Modular communication control system and control method for logging downhole tractor

Abstract

This invention discloses a modular communication control system for a well logging downhole traction device, including a well logging traction device surface equipment connected to the surface equipment, and a well logging downhole traction device connected to the downhole traction device. The downhole traction device includes a tension magnetic positioning unit connected to an electronic circuit unit, which in turn is connected to a first brushless DC motor and driver unit, a second brushless DC motor and driver unit, a third brushless DC motor and driver unit, a fourth brushless DC motor and driver unit, and a fifth brushless DC motor and driver unit. The electronic circuit unit is connected to both the well logging traction device surface equipment and the well logging downhole instruments. This invention also discloses a modular communication control method for the well logging downhole traction device. The modular communication control system and method of this invention solve the problem of the inability to achieve modular communication and modular combination between the components of the well logging downhole traction device.

Description

Technical Field

[0001] This invention belongs to the technical field of dynamic testing equipment for petroleum industry equipment, specifically relating to a modular communication control system for well logging downhole traction devices, and also to a modular communication control method for well logging downhole traction devices. Background Technology

[0002] The oilfield logging downhole traction device (or logging crawler, or simply crawler) is suitable for use in highly deviated and horizontal sections of oilfield casing wells. It pushes the logging instruments to the target location to facilitate logging operations. Currently, crawler systems used domestically and internationally consist of a surface control system and a downhole system. The surface control system and the downhole system are connected via the logging winch's collector ring and the vehicle-mounted logging cable. The surface control system provides voltage and current to the downhole system and motor. The motor drives the crawler wheels and provides hydraulic power to open the push arm, maneuvering the downhole system to propel the logging instruments forward within the casing. The surface control system comprises a laptop computer, a crawler control panel, a power supply for the downhole instruments, and the logging winch, all connected by cables. The downhole system consists of the crawler control circuit, communication circuit, power circuit, motor, hydraulic machinery and power crawling mechanism, mechanical structure, and housing.

[0003] Crawler logging involves connecting a crawler to the top of the logging instrument via a wrench head. In highly deviated and horizontal sections of oilfield casing wells, when the logging instrument, suspended freely by the logging cable, cannot descend automatically under its own weight and cannot reach the deepest section required for logging, the surface equipment activates the crawler to take over the logging cable. It uses a crawling motion to provide power, propelling the logging instrument over resistance to the target section. Afterward, the crawler stops working, returning the logging cable to the logging instrument. The logging winch then pulls the logging instrument from the bottom of the well towards the wellhead, initiating the logging process. The logging instrument completes its upward data acquisition task.

[0004] During well logging operations using a downhole traction device, the downhole traction device and the downhole logging instruments cannot use the logging cable simultaneously. While the downhole traction device is pushing the downhole logging instruments, the surface equipment of the well logging traction device supplies power to the downhole traction device, controls the downhole traction device, collects status data from the instruments, and uploads the data to the surface equipment of the well logging traction device using a certain communication method.

[0005] Chinese Patent Publication No. CN206158724U discloses a downhole crawler supporting multi-core logging cables, comprising a rotary tension section, a circuit section, a crawling section, and two multi-core centralizers. The rotary tension section is sequentially connected to the circuit section, the multi-core centralizers, the crawling section, and the multi-core centralizers. The rotary tension section consists of a multi-core rotary connector, a tension sensor, a central shaft, a CCL sensor, and a processing circuit. The circuit section consists of a power circuit and a crawler control circuit. The crawling section consists of a power motor, a push motor, an electric clutch, and a displacement sensor. The multi-core rotary connector is a rotating structure, with sockets and a tension sensor connected to both ends. The tension sensor is fixed to one end of the central shaft. The other end of the central shaft is fixed to a pressure-bearing connector, which houses a multi-core pressure-bearing block, a CCL sensor, and a processing circuit, and is connected to the circuit section via a lower plug. However, this well logging crawler only involves the structure of the downhole instrument, excluding the surface instrument, the instrument system principle and operation method, and the communication and control system of the downhole instrument. Summary of the Invention

[0006] The purpose of this invention is to provide a modular communication control system for well logging downhole traction devices, which solves the problem of the inability to achieve modular communication and modular combination between the components of well logging downhole traction devices.

[0007] Another objective of this invention is to provide a modular communication control method for well logging downhole traction devices.

[0008] The technical solution adopted in this invention is a modular communication control system for a well logging downhole traction device, including a well logging traction device surface equipment, which is connected to a downhole traction device, and the downhole traction device is connected to well logging downhole instruments. The circuit of the downhole traction device includes a tension magnetic positioning unit, which includes a sixth digital signal board. The sixth digital signal board is connected to an electronic circuit unit, which is connected to a first brushless DC motor and driver unit, a second brushless DC motor and driver unit, a third brushless DC motor and driver unit, a fourth brushless DC motor and driver unit, and a fifth brushless DC motor and driver unit. The electronic circuit unit is connected to the surface equipment of the logging traction device and the downhole logging instruments.

[0009] The invention is further characterized by: The electronic circuit unit includes a circuit switching unit, which is connected to the surface equipment of the logging traction device and the downhole logging instruments. The circuit switching unit is also connected to a modulation and demodulation unit and several power supply units. Each of the power supply units is connected to a main control unit, a sixth digital signal board, a first brushless DC motor and driver unit, a second brushless DC motor and driver unit, a third brushless DC motor and driver unit, a fourth brushless DC motor and driver unit, and a fifth brushless DC motor and driver unit. The main control unit is connected to the sixth digital signal board, the modulation and demodulation unit, the first brushless DC motor and driver unit, the second brushless DC motor and driver unit, the third brushless DC motor and driver unit, the fourth brushless DC motor and driver unit, and the fifth brushless DC motor and driver unit, respectively.

