preventer dismounting device; the tool position acquisition module is configured to acquire the specific position data accurately through data sensed by a distance sensor arranged on a track; the tool posture acquisition module 108 is configured to acquire specific posture data of the dismounting tool of the blowout preventer dismounting device; and the tool posture acquisition module is configured to acquire the tool posture through position data sensed by a distance sensor arranged on the tool, or / and angle data sensed by an angle sensor, or / and a control command of the tool control circuit.

[0052] The control center 200 controls the blowout preventer dismounting device 100, the workpiece position adjustment driving module 103, and the workpiece posture adjustment driving module 106 according to data acquired by the workpiece sensing assembly 101, the workpiece position acquisition module 102, the workpiece posture recognition module 104, the tool position acquisition module 107, and the tool posture acquisition module 108.

[0053] In an embodiment of the present application, the workpiece posture recognition module 104 compares image data acquired by the camera mechanism with images in a set posture image database, and analyzes to obtain the posture of the workpiece; and the posture data is included in an included angle formed by a center axis of the workpiece and a set identification line in a three-dimensional coordinate system.

[0054] The data stored in the posture image database includes workpiece images, three-dimensional position data, and posture data; the workpiece posture recognition module pre-processes the image data acquired by the camera mechanism, extracts workpiece region images, and compares the workpiece images corresponding to the set three-dimensional positions stored in the posture image database with the extracted workpiece region images, and takes the posture data corresponding to the workpiece image with the highest similarity in the posture image database as the posture data of the workpiece.

[0055] In an embodiment, different specifications of workpieces (such as blowout preventers) can be classified, and images of workpieces of different specifications in different three-dimensional positions and in different postures can be stored in the posture image database, and the three-dimensional position data (three-dimensional coordinates) and the posture data (the included angle between the central axis and the set straight line) of the corresponding workpieces are recorded; the position and the posture of the blowout preventer are recognized through image comparison.

[0056] Figure 14 FIG. 1 is a schematic diagram of a use scenario of the blowout preventer automatic maintenance control system in an embodiment of the present application. Figure 14 In a use scenario of the present application, the camera mechanism 1011 can be arranged at the center of the set dismounting tool 110; the dismounting tool is arranged on the work station in advance, and then the workpiece (blowout preventer) is arranged below the work station. Then, the image of the blowout preventer is captured by the camera mechanism 1011. Since the height of the blowout preventer is set when the specification of the blowout preventer is determined, the blowout preventer is usually placed horizontally (if the blowout preventer is placed obliquely, the posture can be adjusted by the posture rotating mechanism). Therefore, usually only the position and the angle in the horizontal direction need to be adjusted. The workpiece posture recognition module 104 can compare the image captured by the camera mechanism 1011 with the set image stored in the posture image database, so as to calculate the position and the angle of the workpiece offset (if the height is not at the set height, the height of the blowout preventer can also be adjusted by the height adjusting mechanism); then, the workpiece posture adjusting module 105 and the workpiece posture adjusting driving module 106 are used to adjust and drive the posture of the workpiece, so that the workpiece is finally located directly below the set dismounting tool 110 and the posture is in the set posture, which facilitates the operation of the dismounting tool 110. If it is necessary to adjust the three-dimensional posture of the blowout preventer, the blowout preventer can be arranged on a support plane; by adjusting the inclination angle of the support plane in the set direction, the three-dimensional posture of the blowout preventer can be adjusted.

[0057] In an embodiment, an identification (which can be two vertical line segments) can be arranged on the top of the blowout preventer, and the position of the identification in the picture can be obtained through image recognition and feature extraction; then the picture is compared with the picture of the blowout preventer in the standard position, and the direction and distance of the blowout preventer to be moved, and the direction and rotation angle of the blowout preventer to be rotated are calculated according to the position of the identification in the corresponding picture. For example, the distance data of the blowout preventer to be moved can be obtained according to the coordinate difference of the identification in the two pictures, and the identification position after real-time adjustment can be used for real-time judgment and adjustment until the position, height and angle (pose) adjustment is completed; at the same time, the moving distance data and other data obtained can be further refined in continuous machine learning.

