Blowout preventer automated inspection and repair control system and method, electronic device and storage medium

Abstract

The application discloses a blowout preventer automatic inspection and maintenance control system, a blowout preventer automatic inspection and maintenance control method, an electronic device and a storage medium, and relates to the blowout preventer automatic inspection and maintenance control system, which 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 controls the work of 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 blowout preventer automatic inspection and maintenance control system, the blowout preventer automatic inspection and maintenance control method, the electronic device and the storage medium can automatically dismount the blowout preventer, improve work efficiency, and effectively reduce the artificial workload and work intensity.

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 with bolts again.

[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 part 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:

[0008] 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.

[0009] 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.

[0010] The workpiece sensing assembly comprises distance sensing units and a camera mechanism.

[0011] The workpiece position acquisition module is used to acquire the position data of the workpiece.

[0012] 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 requirements.

[0013] The workpiece posture recognition module is used to recognize the posture data of the workpiece.

[0014] The workpiece posture adjustment module is used to generate the adjustment command of the workpiece according to the set posture of the workpiece and the preset posture of the workpiece.

[0015] 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 requirements.

[0016] The tool position acquisition module is used to acquire the specific position data of the dismounting tool of the blowout preventer dismounting device.

[0017] The tool posture acquisition module is used to acquire the specific posture data of the dismounting tool of the blowout preventer dismounting device.

[0018] The control center controls the blowout preventer dismounting device, the workpiece position adjusting driving module and the workpiece posture adjusting driving module according to the data obtained 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.

[0019] 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 the posture of the workpiece, and the posture data is the included angle data of 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.

[0020] As an embodiment of the present application, the blowout preventer automatic inspection and maintenance control system includes 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 the key features by performing feature extraction on the pre-processed data; then combines, counts and groups 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 posture data; the workpiece posture data is the included angle of 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, 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.

[0021] 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 movement driving device, at least one bolt dismounting device, at least one hoisting tool, and at least one blind plate dismounting device. Each hoisting device is arranged based on the track, and the movement driving 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 end of the bolt dismounting device and the hoisting tool is respectively provided with a second quick-change mechanism. The first quick-change mechanism and the second quick-change mechanism can be quickly changed with each other. The blind plate dismounting device is arranged close to the track, and the blind plate dismounting device is used to dismount the blind plate of the blowout preventer.

[0022] As an embodiment of the present application, the first quick-change mechanism comprises a T-shaped hanging table, and the T-shaped hanging table comprises a hanging table body and a T-shaped hanging mechanism arranged on the left and right sides of the hanging table body. The second quick-change mechanism comprises a hanging rack mechanism, and the hanging rack mechanism is a hollow structure. The top of the hanging rack mechanism is provided with a space for the T-shaped hanging table to enter, so that part of the T-shaped hanging table 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 mechanism, so that the T-shaped hanging table is hung on the hanging rack mechanism, and quick change is realized.

[0023] As an embodiment of the present application, the bolt dismounting device comprises a bolt automatic dismounting mechanism and a rotation driving mechanism. The rotation driving mechanism is connected to the bolt automatic dismounting mechanism and can drive the bolt automatic dismounting mechanism to rotate.

[0024] As an embodiment of the present application, the blind plate dismounting device comprises a lifting mechanism, a blind plate driving mechanism, and a side door fixing mechanism. The blind plate 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 blind door fixing frame, and the blind plate driving mechanism can dismount the blind plate from the blowout preventer or assemble the blind plate into the blowout preventer.

[0025] 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 blind plate. The blind plate 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 blind plate 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 blind plate can be driven to slide along the sliding groove.

[0026] As an embodiment of the present application, the movement driving device comprises 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 with the ball nut; and the ball screw is arranged along the track.

[0027] 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 can lift the blowout preventer under the cooperation of the lifting device.

[0028] As an embodiment of the present application, 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; and the blowout preventer moving vehicle is provided with a lifting mechanism which can drive the blowout preventer to lift.

[0029] As an embodiment of the present application, the track is arranged based on a truss.

[0030] As an embodiment of the present application, the blowout preventer dismounting device can further comprise a master control device which is connected to the lifting device, the movement driving device, the bolt dismounting device and the gate dismounting device respectively and can send control signals to the lifting device, the movement driving device, the bolt dismounting device and the gate dismounting device.