[0010] The first brushless DC motor and driver unit includes a first brushless DC motor, the first brushless DC motor is connected to a first driver board, and the first driver board is connected to a first digital signal board. The second brushless DC motor and driver unit includes a second brushless DC motor, the second brushless DC motor is connected to a second driver board, and the second driver board is connected to a second digital signal board. The third brushless DC motor and driver unit includes a third brushless DC motor, the third brushless DC motor is connected to a third driver board, and the third driver board is connected to a third digital signal board. The fourth brushless DC motor and driver unit includes a fourth brushless DC motor, the fourth brushless DC motor is connected to a fourth driver board, and the fourth driver board is connected to a fourth digital signal board. The fifth brushless DC motor and driver unit includes a fifth brushless DC motor, the fifth brushless DC motor is connected to a fifth driver board, and the fifth driver board is connected to a fifth digital signal board. The first, second, third, fourth, and fifth digital signal boards are all connected to the main control unit.

[0011] The main control unit, the sixth digital signal board, the first digital signal board, the second digital signal board, the third digital signal board, the fourth digital signal board, and the fifth digital signal board all use a microcontroller as the control core. Each microcontroller integrates a CAN controller. The CAN controller is connected to the CAN transceiver via TXCAN and RXCAN. Each CAN transceiver is connected in parallel on the CAN bus.

[0012] The main control unit, the sixth digital signal board, the first digital signal board, the second digital signal board, the third digital signal board, the fourth digital signal board and the fifth digital signal board all communicate with each other via CAN bus, using the CANopen2.0A communication protocol for communication and data transmission.

[0013] Another technical solution adopted in this invention is a modular communication control method for a well logging downhole traction device, which is implemented according to the following steps: S1: The downhole traction device receives power from the surface equipment of the logging traction device; S2: The modulation and demodulation unit receives and processes the frequency modulation communication signal sent from the ground equipment of the logging traction device, converts it into a digital quantity, and sends it to the main control unit. S3: The main control unit distributes digital information on the CAN bus. The first brushless DC motor and driver unit, the second brushless DC motor and driver unit, the third brushless DC motor and driver unit, the fourth brushless DC motor and driver unit, and the fifth brushless DC motor and driver unit receive and filter the information sent to them according to the ID number sent by the CAN communication information, and convert it into corresponding control signals to control the working state of the brushless DC motor in their respective units. S4: The first brushless DC motor and driver unit, the second brushless DC motor and driver unit, the third brushless DC motor and driver unit, the fourth brushless DC motor and driver unit, and the fifth brushless DC motor and driver unit receive control signals and drive the downhole traction device to crawl inside the casing.

[0014] The feature of another technical solution for driving the downhole traction device in this invention is: The microcontroller of the tension magnetic positioning unit digitizes the magnetic positioning and tension analog signals, as well as the status information data of the tension magnetic positioning unit, and sends it to the main control unit on the CAN communication bus. The main control unit then transmits it to the modulation and demodulation unit, which modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device surface equipment. The first, second, third, fourth, and fifth brushless DC motor and driver units collect their respective unit status data and publish the status data to the CAN communication bus according to the CAN communication protocol. The main control unit receives the status data from each brushless DC motor and driver unit, converts it into a digital quantity, and transmits it to the modulation and demodulation unit. The modulation and demodulation unit modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device surface equipment.

[0015] The specific steps of S1 are as follows: the ground equipment of the logging traction device supplies power to the downhole traction device, the circuit switching unit is energized, and after the voltage stabilizes, the relay on the circuit switching unit is activated, switching the right to use the logging cable to the logging downhole traction device. The logging downhole instrument is disconnected from the logging cable, each power supply unit is started, the electronic circuit unit is energized, and each component unit of the downhole traction device is energized. The specific steps of S4 are as follows: The first, second, third, fourth, and fifth drive boards respectively receive control signals transmitted from the first, second, third, fourth, and fifth digital signal boards, thereby controlling the rotation, stopping, and speed change of the first, second, third, fourth, and fifth brushless DC motors. The first brushless DC motor drives the hydraulic pump to output hydraulic power or drive the mechanical linkage device to push the crawling wheel at the top of the push arm against the inner wall of the casing, supporting the downhole traction device inside the casing. The second, third, fourth, and fifth brushless DC motors drive the crawling wheel to rotate through the transmission device, driving the downhole traction device to crawl in the casing.

[0016] In CAN communication mode, the tension magnetic positioning unit (21), the first brushless DC motor and driver unit, the second brushless DC motor and driver unit, the third brushless DC motor and driver unit, the fourth brushless DC motor and driver unit, and the fifth brushless DC motor and driver unit are identified by the main control unit according to the CANID number of the sixth digital signal board, the first digital signal board, the second digital signal board, the third digital signal board, the fourth digital signal board, and the fifth digital signal board, respectively.

[0017] The beneficial effects of this invention are: This invention relates to a modular communication control system for a well logging traction device. As the downhole instrument component of the well logging traction device control system, it performs the function of transporting downhole logging instruments within the casing of highly deviated or horizontal wells under the control of the well logging traction device's surface equipment. Through a circuit switching unit, several power supply units, a modulation / demodulation unit, a main control unit, a tension magnetic positioning unit, and five brushless DC motor and driver units, it receives control commands from the well logging traction device's surface equipment, distributes information and control commands on the CAN communication bus, collects downhole traction device status information, and uploads the collected status information to the well logging traction device's surface equipment. The communication link serves as the core, and the components work together to form a functional whole, controlling the downhole traction device and realizing the crawling operation function.

[0018] This invention discloses a modular communication control system for a well logging downhole traction device. The system is housed within the well logging downhole traction device housing. The circuitry is connected to the well logging traction device's surface equipment via a well logging cable and a well logging winch slip ring. It continuously receives control commands from the surface equipment, executes these commands, starts a brushless DC motor to drive a hydraulic pump, supplies high-pressure hydraulic oil to the hydraulic system, and controls a series of operational actions of the crawler, including boom extension, crawling, stopping crawling, and boom retraction. Simultaneously, it continuously sends the downhole traction device's status information to the well logging traction device's surface equipment. Attached Figure Description

[0019] Figure 1 This is a structural block diagram of the modular communication control system for the well logging downhole traction device of the present invention; Figure 2 This is a schematic diagram of the downhole traction device of the present invention; Figure 3 This is a modular communication structure diagram of the present invention; Figure 4 This is the flowchart of the main control unit program NS of this invention; Figure 5 This is the NS flowchart of the tension magnetic positioning unit program of the present invention; Figure 6 This is the NS flowchart of the brushless DC motor and driver unit program of the present invention.