[0058] In an embodiment of the present application, the blowout preventer automatic inspection and maintenance control system comprises a workpiece pose mathematical model construction module 109, which is used to construct a workpiece pose mathematical model.

[0059] The workpiece pose mathematical model construction module pre-processes the data in the training data set, extracts key features from the pre-processed data, and then combines, counts, groups and encodes the extracted key features, standardizes and normalizes the key features to form a key feature combination; the key feature combination includes workpiece images, workpiece three-dimensional position data and workpiece pose data; the workpiece pose data is the included angle formed by the workpiece center axis and the set straight line in the three-dimensional coordinate system; the workpiece pose mathematical model is constructed according to the formed key feature combination. The workpiece pose recognition module is used to pre-process the image data obtained by the camera mechanism, extract the workpiece region image, and input the extracted workpiece region image and the three-dimensional position data of the workpiece into the workpiece pose mathematical model to obtain the workpiece pose data by using the workpiece pose mathematical model.

[0060] Figures 3 to 5 It is a structural schematic view of the blowout preventer dismounting device in an embodiment of the present application; please refer to Figures 3 to 5 The blowout preventer dismounting device comprises a track 1, at least one hoisting device 2, at least one moving driving device 3, at least one bolt dismounting device 4, at least one hoisting tool 5 and at least one gate plate dismounting device 6.

[0061] Each lifting device 2 is arranged based on the track 1, the movement driving device 3 is connected to the corresponding lifting device 2 and can drive the lifting device 2 to move along the track. The track 1 can be arranged based on the truss 11. Each bolt dismounting device 4 is arranged on the corresponding lifting device 2 in a detachable manner and can move along with the lifting device 2, and the bolt dismounting device 4 is used to dismount the bolt of the blowout preventer 9. One end of the lifting device 2 is provided with a first quick-change mechanism 7, and the end of the bolt dismounting device 4 and the lifting tool 5 is respectively provided with a second quick-change mechanism 8, and the first quick-change mechanism 7 and the second quick-change mechanism 8 can be quickly changed with each other.

[0062] The gate dismounting device 6 is arranged close to the track 1, and the gate dismounting device 6 is used to dismount the gate 10 of the blowout preventer 9. In addition, the blowout preventer dismounting device can further include a master control device, and the master control device is connected to the lifting device 2, the movement driving device 3, the bolt dismounting device 4 and the gate dismounting device 6 respectively, and can send control signals to the lifting device 2, the movement driving device 3, the bolt dismounting device 4 and the gate dismounting device 6.

[0063] In an embodiment of the present application, the lifting device 2 includes a stand 12, a suspension arm 13, a balance bar 14 and a suspension arm body 15. The suspension arm 13 is arranged based on the stand 12, the first end of the balance bar 14 is fixed to the suspension arm 13, the second end of the balance bar 14 is connected to the suspension arm body 15, and the end of the suspension arm body 15 is used to arrange the first quick-change mechanism 7.

[0064] The movement driving device 3 can drive the lifting device 2 to act by means of a driving motor and a ball screw. In an embodiment, the movement driving device 3 includes a movement driving mechanism, a ball screw and a ball nut. The movement driving mechanism is connected to the ball screw and can drive the ball screw to rotate. The ball nut is nested in the ball screw and can slide along the ball screw when the ball screw rotates. The lifting device is arranged on the ball nut and can slide along with the ball nut. The ball screw is arranged along the track.

[0065] Figure 12 It is a structural schematic view of the bolt dismounting device in an embodiment of the present application. Please refer to Figure 12 In an embodiment of the present application, the bolt dismounting device 4 includes a bolt automatic dismounting mechanism and a rotary driving mechanism. The rotary driving mechanism is connected to the bolt automatic dismounting mechanism and can drive the bolt automatic dismounting mechanism to rotate.

[0066] In an embodiment, the bolt automatic dismounting mechanism comprises a dismounting driving motor 44 and a dismounting wrench 43, the dismounting driving motor 44 is connected with the dismounting wrench 43 and can drive the dismounting wrench 43 to perform dismounting work. The rotating driving mechanism comprises a rotating driving motor 41 and a rotating displacement mechanism 42, the rotating driving motor 41 is connected with a first end surface of the rotating displacement mechanism 42; a second end surface of the rotating displacement mechanism 42 is connected with the dismounting wrench 43, the rotating driving motor 41 can drive the rotating displacement mechanism 42 to rotate and then drive the pointing angle of the dismounting wrench 43. The first end surface and the second end surface form a set angle (for example, 45°). For example, the rotating driving motor 41 can control the dismounting wrench 43 to be in a horizontal posture or a vertical posture, thereby facilitating the dismounting of horizontal bolts and vertical bolts.