[0031] 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:

[0032] The workpiece position acquisition module acquires position data of a set 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;

[0033] 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;

[0034] The tool position acquisition module acquires specific position data of the dismounting tool of the blowout preventer dismounting device; the tool position acquisition module acquires the data sensed by the distance sensor arranged on the track accurately;

[0035] The tool posture acquisition module acquires the specific posture data of the disassembly and assembly tool set by the blowout preventer disassembly and assembly device; the tool posture acquisition module acquires the tool posture through the position data sensed by the distance sensor set on the tool and / or the angle data sensed by the angle sensor and / or the control commands of the tool control circuit to the tool;

[0036] The control center controls the blowout preventer assembly / disassembly device, workpiece position adjustment drive module, and workpiece posture adjustment drive module to operate based on the data acquired by the workpiece sensing component, workpiece position acquisition module, workpiece posture recognition module, tool position acquisition module, and tool posture acquisition module.

[0037] The workpiece position adjustment drive module supports the workpiece and adjusts its placement until it meets the set requirements.

[0038] The workpiece posture adjustment module generates adjustment commands for the workpiece based on the set workpiece posture and the preset workpiece posture. The adjustment commands include three-dimensional position movement commands and three-dimensional angle rotation commands.

[0039] The workpiece posture adjustment drive 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 requirements.

[0040] In one embodiment of the present invention, the workpiece posture recognition module compares the image data acquired by the camera mechanism with images in a set posture image database to analyze and determine 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 preprocesses the image data acquired by the camera mechanism to extract 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. The posture data corresponding to the workpiece image with the highest similarity in the posture image database obtained by comparison is taken as the posture data of the workpiece.

[0041] As one embodiment of the present invention, the disassembly and assembly control method includes a workpiece posture mathematical model construction step: constructing a workpiece posture mathematical model; the workpiece posture mathematical model construction step includes: 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 three-dimensional 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 three-dimensional coordinate system; constructing a workpiece posture mathematical model based on the formed key feature combination.

[0042] The workpiece posture recognition module is used to pre-process the image data acquired by the camera mechanism, 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.

[0043] According to another aspect of the present application, a technical solution is adopted as follows: 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.

[0044] According to another aspect of the present application, a technical solution is adopted as follows: a storage medium, having computer program instructions stored thereon, wherein the computer program instructions are executed by a processor to implement the steps of the above method.

[0045] The present application has the advantages that the blowout preventer automatic inspection and maintenance control system, method, electronic device and storage medium provided by the present application can automatically disassemble and assemble the blowout preventer, improve work efficiency, and effectively reduce the labor workload and work intensity. BRIEF DESCRIPTION OF DRAWINGS

[0046] 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.

[0047] Figure 2 It is a flowchart of the blowout preventer disassembly and assembly control method in an embodiment of the present application.

[0048] Figure 3 It is a structural schematic diagram of the blowout preventer disassembly and assembly device in an embodiment of the present application.

[0049] Figure 4 It is a structural schematic diagram of the blowout preventer disassembly and assembly device in an embodiment of the present application.

[0050] Figure 5 It is a structural schematic diagram of the blowout preventer disassembly and assembly device in an embodiment of the present application.

[0051] Figure 6 It is a structural schematic diagram of the cooperation of the first quick-change mechanism and the second quick-change mechanism in an embodiment of the present application.

[0052] Figure 7 It is a structural schematic diagram of the first quick-change mechanism in an embodiment of the present application.

[0053] Figure 8 It is a structural schematic diagram of the second quick-change mechanism and the hoisting tool in an embodiment of the present application.

[0054] Figure 9It is a structure schematic view of the gate plate dismounting device in an embodiment of the present application.

[0055] Figure 10 It is a structure schematic view of the gate plate dismounting device in an embodiment of the present application.

[0056] Figure 11 It is a structure schematic view of the gate plate in an embodiment of the present application.

[0057] Figure 12 It is a structure schematic view of the bolt dismounting device in an embodiment of the present application.

[0058] Figure 13 It is a component schematic view of the electronic device in an embodiment of the present application.

[0059] Figure 14 It is a use scenario schematic view of the blowout preventer automatic inspection and maintenance control system in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The preferred embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0061] In order to further understand the present application, the preferred embodiments of the present application are described below in conjunction with the embodiments, but it should be understood that these descriptions are only for further illustrating the features and advantages of the present application, and are not limitations to the claims of the present application.

[0062] The description of this part is only for several typical embodiments, and the present application is not limited to the range described in the embodiments. The same or similar prior art means and some technical features in the embodiments are replaced with each other, which is within the description and protection range of the present application.

[0063] The "connection" in the specification includes both direct connection and indirect connection.

[0064] The present application discloses a blowout preventer automatic inspection and maintenance control system, Figure 1 It is a component schematic view of the blowout preventer automatic inspection and maintenance control system in an embodiment of the present application; please refer to Figure 1 The blowout preventer automatic inspection and maintenance control system 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.

