A tubing winch control method, system, intelligent terminal and storage medium

Abstract

This application relates to a control method, system, intelligent terminal, and storage medium for an oil pipe winch, belonging to the field of large crane technology. The method includes, in response to a start signal from a hydraulic pile hammer, controlling a cable tray to switch from a retracted state to an extended state, allowing the pipeline to be released from the cable tray's cable tray groove. The tail end of the pipeline is wound around a drum assembly, and the front end of the pipeline is placed in the cable tray groove of the cable tray and connected to the hydraulic pile hammer. The method involves: acquiring the motor load of the drum motor in real time and acquiring the corresponding real-time tension value of the drum motor based on the motor load; acquiring the released length of the pipeline; determining the foundation weight of the pipeline based on the released length; compensating the real-time tension value based on the foundation weight to obtain a corrected tension value; determining a control strategy for the drum motor based on the corrected tension value; and adjusting the drum motor according to the control strategy. This application can reduce the rate of pipeline wear.

Description

Technical Field

[0001] This application relates to the field of large crane technology, and in particular to a method, system, intelligent terminal and storage medium for controlling a pipe winch. Background Technology

[0002] Offshore hydraulic piling is a crucial step in the construction of offshore wind power foundations, cross-sea bridges, and port projects. During the operation, the hydraulic piling hammer is typically suspended and positioned at the target pile location by lifting equipment, and the pile is gradually driven into the seabed through high-energy hydraulic impact. In this process, the hydraulic piling hammer needs to be connected to the hull or power system through multiple hydraulic lines, air pipes, or cables to achieve continuous power supply and control.

[0003] In offshore hydraulic piling operations, existing technologies typically employ cable reels to manage the deployment and retraction of hydraulic lines, cables, and air hoses, in conjunction with the lifting and lowering movement of the hydraulic pile hammer. These cable reels release or retrieve the lines as the equipment moves during the lowering or raising of the pile hammer, preventing the lines from scattering directly into the work area. However, existing cable reels mostly employ a passive deployment method, relying primarily on the displacement of the pile hammer and lacking proactive control over the stress state of the lines. In actual operations, if the pile hammer briefly stops, decelerates, or adjusts its posture after the lines are released during lowering, the cable reel cannot promptly retrieve or tension the released lines according to the changing working conditions.

[0004] Under the aforementioned circumstances, the deployed pipeline is prone to forming a noticeable hanging or slack section below the piling hammer. This hanging section is susceptible to wind and wave disturbances and equipment swaying in the marine environment, which not only increases the risk of uneven local stress on the pipeline but may also cause the pipelines to become entangled or rub against the equipment structure, thereby accelerating pipeline wear and reducing the overall safety and reliability of the operation. Summary of the Invention

[0005] To reduce the rate of pipeline wear, this application provides a method, system, intelligent terminal, and storage medium for controlling an oil pipe winch.

[0006] Firstly, this application provides a method for controlling an oil pipe winch, employing the following technical solution: A method for controlling an oil pipe winch includes: In response to the start signal of the hydraulic pile hammer, the control cable tray is switched from the retracted state to the unfolded state, so that the cable is released from the cable tray groove of the cable tray. The tail end of the cable is wound around the drum assembly, and the front end of the cable is laid on the cable tray groove of the cable tray and connected to the hydraulic pile hammer. The motor load of the drum motor is obtained in real time, and the corresponding real-time tension value of the drum motor is obtained based on the motor load. Obtain the pipeline extension length; Determine the foundation weight of the pipeline based on the length of the pipeline laid out. The real-time tensile force value is compensated based on the base weight to obtain the corrected tensile force value; The control strategy for the drum motor is determined based on the corrected tension value; Adjust the drum motor according to the control strategy.

[0007] By adopting the above technical solution, after the hydraulic pile hammer is started, the oil pipe winch can controllably release the pipeline. By acquiring the real-time tension status of the drum motor and compensating for the tension based on the pipeline release length, a corrected tension value reflecting the actual stress changes on the pipeline is obtained. Based on this corrected tension value, the control strategy of the drum motor is dynamically adjusted, enabling the pipeline release process to proactively match the operating state of the hydraulic pile hammer. This reduces pipeline sagging or abnormal stress caused by passive release, thereby reducing the rate of pipeline wear.

[0008] Optionally, the control strategy for determining the drum motor based on the corrected tension value includes: The corrected tension value is compared with the preset deflection threshold to obtain the tension deflection direction of the corrected tension value, wherein the tension deflection direction is any one of positive deflection, negative deflection, or centering. The change in the rotational speed of the drum motor is determined based on the corrected tension value and the direction of tension deflection. When the direction of the tension deflection is kept in the center, obtain the duration for which the direction of the tension deflection is kept in the center; If the duration exceeds the preset duration, the drum assembly is controlled by the drum motor to perform a winding operation. When the corrected tension value reaches the preset bias detection threshold, the drum assembly is controlled by the drum motor to exit the winding operation.