[0067] In an embodiment of the present application, the lifting tool 5 can be a ring-shaped lifting tool, which can be connected with the top of the blowout preventer 9 and lift the blowout preventer 9 under the cooperation of the lifting device.

[0068] Figure 9 、 Figure 10 FIG. 1 is a structural schematic diagram of a gate dismounting device in an embodiment of the present application; please refer to FIG. 2 Figure 9 、 Figure 10 In an embodiment of the present application, the gate dismounting device 6 comprises a lifting mechanism 61, a gate driving mechanism 62 and a side door fixing mechanism 63; the gate driving mechanism 62 and the side door fixing mechanism 63 are arranged based on the lifting mechanism 61. The side door fixing mechanism 63 can suck the side wall plane of the gate fixing frame, and the gate driving mechanism 62 can dismount the gate 10 from the blowout preventer 9 or mount the gate 10 into the blowout preventer 9. The side door fixing mechanism 63 can be a magnetic suction cup; the structure of the gate 10 is shown in FIG. 3. Figure 11

[0069] The lifting mechanism 61 is provided with a support platform 64 and a lifting driving mechanism 65, the lifting driving mechanism 65 is connected with the support platform 64 and can drive the support platform 64 to lift; the support platform 64 is provided with a sliding groove 66, which corresponds to the placement position of the gate 10.

[0070] The gate driving mechanism 62 comprises a push-pull oil cylinder 67 and a push-pull rod 68; the push-pull rod 68 is arranged at one end of the push-pull oil cylinder 67 and can push and pull the gate 10 under the driving of the push-pull oil cylinder 67; the push-pull oil cylinder 67 and the push-pull rod 68 are arranged in the sliding groove 66, thereby driving the gate 10 to slide along the sliding groove 66.

[0071] ​The blowout preventer (BOP) removal and installation device further includes a BOP moving carriage 69, which supports the BOP and moves it to a set position. The BOP moving carriage is equipped with a lifting mechanism that can drive the BOP to rise and fall. In addition, the gate removal and installation device 6 may also include a control console 60, which is used to control the operation of components such as the push-pull cylinder 67 and the lifting drive mechanism 65.

[0072] like Figure 9 , Figure 10 As shown, the gate 10 is set based on the gate fixing plate 17; during operation, the gate 10 is connected to a hydraulic cylinder 18, which can drive the gate to work.

[0073] Figure 6 This is a schematic diagram of the structure of the first quick-change mechanism and the second quick-change mechanism cooperating in one embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of the first quick-change mechanism in one embodiment of the present invention. Figure 8 This is a structural schematic diagram of the second quick-change mechanism and lifting fixture in one embodiment of the present invention; please refer to [link / reference]. Figures 6 to 8 In one embodiment of the present invention, the first quick-change mechanism 7 includes a T-shaped mounting platform 71, the T-shaped mounting platform 71 including a mounting platform body 72 and T-shaped hanging mechanisms 73 located on the left and right sides of the mounting platform body 72 respectively. The second quick-change mechanism 8 includes a hanging frame mechanism 81, the hanging frame mechanism 81 having a hollow structure, and the top of the hanging frame mechanism 81 having a space for the T-shaped mounting platform 71 to enter, allowing a portion of the T-shaped mounting platform 71 to enter the hollow structure. The top two sides of the hanging frame mechanism 81 are respectively provided with hanging ears 82, which can fasten the T-shaped hanging mechanisms 73, thereby allowing the T-shaped mounting platform 71 to hang on the hanging frame mechanism 81 for quick replacement. The hanging frame mechanism 81 can be used to connect the lifting fixture 5, the suction cup bracket 16, the blowout preventer 9, or other components.