[0020] In the diagram: 1. Surface equipment for logging traction device; 2. Downhole traction device; 210. Tension magnetic positioning sub; 21. Tension magnetic positioning unit; 211. Sixth digital signal board; 220. Electronic circuit sub; 22. Electronic circuit unit; 221. Circuit switching unit; 222. Modulation and demodulation unit; 223. Power supply unit; 224. Main control unit; 230. Hydraulic power sub; 23. First brushless DC motor and driver unit; 231. First brushless DC motor; 232. Driver board; 233. First digital signal board; 240. First crawling power sub; 24. Second brushless DC motor and driver unit; 241. Second brushless DC motor; 2 42. Second drive board; 243. Second digital signal board; 250. Second crawling power sub; 25. Third brushless DC motor and driver unit; 251. Third brushless DC motor; 252. Third drive board; 253. Third digital signal board; 260. Third crawling power sub; 26. Fourth brushless DC motor and driver unit; 261. Fourth brushless DC motor; 262. Fourth drive board; 263. Fourth digital signal board; 270. Fourth crawling power sub; 27. Fifth brushless DC motor and driver unit; 271. Fifth brushless DC motor; 272. Fifth drive board; 273. Fifth digital signal board; 3. Well logging downhole instruments. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0022] This invention provides a modular communication control system for a well logging downhole traction device, such as... Figure 1 As shown, the system includes a well logging traction device surface equipment 1, which is connected to a downhole traction device 2. The downhole traction device 2 is connected to a well logging downhole instrument 3. The downhole traction device 2 includes a tension magnetic positioning unit 21, which is located inside a tension magnetic positioning sub 210. It includes an analog signal processing board and a sixth digital signal board 211. The analog signal processing board receives and processes the signals from the magnetic positioning signal sensor and the tension sensor, and then transmits them to the ADC of the sixth digital signal board 211 for A / D signal processing. The sixth digital signal board 211 contains a microcontroller, an ADC, and a CAN transceiver circuit. The microcontroller integrates a CAN controller. The sixth digital signal board 211 communicates with the main control unit 224 via the CAN bus, transmitting the digitized information of the magnetic positioning and tension signals to the main control unit 224. The magnetic positioning signal is used on the well logging traction device surface equipment 1 to display and identify the crawling status of the downhole traction device 2 during crawling and the signal of passing through the casing joint clamp.

[0023] The tension magnetic positioning unit 21 includes a sixth digital signal board 211, which is connected to an electronic circuit unit 22. The electronic circuit unit 22 is located inside the electronic circuit subsection 220. The electronic circuit unit 22 is connected to a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The electronic circuit unit 22 is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3.

[0024] The electronic circuit unit 22 includes a circuit switching unit 221, which is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3. The circuit switching unit 221 is also connected to a modulation and demodulation unit 222 and several power supply units 223. Each of the power supply units 223 is connected to a main control unit 224, a sixth digital signal board 211, a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The main control unit 224 is connected to the sixth digital signal board 211, the modulation and demodulation unit 222, the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27, respectively.

[0025] The first brushless DC motor and driver unit 23 includes a first brushless DC motor 231, the first brushless DC motor 231 is connected to a first driver board 232, and the first driver board 232 is connected to a first digital signal board 233. The second brushless DC motor and driver unit 24 includes a second brushless DC motor 241, the second brushless DC motor 241 is connected to a second driver board 242, and the second driver board 242 is connected to a second digital signal board 243. The third brushless DC motor and driver unit 25 includes a third brushless DC motor 251, the third brushless DC motor 251 is connected to a third driver board 252, and the third driver board 252 is connected to a third digital signal board 253. The fourth brushless DC motor and driver unit 26 includes a fourth brushless DC motor 261, the fourth brushless DC motor 261 is connected to a fourth driver board 262, and the fourth driver board 262 is connected to a fourth digital signal board 263. The fifth brushless DC motor and driver unit 27 includes a fifth brushless DC motor 271, the fifth brushless DC motor 271 is connected to a fifth driver board 272, and the fifth driver board 272 is connected to a fifth digital signal board 273. The first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263, and the fifth digital signal board 273 are all connected to the main control unit 224.

[0026] like Figure 2 As shown, the second brushless DC motor and driver unit 24 is located inside the first crawling power section 240, the third brushless DC motor and driver unit 25 is located inside the second crawling power section 250, the fourth brushless DC motor and driver unit 26 is located inside the third crawling power section 260, and the fifth brushless DC motor and driver unit 27 is located inside the fourth crawling power section 270. After the push arm is pushed open, they are distributed in space in two mutually perpendicular directions, X and Y, and provide support for the downhole traction device 2 in the casing in both directions. After the push arms of the first crawling power section 240 and the third crawling power section 260 are pushed open, they are distributed in space in the X direction. After the push arms of the second crawling power section 250 and the fourth crawling power section 270 are pushed open, they are distributed in space in the Y direction. The first crawling power section 240 is equipped with a hydraulic balance cylinder to balance the pressure between the internal hydraulic oil pool and the liquid in the external environment of the instrument. The second brushless DC motor 241, the third brushless DC motor 251, the fourth brushless DC motor 261 and the fifth brushless DC motor 271 drive the transmission device and the crawling wheel, so that the crawling wheel generates crawling motion in the casing, thereby pushing the logging downhole instrument 3 to crawl. The first brushless DC motor and driver unit 23 is located inside the hydraulic power section 230. The first brushless DC motor 231 drives the hydraulic pump P to rotate, generating high pressure liquid. The liquid flows through the hydraulic pipeline, which is connected in series to the hydraulic pipeline of the first crawling power section 240, then in series to the hydraulic pipeline of the second crawling power section 250, then in series to the hydraulic pipeline of the third crawling power section 260, and finally in series to the hydraulic pipeline of the fourth crawling power section 270. The high pressure liquid flows into the hydraulic linkage device and the push arm, pushing the push arm to open.