[0009] By adopting the above technical solution, when the tension deflection direction is positive, the speed of the drum motor is increased to accelerate the unwinding speed, thereby alleviating the state of excessive tension in the pipeline; when the corrected tension value is negative, the speed of the drum motor is reduced to suppress further unwinding; and when the tension deflection direction is centered and the duration is longer than the preset duration, the drum assembly is controlled to perform a rewinding operation to eliminate any possible sagging sections in the pipeline, thereby achieving fine adjustment of the pipeline's stress state and avoiding excessive tension or slack in the pipeline.

[0010] Optionally, obtain the rate of change of the corrected tension value within a preset detection window; The deflection direction of the cable tray is determined based on the direction of the tension deflection. The deflection angle level of the cable tray is matched according to the rate of change of tension; The cable tray is deflected according to the deflection direction and deflection angle level.

[0011] By adopting the above technical solution, the deflection direction and angle of the cable tray are controlled in stages according to the rate of change of tension and the direction of deflection of tension, so that the deflection amplitude of the cable tray matches the severity of the change in the force on the pipeline. This allows for timely adjustment of the pipeline direction when the force on the pipeline changes abruptly, reducing local stress concentration and lowering the probability of uneven wear, skipping, or abnormal entanglement of the pipeline during the winding and unwinding process.

[0012] Optionally, during the process of the drum assembly releasing the pipeline, the rotation information of the drum assembly can be acquired in real time; The theoretical length of the pipeline can be obtained based on the rotation information; Determine whether the difference between the theoretical discharge length and the pipeline discharge length is greater than the preset jamming difference; If so, it is determined that the pipeline is stuck in the drum assembly; Obtain the jammed position of the target drum in the drum group, where the target drum refers to the drum in the drum group that is jammed. The preset jamming release method is executed to release the pipeline from the jammed state.

[0013] By adopting the above technical solution, and by comparing the drum rotation information with the actual pipeline release, the jamming status of the pipeline in the drum assembly can be identified in a timely manner. Furthermore, the target drum where jamming occurs and its jamming location can be located. Based on this, targeted unjamming treatment can be performed, thereby avoiding abnormal tension accumulation and pipeline damage caused by the continuous expansion of jamming, and improving the continuity of the pipeline winding and unwinding process.

[0014] Optionally, a guide rod is provided between the reel assembly and the cable tray for the cable to abut against, and the step of obtaining the jamming position of the cable on the target reel in the reel assembly includes: Obtain the position information of the guide rod relative to the target drum; Determine the coordinate line connecting the central axis coordinate of the guide rod to the central axis coordinate of the target drum based on the position information; The nearest connection area is determined by the intersection of the coordinate line and the target drum; Obtain the pipeline deployment speed corresponding to the pipeline deployment length; Obtain the target time point when the pipeline discharge rate is zero; Determine the drum rotation state corresponding to the rotation information based on the target time point; The jamming location is determined based on the position of the most recently connected area corresponding to the drum rotation state.

[0015] By adopting the above technical solution, the nearest connection area is determined by the spatial geometric relationship between the guide rod and the target drum. Combined with the rotational characteristics of the drum during the pipeline release process, when the actual jamming position of the pipeline moves to the nearest connection area with the rotation of the drum, the pipeline is straightened between this area and the guide rod and changes from the release state to a rewinding trend, thereby reducing the pipeline release speed to zero at the corresponding moment. Based on the time node when the release speed is zero, corresponding to the rotational state of the drum, it is possible to accurately determine that the jamming position of the pipeline is located in the nearest connection area, realizing the calculable identification of the pipeline jamming position without the need to directly detect the jamming point.

[0016] Optionally, the execution of the preset jamming release method to release the pipeline from the jammed state includes: Get the time interval from the current time point to the time point when the judgment is made that the pipeline is stuck in the drum assembly; The relative position of the jamming location to the current time point and the pipeline overlap length are determined based on rotation information and time intervals. The drum assembly is controlled to rotate in the opposite direction based on the relative position and pipeline overlap length, so that the jammed position is located at the preset unjamming position; Lock the reel assembly and secure the pipeline using the cable tray; Control the cable tray to deflect in the preset unblocking direction, so that the pipeline in the stuck position can be released from the stuck state.

[0017] By adopting the above technical solution, after detecting that the pipeline is stuck, the stuck position is dynamically back located based on the time relationship between the time of the stuck event and the current time, combined with the rotation information of the drum. According to the pipeline overlap length corresponding to the stuck position, the drum assembly is controlled to rotate in the opposite direction to move the stuck position to the preset unstuck position. Based on locking the drum assembly, the directional deflection of the cable tray is used to apply a controlled external force to the stuck point, thereby achieving active unstucking of the pipeline without relying on manual intervention, avoiding secondary entanglement and pipeline damage caused by blind reversal or repeated pulling.