[0074] This invention further discloses a disassembly and assembly control method for the above-mentioned automated inspection and maintenance control system for blowout preventers. Figure 2 This is a flowchart of a blowout preventer disassembly and assembly control method according to an embodiment of the present invention; please refer to [link / reference]. Figure 2 The disassembly and assembly control method includes:

Step S1

[0075]

Step S2

[0076]

Step S3

[0077]

Step S4

[0078]

Step S5

[0079]

Step S6

[0080]

Step S7

[0081]

Step S8

[0082] In an embodiment of the present application, the workpiece posture recognition module compares the image data acquired by the camera mechanism with the images in the set posture image database, and analyzes to obtain the posture data of the workpiece. The posture data is the included angle of the center axis of the workpiece with the set straight line in the three-dimensional coordinate system. The data stored in the posture image database includes the workpiece image, the three-dimensional position data and the posture data; the workpiece posture recognition module compares the set three-dimensional position corresponding posture image with the image data acquired by the camera mechanism, and takes the posture data corresponding to the workpiece image with the highest similarity in the posture image database as the posture data of the workpiece.

[0083] In an embodiment of the present application, the dismounting control method includes a workpiece posture mathematical model construction step: constructing a workpiece posture mathematical model; the workpiece posture recognition module inputs the workpiece image and the three-dimensional position data into the workpiece posture mathematical model, and acquires the workpiece posture data by using the workpiece posture mathematical model.

[0084] The steps for constructing the mathematical model of the workpiece posture include: preprocessing the data in the training dataset; extracting features from the preprocessed data to extract key features; combining, statistically analyzing, and grouping the extracted key features; standardizing and normalizing the key features to form a key feature combination; the key feature combination includes workpiece image, workpiece 3D position data, and workpiece posture data; the workpiece posture data is the angle formed between the workpiece central axis and a set straight line in the 3D coordinate system; and constructing a mathematical model of the workpiece posture based on the formed key feature combination.

[0085] This invention also discloses an electronic device, Figure 13 This is a schematic diagram of the composition of an electronic device according to an embodiment of the present invention; please refer to [link / reference]. Figure 13 At the hardware level, the electronic device includes a memory, a processor, and at least one communication interface; the processor may be a microprocessor, and the memory may include main memory, such as random access memory (RAM) or non-volatile memory. Of course, the electronic device may also include other hardware as needed.

[0086] The processor, communication interface, and memory can be interconnected via an internal bus. The memory stores programs (including operating system programs and application programs); the programs may include program code, which may include computer operation instructions. The memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0087] In one embodiment, the processor can read the corresponding program from non-volatile memory into memory and then run it; the processor can execute the program stored in memory and specifically perform the following operations (e.g. Figure 2 (as shown)

Step S1

[0088]

Step S2

[0089]

Step S3

[0090]

Step S4

[0091]

Step S5

[0092]

Step S6

[0093]

Step S7

[0094]

Step S8

[0095] The application further discloses a storage medium, which has computer program instructions stored thereon, and the computer program instructions are executed by a processor to realize the following steps (as shown in the method of the application Figure 2 .

Step S1

[0096]

Step S2

[0097]

Step S3

[0098]

Step S4

[0099]

Step S5

[0100]

Step S6

[0101]

Step S7

[0102]

Step S8

[0103] In summary, the blowout preventer automatic inspection and maintenance control system and method, the electronic device and the storage medium provided by the application can automatically dismount the blowout preventer, improve the work efficiency, and effectively reduce the labor workload and work intensity.

[0104] It should be noted that the present application can be implemented in software and / or a combination of software and hardware; for example, can be realized by using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In some embodiments, the software program of the present application can be executed by a processor to realize the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer readable recording medium; for example, RAM memory, magnetic or optical drive or soft disk and similar devices. In addition, some steps or functions of the present application can be realized by hardware; for example, as a circuit cooperating with the processor to execute the steps or functions.

[0105] The technical features of the above-described embodiments can be combined in any manner; for the sake of brevity, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0106] The description and applications of the present application are illustrative, and not intended to limit the scope of the present application. The effects or advantages of the embodiments can not be achieved in the embodiments due to various factors, and the description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein can be made based on the description and drawings of the embodiments, and it is known that various elements and components of the embodiments can be substituted with other elements and components of similar function. It will be apparent to those skilled in the art that the present application can be embodied in other specific forms, structures, arrangements, proportions, and with other components, materials, and elements, without departing from the spirit or essential characteristics of the present application. Other variations and modifications of the embodiments disclosed herein can be made based on the description and drawings of the embodiments without departing from the scope and spirit of the application.