[0027] The tension magnetic positioning subsection 210, electronic circuit subsection 220, hydraulic power subsection 230, first crawling power subsection 240, second crawling power subsection 250, third crawling power subsection 260 and fourth crawling power subsection 270 are all connected by mechanical threads and electrical plugs, and rubber sealing rings are used to seal the threaded connections, thereby preventing external liquid environment from seeping into the interior of the downhole traction device 2.

[0028] like Figure 3 As shown, the main control unit 224, the sixth digital signal board 211, the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263 and the fifth digital signal board 273 all use microcontrollers as controllers. Each microcontroller integrates a CAN controller. The CAN controller is connected to the CAN transceiver via TXCAN and RXCAN. Each CAN transceiver is connected in parallel on the CAN bus.

[0029] The main control unit 224, the sixth digital signal board 211, the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263 and the fifth digital signal board 273 all communicate with each other via CAN bus and use the CANopen2.0A communication protocol to communicate and transmit data.

[0030] The number of crawling power sections can be disassembled, added, or reduced according to the specific needs of the crawling operation. Using CAN communication, the brushless DC motor and driver unit inside each crawling power section can be identified by the control system based on its own digital signal board's CANID number. This enables modular assembly of the traction device downhole instrument section and modularization and combination of the communication unit.

[0031] The modular communication control method for well logging downhole traction devices is implemented according to the following steps: S1: The downhole traction device 2 receives power from the logging traction device surface equipment 1; S2: Modulation and demodulation unit 222 receives, processes and demodulates the frequency modulation communication signal sent by well logging traction device ground equipment 1, converts it into a digital quantity and sends it to main control unit 224; S3: The main control unit 224 converts digital information into control signals. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 receive the information sent to themselves according to the ID number sent by the CAN communication information and convert it into corresponding control signals. S4: The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26 and the fifth brushless DC motor and driver unit 27 receive control signals and drive the downhole traction device 2 to crawl inside the casing.

[0032] The tension magnetic positioning unit 21 sends the information of magnetic positioning and tension signal digitization, as well as the status information data of the tension magnetic positioning unit 21, to the main control unit 224 on the CAN communication bus. The main control unit 224 converts it into digital quantity and transmits it to the modulation and demodulation unit 222. The modulation and demodulation unit 222 modulates it into frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device ground equipment 1. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 collect their respective unit status data information and publish the status data information to the CAN communication bus according to the CAN communication protocol. The main control unit 224 receives the status data information of each brushless DC motor and driver unit, converts it into digital quantity, and transmits it to the modulation and demodulation unit 222. The modulation and demodulation unit 222 modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device surface equipment 1.

[0033] The specific steps of S1 are as follows: the ground equipment 1 of the logging traction device supplies power to the downhole traction device 2, the circuit switching unit 221 is energized, and after the voltage stabilizes, the relay on the circuit switching unit 221 is activated, switching the right to use the logging cable to the downhole logging traction device. The downhole logging instrument is disconnected from the logging cable, the power supply unit 223 is started, the electronic circuit unit 22 is energized, and each component of the downhole traction device 2 is energized. The specific steps of S4 are as follows: The first drive board 232, the second drive board 242, the third drive board 252, the fourth drive board 262, and the fifth drive board 272 respectively receive the control signals transmitted by the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263, and the fifth digital signal board 273, thereby controlling the rotation, stopping, and speed change of the first brushless DC motor 231, the second brushless DC motor 241, the third brushless DC motor 251, the fourth brushless DC motor 261, and the fifth brushless DC motor 271. The first brushless DC motor 231 drives the hydraulic pump to output hydraulic power or drives the mechanical linkage device to push the crawling wheel at the top of the push arm and press it against the inner wall of the casing, supporting the downhole traction device inside the casing. The second brushless DC motor 241, the third brushless DC motor 251, the fourth brushless DC motor 261, and the fifth brushless DC motor 271 drive the crawling wheel to rotate through the transmission device, driving the downhole traction device 2 to crawl in the casing.

[0034] When the downhole traction device 2 transports the logging instrument 3 to the target location, the surface equipment 1 of the logging traction device cuts off the power to the downhole traction device 2. After the circuit switching unit 221 of the downhole traction device 2 loses power, the relay loses power, and the logging cable is connected to the logging instrument 3. The right to use the logging cable is handed over to the logging instrument 3. At the same time, the logging cable is connected to the logging surface equipment at the surface end. Then, under the pull of the logging winch and the logging cable, the logging instrument 3 can move towards the wellhead and start the logging operation.

[0035] Example 1 The modular communication control system for the well logging downhole traction device proposed in this invention, such as... Figure 1 As shown, the device includes a well logging traction device surface equipment 1, which is connected to a downhole traction device 2. The downhole traction device 2 is connected to a well logging downhole instrument 3. The downhole traction device 2 includes a tension magnetic positioning unit 21, which includes a sixth digital signal board 211. The sixth digital signal board 211 is connected to an electronic circuit unit 22. The electronic circuit unit 22 is connected to a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The electronic circuit unit 22 is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3.

[0036] Example 2 The modular communication control system for the well logging downhole traction device proposed in this invention, such as... Figure 1As shown, the device includes a well logging traction device surface equipment 1, which is connected to a downhole traction device 2. The downhole traction device 2 is connected to a well logging downhole instrument 3. The downhole traction device 2 includes a sixth digital signal board 211, which is connected to an electronic circuit unit 22. The electronic circuit unit 22 is connected to a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The electronic circuit unit 22 is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3.