[0065] 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, respectively.

[0066] The workpiece sensing assembly 101 includes a plurality of distance sensing units and at least one camera 1011. The distance sensing units are used to sense the preliminary position data of the workpiece, and the camera 1011 is used to acquire image data of a set region.

[0067] The workpiece position acquisition module 102 is used to acquire the position data of the workpiece. The workpiece position acquisition module 102 acquires the preliminary position of the workpiece through the preliminary position data of the workpiece sensed by the distance sensing units. The workpiece position acquisition module 102 compares the image data acquired by the camera with the images in the set image database, and analyzes to obtain the accurate position of the center of the workpiece. The workpiece position acquisition module 102 can include a plurality of distance sensors, and the preliminary position of the workpiece is acquired through the distance information sensed by the distance sensors.

[0068] The workpiece position adjustment driving module 103 is used to support the workpiece and adjust the placement position of the workpiece until the placement position of the workpiece meets the set requirements. The workpiece posture recognition module 104 is used to recognize the posture data of the workpiece. The workpiece posture recognition module analyzes the posture data of the workpiece according to the image data acquired by the camera.

[0069] The workpiece posture adjustment module 105 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. The adjustment command includes a three-dimensional position movement command and a three-dimensional angle rotation command. The workpiece posture adjustment driving module 106 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 requirements.

[0070] The tool position acquisition module 107 is used to acquire the specific position data of the dismounting tool of the blowout preventer dismounting device. The tool position acquisition module acquires the data accurately through the distance sensors arranged on the track. The tool posture acquisition module 108 is used to acquire the specific posture data of the dismounting tool of the blowout preventer dismounting device. The tool posture acquisition module acquires the posture of the tool through the position data sensed by the distance sensors arranged on the tool, or / and the angle data sensed by the angle sensors, or / and the control command of the tool control circuit.

[0071] The control center 200 controls the blowout preventer dismounting device 100, the workpiece position adjusting drive module 103 and the workpiece attitude adjusting drive module 106 according to the data obtained by the workpiece sensing assembly 101, the workpiece position acquisition module 102, the workpiece attitude recognition module 104, the tool position acquisition module 107 and the tool attitude acquisition module 108.

[0072] In an embodiment of the present application, the workpiece attitude recognition module 104 compares the image data obtained by the camera mechanism with the image in the set attitude image database, analyzes the attitude of the workpiece, and the attitude 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.

[0073] The data stored in the attitude image database includes workpiece images, three-dimensional position data and attitude data; the workpiece attitude 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 attitude image database with the extracted workpiece region image, and takes the attitude data corresponding to the workpiece image with the highest similarity in the attitude image database as the attitude data of the workpiece.

[0074] 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 attitudes are stored in the attitude image database, and the three-dimensional position data (three-dimensional coordinates) and the attitude data (included angle between center axis and set straight line) of the corresponding workpieces are recorded; the position and attitude of the blowout preventer are recognized through image comparison.

[0075] Figure 14 The figure is a use scene diagram of the blowout preventer automatic maintenance control system in an embodiment of the present application; please refer to Figure 14In one use scenario of the present application, the camera mechanism 1011 can be arranged at the center of the setting dismounting tool 110; the dismounting tool is arranged on the working station in advance, and then the workpiece (blowout preventer) is arranged below the working station. Then the image of the blowout preventer is captured by the camera mechanism 1011. Since the size of the blowout preventer is determined, its height is set; generally, it is placed without inclination (if it is placed with inclination, the attitude can be adjusted by the attitude rotating mechanism). Therefore, generally, only the horizontal position and angle need to be adjusted. The workpiece attitude recognition module 104 can compare the image captured by the camera mechanism 1011 with the setting image stored in the attitude image database, so as to calculate the position and 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 attitude adjusting module 105 and the workpiece attitude adjusting driving module 106 are used to adjust and drive the attitude of the workpiece, so that the workpiece is finally located directly below the setting dismounting tool 110, and the attitude is at the set attitude, which is convenient for the operation of the dismounting tool 110. If it is necessary to adjust the three-dimensional attitude of the blowout preventer, the blowout preventer can be arranged on a supporting plane; by adjusting the inclination angle of the supporting plane in the setting direction, the three-dimensional attitude of the blowout preventer is adjusted.