Claims

1. An automated inspection and maintenance control system for blowout preventers, characterized in that, The blowout preventer automatic inspection and maintenance control system comprises a blowout preventer dismounting device, a workpiece sensing assembly, a workpiece position acquisition module, a workpiece position adjustment driving module, a workpiece posture recognition module, a workpiece posture adjustment module, a workpiece posture adjustment driving module, a tool position acquisition module, a tool posture acquisition module and a control center. The control center is connected with the blowout preventer dismounting device, the workpiece sensing assembly, the workpiece position acquisition module, the workpiece position adjustment driving module, the workpiece posture recognition module, the workpiece posture adjustment driving module, the tool position acquisition module and the tool posture acquisition module. The workpiece sensing assembly comprises a plurality of distance sensing units and at least one camera mechanism, the distance sensing units are used to sense position data of the workpiece, and the camera mechanism is used to acquire image data of a set region. The workpiece position acquisition module is used to acquire position data of a set workpiece, the workpiece position acquisition module acquires a preliminary position of the workpiece through preliminary position data of the workpiece sensed by the distance sensing units, and the workpiece position acquisition module analyzes the accurate position of the center of the workpiece according to comparison between image data acquired by the camera mechanism and images in a set image database. The workpiece position adjustment driving module is used to support the workpiece and adjust the placement position of the workpiece until the placement position of the workpiece meets the set requirement. The workpiece posture recognition module is used to recognize posture data of the workpiece, and the workpiece posture recognition module analyzes the posture data of the workpiece according to image data acquired by the camera mechanism. The workpiece posture adjustment module is used to generate adjustment commands of the workpiece according to the set posture of the workpiece and the preset posture of the workpiece, and the adjustment commands comprise three-dimensional position movement commands and three-dimensional angle rotation commands. The workpiece posture adjustment driving module is used to support the workpiece and adjust the placement posture of the workpiece according to the adjustment commands generated by the workpiece posture adjustment module until the placement posture of the workpiece meets the set requirement. The tool position acquisition module is used to acquire specific position data of a dismounting tool of the blowout preventer dismounting device, and the tool position acquisition module acquires the data accurately through a distance sensor arranged on a track. The tool posture acquisition module is used to acquire specific posture data of the dismounting tool of the blowout preventer dismounting device, and the tool posture acquisition module acquires the tool posture through position data sensed by a distance sensor arranged on the tool or / and angle data sensed by an angle sensor or / and a control command of the tool sensed by a tool control circuit. The control center controls the blowout preventer dismounting device, the workpiece position adjustment driving module and the workpiece posture adjustment driving module according to data acquired by the workpiece sensing assembly, the workpiece position acquisition module, the workpiece posture recognition module, the tool position acquisition module and the tool posture acquisition module.

2. The blowout preventer automatic inspection and maintenance control system according to claim 1, wherein: The workpiece posture recognition module compares the image data obtained by the camera mechanism with the images in the set posture image database, and analyzes the posture of the workpiece; the posture data is the included angle data formed by the center axis of the workpiece and the set identification line in the three-dimensional coordinate system; The data stored in the posture image database includes workpiece images, three-dimensional position data, and posture data; the workpiece posture recognition module pre-processes the image data obtained by the camera mechanism, extracts the workpiece region image, and compares the workpiece image corresponding to the set three-dimensional position stored in the posture image database with the extracted workpiece region image, and takes the posture data corresponding to the workpiece image with the highest similarity in the posture image database as the posture data of the workpiece.