[0037] The electronic circuit unit 22 includes a circuit switching unit 221, which is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3. The circuit switching unit 221 is also connected to a modulation and demodulation unit 222 and several power supply units 223. Each of the power supply units 223 is connected to a main control unit 224, a sixth digital signal board 211, a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The main control unit 224 is connected to the sixth digital signal board 211, the modulation and demodulation unit 222, the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27, respectively.

[0038] The first brushless DC motor and driver unit 23 includes a first brushless DC motor 231, the first brushless DC motor 231 is connected to a first driver board 232, and the first driver board 232 is connected to a first digital signal board 233. The second brushless DC motor and driver unit 24 includes a second brushless DC motor 241, the second brushless DC motor 241 is connected to a second driver board 242, and the second driver board 242 is connected to a second digital signal board 243. The third brushless DC motor and driver unit 25 includes a third brushless DC motor 251, the third brushless DC motor 251 is connected to a third driver board 252, and the third driver board 252 is connected to a third digital signal board 253. The fourth brushless DC motor and driver unit 26 includes a fourth brushless DC motor 261, the fourth brushless DC motor 261 is connected to a fourth driver board 262, and the fourth driver board 262 is connected to a fourth digital signal board 263. The fifth brushless DC motor and driver unit 27 includes a fifth brushless DC motor 271, the fifth brushless DC motor 271 is connected to a fifth driver board 272, and the fifth driver board 272 is connected to a fifth digital signal board 273. The first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263, and the fifth digital signal board 273 are all connected to the main control unit 224.

[0039] Example 3 The modular communication control system for the well logging downhole traction device proposed in this invention, such as... Figure 1 As shown, the device includes a well logging traction device surface equipment 1, which is connected to a downhole traction device 2. The downhole traction device 2 is connected to a well logging downhole instrument 3. The downhole traction device 2 includes a tension magnetic positioning unit 21, which includes a sixth digital signal board 211. The sixth digital signal board 211 is connected to an electronic circuit unit 22. The electronic circuit unit 22 is connected to a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The electronic circuit unit 22 is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3.

[0040] The electronic circuit unit 22 includes a circuit switching unit 221, which is connected to the well logging traction device surface equipment 1 and the well logging downhole instrument 3. The circuit switching unit 221 is also connected to a modulation and demodulation unit 222 and several power supply units 223. Each of the power supply units 223 is connected to a main control unit 224, a sixth digital signal board 211, a first brushless DC motor and driver unit 23, a second brushless DC motor and driver unit 24, a third brushless DC motor and driver unit 25, a fourth brushless DC motor and driver unit 26, and a fifth brushless DC motor and driver unit 27. The main control unit 224 is connected to the sixth digital signal board 211, the modulation and demodulation unit 222, the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27, respectively.

[0041] The first brushless DC motor and driver unit 23 includes a first brushless DC motor 231, the first brushless DC motor 231 is connected to a first driver board 232, and the first driver board 232 is connected to a first digital signal board 233. The second brushless DC motor and driver unit 24 includes a second brushless DC motor 241, the second brushless DC motor 241 is connected to a second driver board 242, and the second driver board 242 is connected to a second digital signal board 243. The third brushless DC motor and driver unit 25 includes a third brushless DC motor 251, the third brushless DC motor 251 is connected to a third driver board 252, and the third driver board 252 is connected to a third digital signal board 253. The fourth brushless DC motor and driver unit 26 includes a fourth brushless DC motor 261, the fourth brushless DC motor 261 is connected to a fourth driver board 262, and the fourth driver board 262 is connected to a fourth digital signal board 263. The fifth brushless DC motor and driver unit 27 includes a fifth brushless DC motor 271, the fifth brushless DC motor 271 is connected to a fifth driver board 272, and the fifth driver board 272 is connected to a fifth digital signal board 273. The first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263, and the fifth digital signal board 273 are all connected to the main control unit 224.

[0042] like Figure 3 As shown, the main control unit 224, the sixth digital signal board 211, the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263 and the fifth digital signal board 273 all use microcontrollers as controllers. Each microcontroller integrates a CAN controller. The CAN controller is connected to the CAN transceiver via TXCAN and RXCAN. Each CAN transceiver is connected in parallel on the CAN bus.

[0043] The main control unit 224, the sixth digital signal board 211, the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263 and the fifth digital signal board 273 all communicate with each other via CAN bus and use the CANopen2.0A communication protocol to communicate and transmit data.

[0044] Example 4 The modular communication control method for the well logging downhole traction device proposed in this embodiment is implemented according to the following steps: S1: The downhole traction device 2 receives power from the logging traction device surface equipment 1; S2: Modulation and demodulation unit 222 receives, processes and demodulates the frequency modulation communication signal sent by well logging traction device ground equipment 1, converts it into a digital quantity and sends it to main control unit 224; S3: The main control unit 224 converts digital information into control signals. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 receive the information sent to themselves according to the ID number sent by the CAN communication information and convert it into corresponding control signals. S4: The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26 and the fifth brushless DC motor and driver unit 27 receive control signals and drive the downhole traction device 2 to crawl inside the casing.

[0045] Example 5 The modular communication control method for the well logging downhole traction device proposed in this embodiment is implemented according to the following steps: S1: The downhole traction device 2 receives power from the logging traction device surface equipment 1; S2: Modulation and demodulation unit 222 receives, processes and demodulates the frequency modulation communication signal sent by well logging traction device ground equipment 1, converts it into a digital quantity and sends it to main control unit 224; S3: The main control unit 224 converts digital information into control signals. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 receive the information sent to themselves according to the ID number sent by the CAN communication information and convert it into corresponding control signals. S4: The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26 and the fifth brushless DC motor and driver unit 27 receive control signals and drive the downhole traction device 2 to crawl inside the casing.