[0076] In one embodiment, an identifier (which can be two vertical line segments) can be arranged on the top of the blowout preventer, the position of the identifier in the picture is obtained by image recognition and feature extraction; then the image of the blowout preventer in the standard position is compared, 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 identifier in the corresponding image. For example, the distance data of the blowout preventer to be moved can be obtained according to the coordinate difference of the identifier in the two images, and the real-time judgment and adjustment can be performed according to the identifier position adjusted in real time until the position, height and angle (attitude) are adjusted; at the same time, the movement distance data obtained can be further refined in continuous machine learning.

[0077] In one embodiment of the present application, the blowout preventer automatic maintenance control system comprises a workpiece attitude mathematical model construction module 109, which is used to construct a workpiece attitude mathematical model.

[0078] The workpiece posture mathematical model construction module pre-processes data in the training data set, extracts features from the pre-processed data, extracts key features, then combines, counts, and groups the extracted key features, normalizes and standardizes the key features, forms 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 pre-process image data acquired by the camera mechanism, extract workpiece region images, and input the extracted workpiece region images and workpiece three-dimensional position data into the workpiece posture mathematical model, and acquire workpiece posture data by using the workpiece posture mathematical model.

[0079] 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 dismounting device 6.

[0080] Each hoisting device 2 is arranged based on the track 1, the moving driving device 3 is connected to the corresponding hoisting device 2 and can drive the hoisting device 2 to move along the track. The track 1 can be arranged based on a truss 11. Each bolt dismounting device 4 is detachably arranged on the corresponding hoisting device 2 and can move with the hoisting device 2, and the bolt dismounting device 4 is used to dismount the bolt of the blowout preventer 9. One end of the hoisting device 2 is provided with a first quick-change mechanism 7, and the end of the bolt dismounting device 4 and the hoisting 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 replaced by cooperating with each other.

[0081] 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 comprise a master control device, and the master control device is connected to the hoisting device 2, the moving driving device 3, the bolt dismounting device 4, and the gate dismounting device 6, respectively, and can send control signals to the hoisting device 2, the moving driving device 3, the bolt dismounting device 4, and the gate dismounting device 6.

[0082] In an embodiment of the present application, the hoisting device 2 comprises 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.

[0083] The moving driving device 3 can drive the lifting device 2 to act by the way of driving motor and ball screw. In an embodiment, the moving driving device 3 comprises a moving driving mechanism, a ball screw and a ball nut; the moving driving mechanism is connected with 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.

[0084] Figure 12 It is a structural schematic diagram 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 comprises a bolt automatic dismounting mechanism and a rotating driving mechanism; the rotating driving mechanism is connected with the bolt automatic dismounting mechanism and can drive the bolt automatic dismounting mechanism to rotate.

[0085] 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 carry out dismounting work. The rotating driving mechanism comprises a steering driving motor 41 and a rotating displacement mechanism 42; the steering driving motor 41 is connected with the first end surface of the rotating displacement mechanism 42; the second end surface of the rotating displacement mechanism 42 is connected with the dismounting wrench 43; the steering driving motor 41 drives the rotating displacement mechanism 42 to rotate and can drive the pointing angle of the dismounting wrench 43. The first end surface and the second end surface form a set angle (such as 45°) between them. For example, the steering driving motor 41 can control the dismounting wrench 43 to be in horizontal posture or vertical posture, thereby facilitating the dismounting of horizontal bolts and vertical bolts.

[0086] 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.

[0087] Figure 9 、 Figure 10 It is a structural schematic diagram of the gate dismounting device in an embodiment of the present application; please refer to Figure 9 、 Figure 10In 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, wherein 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 Figure 11 .

[0088] The lifting mechanism 61 is provided with a support platform 64 and a lifting driving mechanism 65, wherein the lifting driving mechanism 65 is connected to the support platform 64 and can drive the support platform 64 to lift, and the support platform 64 is provided with a sliding groove 66 corresponding to the placement position of the gate 10.

[0089] The gate driving mechanism 62 comprises a push-pull oil cylinder 67 and a push-pull rod 68, wherein 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, and the push-pull oil cylinder 67 and the push-pull rod 68 are arranged in the sliding groove 66, so as to drive the gate 10 to slide along the sliding groove 66.

[0090] The blowout preventer dismounting device further comprises a blowout preventer moving vehicle 69, which can support the blowout preventer and move the blowout preventer to a set position, and the blowout preventer moving vehicle is provided with a lifting mechanism to drive the blowout preventer to lift. In addition, the gate dismounting device 6 can further comprise a control console 60 to control the working of the push-pull oil cylinder 67, the lifting driving mechanism 65 and other components.

[0091] As shown in Figure 9 , Figure 10 , the gate 10 is arranged based on a gate fixing plate 17, and in working, the gate 10 is connected to an oil cylinder 18, and the oil cylinder 18 can drive the gate to work.