3. The blowout preventer automatic inspection and maintenance control system of claim 1, wherein: The blowout preventer automatic inspection and maintenance control system comprises a workpiece posture mathematical model construction module, which is used to construct a workpiece posture mathematical model; The workpiece posture mathematical model construction module pre-processes the data in the training data set, extracts key features from the pre-processed data, and then combines, counts, and groups the extracted key features to form a key feature combination by standardizing and normalizing the key features; the key feature combination includes workpiece images, workpiece three-dimensional position data, and workpiece posture data; the workpiece posture data is the included angle formed by the center axis of the workpiece and the set straight line in the three-dimensional coordinate system; the workpiece posture mathematical model is constructed according to the formed key feature combination; The workpiece posture recognition module pre-processes the image data obtained by the camera mechanism, extracts the workpiece region image, and inputs the extracted workpiece region image and the three-dimensional position data of the workpiece into the workpiece posture mathematical model to obtain the workpiece posture data.

4. The blowout preventer automatic inspection and maintenance control system of claim 1, wherein: The blowout preventer dismounting device comprises a track, at least one hoisting device, at least one moving drive device, at least one bolt dismounting device, at least one hoisting tool, and at least one gate dismounting device; Each hoisting device is arranged based on the track, and the moving drive device is connected to the corresponding hoisting device and can drive the hoisting device to move along the track; Each bolt dismounting device is detachably arranged on the corresponding hoisting device and can move with the hoisting device; the bolt dismounting device is used to dismount the bolts of the blowout preventer; One end of the hoisting device is provided with a first quick-change mechanism, and the ends of the bolt dismounting device and the hoisting tool are respectively provided with a second quick-change mechanism; the first quick-change mechanism and the second quick-change mechanism can be quickly replaced with each other; the gate dismounting device is arranged close to the track, and the gate dismounting device is used to dismount the gate of the blowout preventer.

5. The blowout preventer automatic inspection and maintenance control system of claim 4, wherein: The first quick change mechanism comprises a T-shaped hanging platform, which comprises a platform body and a T-shaped hanging mechanism on the left and right sides of the platform body respectively; The second quick change mechanism comprises a hanging rack mechanism, which is a hollow structure, and the top of the hanging rack mechanism is provided with a space for the T-shaped hanging platform to enter, so that part of the T-shaped hanging platform can enter the hollow structure; The top of the hanging rack mechanism is provided with hanging ears on both sides, which can hold the T-shaped hanging mechanism, so that the T-shaped hanging platform is hung on the hanging rack mechanism, achieving quick change; The bolt dismounting device comprises a bolt automatic dismounting mechanism and a rotary driving mechanism; the rotary driving mechanism is connected to the bolt automatic dismounting mechanism and can drive the bolt automatic dismounting mechanism to rotate; The bolt automatic dismounting mechanism comprises a dismounting driving motor and a dismounting wrench, and the dismounting driving motor is connected to the dismounting wrench and can drive the dismounting wrench to perform dismounting work; The rotary driving mechanism comprises a steering driving motor and a rotary displacement mechanism, the steering driving motor is connected to the first end surface of the rotary displacement mechanism, the second end surface of the rotary displacement mechanism is connected to the dismounting wrench, and the steering driving motor drives the rotary displacement mechanism to rotate and can drive the pointing angle of the dismounting wrench; the first end surface and the second end surface form a set angle; The gate dismounting device comprises a lifting mechanism, a gate driving mechanism and a side door fixing mechanism; the gate driving mechanism and the side door fixing mechanism are arranged based on the lifting mechanism; The side door fixing mechanism can suck the side wall plane of the gate fixing frame, and the gate driving mechanism can dismount the gate from the blowout preventer or install the gate into the blowout preventer; The lifting mechanism is provided with a support platform and a lifting mechanism, and the lifting mechanism is connected to the support platform and can drive the support platform to lift; The support platform is provided with a sliding groove corresponding to the placement position of the gate; The gate driving mechanism comprises a push-pull oil cylinder and a push-pull rod; the push-pull rod is arranged at one end of the push-pull oil cylinder and can push and pull the gate under the driving of the push-pull oil cylinder; the push-pull oil cylinder and the push-pull rod are arranged in the sliding groove, so that the gate can be driven to slide along the sliding groove; The moving driving device comprises a moving driving mechanism, a ball screw and a ball nut; the moving driving mechanism is connected to the ball screw and can drive the ball screw to rotate; the ball nut is nested in the ball screw and can slide along the ball screw when the ball screw rotates; The lifting device is arranged on the ball nut and can slide with the ball nut; The ball screw is arranged along the track; The lifting tool is a ring-shaped lifting tool, which can be connected to the top of the blowout preventer and lift the blowout preventer under the cooperation of the lifting device; the track is arranged based on the truss; The blowout preventer dismounting device further comprises a blowout preventer moving vehicle, which can support the blowout preventer and move the blowout preventer to a set position; the blowout preventer moving vehicle is provided with a lifting mechanism and can drive the blowout preventer to lift; The blowout preventer dismounting device further comprises a master control device connected to the lifting device, the moving driving device, the bolt dismounting device and the ram dismounting device, and capable of sending control signals to the lifting device, the moving driving device, the bolt dismounting device and the ram dismounting device.