[0046] The tension magnetic positioning unit 21 sends the information of magnetic positioning and tension signal digitization, as well as the status information data of the tension magnetic positioning unit 21, to the main control unit 224 on the CAN communication bus. The main control unit 224 converts it into digital quantity and transmits it to the modulation and demodulation unit 222. The modulation and demodulation unit 222 modulates it into frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device ground equipment 1. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 collect their respective unit status data information and publish the status data information to the CAN communication bus according to the CAN communication protocol. The main control unit 224 receives the status data information of each brushless DC motor and driver unit, converts it into digital quantity, and transmits it to the modulation and demodulation unit 222. The modulation and demodulation unit 222 modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device surface equipment 1.

[0047] Example 6 The modular communication control method for the well logging downhole traction device proposed in this embodiment is implemented according to the following steps: S1: The downhole traction device 2 receives power from the logging traction device surface equipment 1; S2: Modulation and demodulation unit 222 receives, processes and demodulates the frequency modulation communication signal sent by well logging traction device ground equipment 1, converts it into a digital quantity and sends it to main control unit 224; S3: The main control unit 224 converts digital information into control signals. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 receive the information sent to themselves according to the ID number sent by the CAN communication information and convert it into corresponding control signals. S4: The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26 and the fifth brushless DC motor and driver unit 27 receive control signals and drive the downhole traction device 2 to crawl inside the casing.

[0048] The tension magnetic positioning unit 21 sends the information of magnetic positioning and tension signal digitization, as well as the status information data of the tension magnetic positioning unit 21, to the main control unit 224 on the CAN communication bus. The main control unit 224 converts it into digital quantity and transmits it to the modulation and demodulation unit 222. The modulation and demodulation unit 222 modulates it into frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device ground equipment 1. The first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 collect their respective unit status data information and publish the status data information to the CAN communication bus according to the CAN communication protocol. The main control unit 224 receives the status data information of each brushless DC motor and driver unit, converts it into digital quantity, and transmits it to the modulation and demodulation unit 222. The modulation and demodulation unit 222 modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device surface equipment 1.

[0049] The specific steps of S1 are as follows: the ground equipment 1 of the logging traction device supplies power to the downhole traction device 2, the circuit switching unit 221 is energized, and after the voltage stabilizes, the relay on the circuit switching unit 221 is activated, switching the right to use the logging cable to the downhole logging traction device. The downhole logging instrument is disconnected from the logging cable, the power supply unit 223 is started, the electronic circuit unit 22 is energized, and each component of the downhole traction device 2 is energized. The specific steps of S4 are as follows: The first drive board 232, the second drive board 242, the third drive board 252, the fourth drive board 262, and the fifth drive board 272 respectively receive the control signals transmitted by the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263, and the fifth digital signal board 273, thereby controlling the rotation, stopping, and speed change of the first brushless DC motor 231, the second brushless DC motor 241, the third brushless DC motor 251, the fourth brushless DC motor 261, and the fifth brushless DC motor 271. The first brushless DC motor 231 drives the hydraulic pump to output hydraulic power or drives the mechanical linkage device to push the crawling wheel at the top of the push arm and press it against the inner wall of the casing, supporting the downhole traction device inside the casing. The second brushless DC motor 241, the third brushless DC motor 251, the fourth brushless DC motor 261, and the fifth brushless DC motor 271 drive the crawling wheel to rotate through the transmission device, driving the downhole traction device 2 to crawl in the casing.

[0050] In CAN communication mode, the tension magnetic positioning unit 21, the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 are identified by the main control unit 224 according to the CANID numbers of the sixth digital signal board 211, the first digital signal board 233, the second digital signal board 243, the third digital signal board 253, the fourth digital signal board 263, and the fifth digital signal board 273, respectively.

[0051] Example 7 The modular communication control system for the well logging downhole traction device proposed in this embodiment includes a main control unit 224, which contains a microcontroller, ADC, CAN transceiver and other circuits. The program in the microcontroller schedules the data flow of each interface and controls the workflow of this unit.

[0052] The program flow of the main control unit 224 is as follows: Figure 4 As shown, after the ground equipment 1 supplies power to the downhole traction device 2, the circuit switching unit 221 completes the power line switching, and each power supply unit 223 generates power supplies with different voltage values ​​required by the downhole traction device 2. After the main control unit 224 is powered on, the main control unit 224 program flow starts. The program flow is as follows: the microcontroller is powered on, the microcontroller is reset after a period of power-on, each interface of the microcontroller enters the initial state, waits for the program to run, and the microcontroller starts the program.

[0053] The corresponding steps for running the C program are as follows: main() initializes the microcontroller ports and sets the interrupt modes for the time counter, serial port, CAN controller, and hydraulic pressure ADC interfaces; main() initializes the main control unit and the CAN port ID number of the tension magnetic positioning unit. main() initializes the CAN controller port; main() enables the modem unit 222 to receive ground data and send data to the ground; main() initializes the hydraulic pressure A / D port; main() enters the while(1) main loop; within the main loop, it receives serial port interrupt service data, decomposes ground commands, and stores them in the data storage buffer; it distributes commands to the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27, monitors the ID number of the tension magnetic positioning unit 21, the ID numbers of the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27, and the status information of each unit; the ID number of each normally operating unit and the status information of each unit are stored in the uplink data buffer; and sends each unit's status information to the modem serial port. The microcontroller collects the output voltage value of the power supply unit from the on-chip A / D converter and stores it in the buffer; it waits for interrupts to occur at each port and calls the interrupt service routine; it receives serial port interrupt service data, decomposes ground commands, and stores them in the command buffer; it sends command buffer data to the CAN controller to control the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27; it sends commands to the solenoid valve; it receives hydraulic pressure A / D port interrupt service data and stores it in the data storage buffer; it receives tension magnetic positioning unit 21 CAN port interrupt service data and stores it in the data storage buffer; it receives first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 CAN port interrupt service data and stores it in the data storage buffer.

[0054] When the program reaches the bottom of the main loop, the conditional statement `while(1)` pulls the program back to the beginning of the main loop and restarts the main loop. The main control unit program flow is an infinite loop within the main loop and cannot exit.