[0092] Figure 6 is a structural schematic view of the cooperation of the first quick-change mechanism and the second quick-change mechanism in an embodiment of the present application, Figure 7 is a structural schematic view of the first quick-change mechanism in an embodiment of the present application, Figure 8 is a structural schematic view of the second quick-change mechanism and the hoisting tooling in an embodiment of the present application; please refer to Figures 6 to 8In an embodiment of the present application, the first quick-change mechanism 7 comprises a T-shaped hanging platform 71, which comprises a hanging platform body 72 and T-shaped hanging and lifting mechanisms 73 on the left and right sides of the hanging platform body 72 respectively. The second quick-change mechanism 8 comprises a hanging rack mechanism 81, which is a hollow structure, and the top of the hanging rack mechanism 81 is provided with a space for the T-shaped hanging platform 71 to enter, so that part of the T-shaped hanging platform 71 can enter the hollow structure. The two sides of the top of the hanging rack mechanism 81 are respectively provided with hanging ears 82, which can buckle the T-shaped hanging and lifting mechanisms 73, so that the T-shaped hanging platform 71 is hung on the hanging rack mechanism 81, achieving quick change. The hanging rack mechanism 81 can be used to connect the lifting tool 5, the suction cup hanging rack 16, the blowout preventer 9 or other components.

[0093] The present application further discloses a disassembly control method of the automatic inspection and maintenance control system of the blowout preventer, Figure 2 The flow chart of the disassembly control method of the blowout preventer in an embodiment of the present application is shown in Figure 2. Figure 2 The disassembly control method comprises the following steps:

[0094]

Step S1

[0095]

Step S2

[0096]

Step S3

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[0102] 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 formed by the center axis of the workpiece in the three-dimensional coordinate system and the set straight line. The posture image database stores data including workpiece images, three-dimensional position data and posture data. The workpiece posture recognition module compares the posture image corresponding to the set three-dimensional position 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.

[0103] In 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 recognition module inputs the workpiece image and the three-dimensional position data into the workpiece posture mathematical model, and obtains the workpiece posture data by using the workpiece posture mathematical model.

[0104] 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 to encode the key features, standardizing and normalizing the key features to form a key feature combination; the key feature combination comprises a workpiece image, 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 in the three-dimensional coordinate system and the set straight line; and constructing a workpiece posture mathematical model according to the formed key feature combination.

[0105] The present application also discloses an electronic device, Figure 13 which is a component schematic diagram of the electronic device in an embodiment of the present application; please refer to Figure 13In the hardware level, the electronic device comprises a memory, a processor and at least one communication interface; the processor can be a microprocessor, and the memory can comprise a memory, such as a random access memory (RAM), and can also comprise a non-volatile memory and the like. Of course, the electronic device can also be provided with other hardware as required.

[0106] The processor, the communication interface and the memory can be connected with each other through an internal bus. The memory is used for storing programs (which can comprise an operating system program and an application program); the programs can comprise program codes, and the program codes can comprise computer operation instructions. The memory can comprise a memory and a non-volatile memory, and provides instructions and data for the processor.

[0107] In an embodiment, the processor can read the corresponding programs from the non-volatile memory into the memory, and then run; the processor can execute the programs stored in the memory, and is specifically used for executing the following operations (such as shown in the following steps S1-S5): Figure 2

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[0116] 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 .

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[0125] To sum up, the blowout preventer automatic inspection and maintenance control system and method, the electronic equipment and the storage medium can automatically disassemble and assemble the blowout preventer, improve the work efficiency, and effectively reduce the artificial workload and work intensity.

[0126] 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.

[0127] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but it should be considered that any combination of the technical features is within the scope of the present disclosure as long as the combination does not result in contradictions.

[0128] The description and application of the present application are illustrative, and are not intended to limit the scope of the present application to the above-described embodiments. The effects or advantages involved in the embodiments can be disturbed by various factors and can not be embodied in the embodiments. The description of the effects or advantages is not used to limit the embodiments. Variations and changes of the disclosed embodiments are possible, and various components of the embodiments are known to those skilled in the art. It should be clear to those skilled in the art that the present application can be realized in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential characteristics of the present application. Other variations and changes of the disclosed embodiments can be made without departing from the scope and spirit of the present 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 table, which comprises a hanging table body and a T-shaped hanging and lifting mechanism arranged on the left and right sides of the hanging table 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 table to enter, so that part of the T-shaped hanging table 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 and lifting mechanism, so that the T-shaped hanging table 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; 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; 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 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; The lifting mechanism is provided with a support platform and a lifting mechanism; 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.

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