6. A method of dismounting control of the blowout preventer automatic inspection and repair control system according to any one of claims 1 to 5, characterized in that, The dismounting control method comprises: The workpiece position acquisition module acquires position data of the workpiece; the workpiece position acquisition module acquires the preliminary position of the workpiece through the preliminary position data of the workpiece sensed by the distance sensing unit, and then compares the image data acquired by the camera mechanism with the images in the set image database to analyze the accurate position of the workpiece; The workpiece posture recognition module recognizes posture data of the workpiece; the workpiece posture recognition module analyzes the posture of the workpiece according to the image data acquired by the camera mechanism; The tool position acquisition module acquires specific position data of the dismounting tool set by the blowout preventer dismounting device; the tool position acquisition module acquires the specific position data through the data sensed by the distance sensor arranged on the track; The tool posture acquisition module acquires specific posture data of the dismounting tool set by the blowout preventer dismounting device; the tool posture acquisition module acquires the posture of the tool through the position data sensed by the distance sensor arranged on the tool or / and the angle data sensed by the angle sensor or / and the control command of the tool control circuit; The control center controls the blowout preventer dismounting device, the workpiece position adjustment driving module and the workpiece posture adjustment driving module according to the data acquired by the workpiece sensing assembly, the workpiece position acquisition module, the workpiece posture recognition module, the tool position acquisition module and the tool posture acquisition module; The workpiece position adjustment driving module supports the workpiece and adjusts the placement position of the workpiece until the placement position of the workpiece meets the set requirements; The workpiece posture adjustment module generates adjustment commands of the workpiece according to the set posture of the workpiece and the preset posture of the workpiece, and the adjustment commands comprise three-dimensional position movement commands and three-dimensional angle rotation commands; The workpiece posture adjustment driving module is used for supporting the workpiece and adjusting the placement posture of the workpiece according to the adjustment commands generated by the workpiece posture adjustment module until the placement posture of the workpiece meets the set requirements.

7. The dismounting control method according to claim 6, wherein: The workpiece posture recognition module compares the image data acquired by the camera mechanism with the images in the set posture image database to analyze the posture of the workpiece; The posture image database stores data including workpiece images, three-dimensional position data and posture data; The workpiece posture recognition module pre-processes the image data acquired by the camera mechanism, extracts workpiece region images, and compares the workpiece images corresponding to the set three-dimensional positions stored in the posture image database with the extracted workpiece region images, and takes the posture data corresponding to the workpiece image with the highest similarity in the posture image database as the posture data of the workpiece.

8. The dismounting control method according to claim 6, wherein: The dismounting control method comprises a workpiece posture mathematical model construction step of constructing a workpiece posture mathematical model. The workpiece posture mathematical model construction step includes: preprocessing data in a training data set; performing feature extraction on the preprocessed data to extract key features; combining, counting, grouping and encoding the extracted key features, standardizing and normalizing the key features to form a key feature combination; the key feature combination includes workpiece images, workpiece three-dimensional position data and workpiece posture data; the workpiece posture data is an included angle formed by a workpiece center axis and a set straight line in a three-dimensional coordinate system; and a workpiece posture mathematical model is constructed according to the formed key feature combination. The workpiece posture recognition module is used to preprocess image data acquired by the camera, extract a workpiece region image, and input the extracted workpiece region image and three-dimensional position data of the workpiece into the workpiece posture mathematical model to acquire workpiece posture data by using the workpiece posture mathematical model.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 6 to 8.

10. A storage medium having stored thereon computer program instructions, characterized in that, The computer program instructions are executed by the processor to implement the steps of the method in any one of claims 6 to 8.

Images