[0055] Example 8 The modular communication control system for the well logging downhole traction device proposed in this embodiment includes a tension magnetic positioning unit 21, which comprises an analog signal processing board and a digital signal board.

[0056] The analog signal processing board receives and processes signals from the magnetic positioning signal sensor and the tension sensor, then transmits them to the ADC of the digital signal board for A / D signal processing. The digital signal board contains a microcontroller, ADC, and CAN transceiver circuitry. The microcontroller integrates a CAN controller, and the digital signal board communicates with the main control unit via the CAN bus. The microcontroller's program schedules the data flow of each interface and controls the workflow of the tension magnetic positioning unit 21.

[0057] The program flow of tension magnetic positioning unit 21 is as follows: Figure 5 As shown. Each power supply unit 223 generates power with different voltage values ​​required by the downhole traction device 2. After the tension magnetic positioning unit 21 is powered on, the main control unit 224 starts the program flow. The program flow is as follows: the microcontroller is powered on, the microcontroller is reset after a period of power-on, each interface of the microcontroller enters the initial state, waiting for the program to run, and the microcontroller starts the program.

[0058] The corresponding steps for running the C program are as follows: `main()` initializes the microcontroller ports, sets the interrupt modes for the time counter, CAN controller, and ADC interfaces; clears the magnetic positioning and tension data storage buffers; resets the watchdog time counter; `main()` enters the main loop, which waits for the ADC interrupt; receives data from the terminal service program; acquires the ADC's magnetic positioning and tension data; packages the CAN ID, magnetic positioning, and tension data blocks; waits for the CAN interrupt; and uploads the CAN ID, magnetic positioning data, and tension data blocks.

[0059] When the program reaches the bottom of the main loop, the conditional statement `while(1)` pulls the program back to the beginning of the main loop and restarts the main loop. The program flow of the main control unit 224 is an infinite loop in the main loop and cannot exit.

[0060] Example 9 The modular communication control system for the well logging downhole traction device proposed in this embodiment, which includes the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27, all control the data flow of each interface through a program within a single-chip microcomputer, thereby controlling the workflow of the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27.

[0061] The program flow of the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 are all as follows: Figure 6 As shown. Each power supply unit 223 generates power with different voltage values ​​required by the downhole traction device 2. After the tension magnetic positioning unit 21 is powered on, the main control unit 224 starts the program flow. The program flow is as follows: the microcontroller is powered on, the microcontroller is reset after a period of power-on, each interface of the microcontroller enters the initial state, waiting for the program to run, and the microcontroller starts the program.

[0062] The corresponding execution sequence of the C language program is as follows: main() initializes the microcontroller ports, sets the interrupt modes of the time counter, serial port, CAN controller, and ADC interfaces; clears the motor status data storage buffer; resets the watchdog time counter; main() enters the main loop; waits for a CAN interrupt, receives the parameters of the ground equipment control motor commands transferred from the main control unit by the interrupt service routine; sends commands such as forward rotation, reverse rotation, and stop from the ground equipment to the brushless DC motor control circuit; waits for an ADC interrupt, receives the current and voltage values ​​of the brushless DC motor from the interrupt service routine, calculates the motor speed, and stores the motor current, voltage, and speed data into the data buffer; and sends the CANID number, motor current, voltage, and speed data of the first brushless DC motor and driver unit 23, the second brushless DC motor and driver unit 24, the third brushless DC motor and driver unit 25, the fourth brushless DC motor and driver unit 26, and the fifth brushless DC motor and driver unit 27 to the CAN bus.

[0063] When the program reaches the bottom of the main loop, the conditional statement `while(1)` pulls the program back to the beginning of the main loop and restarts the main loop. The program flow of the main control unit 224 is an infinite loop in the main loop and cannot exit.

Claims

1. A modular communication control system for a well logging downhole traction device, characterized in that, The well logging traction device includes a surface device (1), which is connected to a downhole traction device (2), and the downhole traction device (2) is connected to a well logging downhole instrument (3). The downhole traction device (2) includes a tension magnetic positioning unit (21), which includes a sixth digital signal board (211). The sixth digital signal board (211) is connected to an electronic circuit unit (22). The electronic circuit unit (22) is connected to a first brushless DC motor and driver unit (23), a second brushless DC motor and driver unit (24), a third brushless DC motor and driver unit (25), a fourth brushless DC motor and driver unit (26), and a fifth brushless DC motor and driver unit (27). The electronic circuit unit (22) is connected to the well logging traction device surface equipment (1) and the well logging downhole instrument (3).

2. The modular communication control system for the well logging downhole traction device according to claim 1, characterized in that, The electronic circuit unit (22) includes a circuit switching unit (221), which is connected to the well logging traction device surface equipment (1) and the well logging downhole instrument (3). The circuit switching unit (221) is also connected to a modulation and demodulation unit (222) and several power supply units (223). Each of the power supply units (223) is connected to a main control unit (224), the sixth digital signal board (211), the first brushless DC motor and driver unit (23), the second brushless DC motor and driver unit (24), and the third brushless DC motor and driver unit (25). The main control unit (224) is connected to the sixth digital signal board (211), the modulation and demodulation unit (222), the first brushless DC motor and driver unit (23), the second brushless DC motor and driver unit (24), the third brushless DC motor and driver unit (25), the fourth brushless DC motor and driver unit (26), and the fifth brushless DC motor and driver unit (27), respectively.

3. The modular communication control system for the well logging downhole traction device according to claim 2, characterized in that, The first brushless DC motor and driver unit (23) includes a first brushless DC motor (231), the first brushless DC motor (231) is connected to a first driver board (232), and the first driver board (232) is connected to a first digital signal board (233). The second brushless DC motor and driver unit (24) includes a second brushless DC motor (241), the second brushless DC motor (241) is connected to a second driver board (242), and the second driver board (242) is connected to a second digital signal board (243). The third brushless DC motor and driver unit (25) includes a third brushless DC motor (251), the third brushless DC motor (251) is connected to a third driver board (252), and the third driver board (252) is connected to a third digital signal board (253). The fourth brushless DC motor and driver unit (26) includes a fourth brushless DC motor (261), the fourth brushless DC motor (261) is connected to a fourth driver board (262), and the fourth driver board (262) is connected to a fourth digital signal board (263). The fifth brushless DC motor and driver unit (27) includes a fifth brushless DC motor (271), the fifth brushless DC motor (271) is connected to a fifth driver board (272), and the fifth driver board (272) is connected to a fifth digital signal board (273). The first digital signal board (233), the second digital signal board (243), the third digital signal board (253), the fourth digital signal board (263) and the fifth digital signal board (273) are all connected to the main control unit (224).

4. The modular communication control system for the well logging downhole traction device according to claim 3, characterized in that, The main control unit (224), the sixth digital signal board (211), the first digital signal board (233), the second digital signal board (243), the third digital signal board (253), the fourth digital signal board (263), and the fifth digital signal board (273) all use microcontrollers as controllers. Each microcontroller integrates a CAN controller. The CAN controller is connected to the CAN transceiver via TXCAN and RXCAN. Each CAN transceiver is connected in parallel on the CAN bus.

5. The modular communication control system for the well logging downhole traction device according to claim 4, characterized in that, The main control unit (224), the sixth digital signal board (211), the first digital signal board (233), the second digital signal board (243), the third digital signal board (253), the fourth digital signal board (263) and the fifth digital signal board (273) all communicate with each other via CAN bus and use the CANopen2.0A communication protocol to communicate and transmit data.

6. A modular communication control method for a well logging downhole traction device, characterized in that, The modular communication control system for the well logging downhole traction device as described in any one of claims 1-5 is implemented according to the following steps: S1: The downhole traction device (2) receives power from the logging traction device surface equipment (1); S2: The modulation and demodulation unit (222) receives and processes the frequency modulation communication signal sent by the well logging traction device (1) and converts it into a digital quantity to send to the main control unit (224). S3: The main control unit (224) converts digital information into control signals. The first brushless DC motor and driver unit (23), the second brushless DC motor and driver unit (24), the third brushless DC motor and driver unit (25), the fourth brushless DC motor and driver unit (26), and the fifth brushless DC motor and driver unit (27) receive and filter the information sent to them based on the ID number sent by the CAN communication information, and convert it into corresponding control signals. S4: The first brushless DC motor and driver unit (23), the second brushless DC motor and driver unit (24), the third brushless DC motor and driver unit (25), the fourth brushless DC motor and driver unit (26) and the fifth brushless DC motor and driver unit (27) receive control signals and drive the downhole traction device (2) to crawl inside the casing.

7. The modular communication control method for a well logging downhole traction device according to claim 6, characterized in that, The tension magnetic positioning unit (21) sends the information of the magnetic positioning and tension analog signal digitization, as well as the status information data of the tension magnetic positioning unit (21), to the main control unit (224) on the CAN communication bus. The main control unit (224) transmits the digital information to the modulation and demodulation unit (222). The modulation and demodulation unit (222) modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device ground equipment (1). The first brushless DC motor and driver unit (23), the second brushless DC motor and driver unit (24), the third brushless DC motor and driver unit (25), the fourth brushless DC motor and driver unit (26), and the fifth brushless DC motor and driver unit (27) collect their respective unit status data information. According to the CAN communication protocol, they publish the status data information on the CAN communication bus. The main control unit (224) receives the status information data of each brushless DC motor and driver unit, converts it into digital quantity and transmits it to the modulation and demodulation unit (222). The modulation and demodulation unit (222) modulates it into a frequency modulation communication signal and sends it to the logging cable to send it back to the logging traction device ground equipment (1).

8. The modular communication control method for a well logging downhole traction device according to claim 6, characterized in that, The specific steps of S1 are as follows: the ground equipment (1) of the logging traction device supplies power to the downhole traction device (2), the circuit switching unit (221) is energized, and after the voltage stabilizes, the relay on the circuit switching unit (221) is activated, the right to use the logging cable is switched to the logging downhole traction device, the logging downhole instrument is disconnected from the logging cable, all power supply units (223) are started, the electronic circuit unit (22) is energized, and each component of the downhole traction device (2) is energized.

9. The modular communication control method for a well logging downhole traction device according to claim 6, characterized in that, The specific steps of S4 are as follows: The first driver board (232), the second driver board (242), the third driver board (252), the fourth driver board (262), and the fifth driver board (272) respectively receive the control signals transmitted by the first digital signal board (233), the second digital signal board (243), the third digital signal board (253), the fourth digital signal board (263), and the fifth digital signal board (273), thereby controlling the first brushless DC motor (231), the second brushless DC motor (241), the third brushless DC motor (251), and the fourth... The rotation or stopping of the brushless DC motor (261) and the fifth brushless DC motor (271) and the speed change, the first brushless DC motor (231) drives the hydraulic pump to output hydraulic power or drive the mechanical linkage device to push the crawling wheel at the top of the push arm to press against the inner wall of the casing, and support the downhole traction device inside the casing; the second brushless DC motor (241), the third brushless DC motor (251), the fourth brushless DC motor (261), and the fifth brushless DC motor (271) drive the crawling wheel to rotate through the transmission device, and drive the downhole traction device (2) to crawl in the casing.

10. The modular communication control method for a well logging downhole traction device according to claim 6, characterized in that, In CAN communication mode, the tension magnetic positioning unit (21), the first brushless DC motor and driver unit (23), the second brushless DC motor and driver unit (24), the third brushless DC motor and driver unit (25), the fourth brushless DC motor and driver unit (26), and the fifth brushless DC motor and driver unit (27) are identified by the main control unit (224) based on the CANID numbers of the sixth digital signal board (211), the first digital signal board (233), the second digital signal board (243), the third digital signal board (253), the fourth digital signal board (263), and the fifth digital signal board (273), respectively.

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