[0018] Optionally, during the process of controlling the cable tray to deflect in the preset unblocking direction, the force value of the pipeline is obtained through the guide rod; When the force value reaches the first preset force threshold, the deflection towards the preset unblocking direction is stopped; Perform a preset swing action, which includes: controlling the cable tray to swing in a preset unblocking direction at a preset swing frequency; Perform a force verification action, which includes: after a preset number of swings, determine whether the force value has decreased and whether the decrease is greater than the preset force reduction value; If not, the downward movement of the guide rod is determined based on the difference between the applied force value and the second preset applied force threshold. The guide rod moves downward according to the downward displacement; Execute the preset swing motion and force verification motion again, and obtain the judgment result of the force verification motion; If the judgment result is negative, a pipeline jamming alarm is generated; If the judgment result is yes, the pipeline in the stuck position is determined to be freed from the stuck state.

[0019] By adopting the above technical solution, instead of continuously applying pulling force to the pipeline during the pipeline unblocking process, the cable tray is controlled to perform a controlled swinging motion after the force reaches a threshold. This causes the pipeline to experience instantaneous relaxation and rebound during periodic force changes, thereby using force fluctuations to dislodge the stuck position. If the swinging effect is insufficient, the position of the guide rod is adjusted to change the force path of the pipeline, so as to cooperate with the swing to generate effective unblocking conditions. This avoids pipeline damage caused by continuous pulling while improving the success rate and safety of unblocking.

[0020] Secondly, this application provides a pipe winch control system, which adopts the following technical solution: A pipe winch control system, comprising: The acquisition module is used to acquire the start signal, motor load, and pipeline extension length. A memory for storing the program of the pipe winch control method; The processor and the program in the memory can be loaded and executed by the processor to implement the oil pipe winch control method.

[0021] By adopting the above technical solution, after the hydraulic pile hammer is started, the oil pipe winch can controllably release the pipeline. By acquiring the real-time tension status of the drum motor and compensating for the tension based on the pipeline release length, a corrected tension value reflecting the actual stress changes on the pipeline is obtained. Based on this corrected tension value, the control strategy of the drum motor is dynamically adjusted, enabling the pipeline release process to proactively match the operating state of the hydraulic pile hammer. This reduces pipeline sagging or abnormal stress caused by passive release, thereby reducing the rate of pipeline wear.

[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the above-described methods for controlling a pipe winch.

[0023] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates the reduction of pipeline wear rates, and adopts the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described pipe winch control methods.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. After the hydraulic pile hammer is started, the pipe winch can release the pipeline in a controlled manner. By acquiring the tension status of the drum motor in real time and compensating for the tension based on the released pipeline length, a corrected tension value reflecting the actual stress change of the pipeline is obtained. Based on this corrected tension value, the control strategy of the drum motor is dynamically adjusted so that the pipeline release process can actively match the operating status of the hydraulic pile hammer, reducing pipeline sagging or abnormal stress caused by passive release, thereby reducing the rate of pipeline wear. 2. When the tension deflection direction is positive, the speed of the drum motor is increased to accelerate the unwinding speed, thereby alleviating the excessive tension in the pipeline; when the corrected tension value is negative, the speed of the drum motor is reduced to suppress further unwinding; and when the tension deflection direction is centered and the duration is longer than the preset duration, the drum assembly is controlled to perform a rewinding operation to eliminate any possible sagging sections in the pipeline, thereby achieving fine adjustment of the pipeline's stress state and avoiding excessive tension or slack in the pipeline. 3. By utilizing the spatial geometric relationship between the guide rod and the target drum, the nearest connection area is determined. Combined with the rotational characteristics of the drum during the pipeline release process, when the actual jamming position of the pipeline moves to the nearest connection area with the rotation of the drum, the pipeline is straightened between this area and the guide rod and changes from a release state to a rewinding trend, thereby reducing the pipeline release speed to zero at the corresponding moment. Based on the time node when the release speed is zero, corresponding to the rotational state of the drum, the jamming position of the pipeline can be accurately determined to be located in the nearest connection area, realizing the calculable identification of the pipeline jamming position without the need for direct detection of the jamming point. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an oil pipe winch in an embodiment of this application.

[0026] Figure 2 This is a flowchart illustrating a method for controlling an oil pipe winch in an embodiment of this application.

[0027] Figure 3 This is a schematic diagram of the cable tray in the unfolded state in an embodiment of this application.

[0028] Figure 4 This is a flowchart illustrating the control strategy for determining the drum motor based on the corrected tension value in an embodiment of this application.

[0029] Figure 5 This is a flowchart illustrating a tension relief method in an embodiment of this application.

[0030] Figure 6 This is a flowchart illustrating a method for relieving pipeline jamming in an embodiment of this application.

[0031] Figure 7 This is a flowchart illustrating the method for obtaining the stuck position in an embodiment of this application.

[0032] Figure 8 This is a flowchart illustrating the pre-defined method for detaching from jamming in the embodiments of this application.

[0033] Figure 9 This is a flowchart illustrating a method for swinging out of a stuck state in an embodiment of this application.

[0034] Explanation of reference numerals in the attached drawings: 1. Mounting frame; 2. Drum assembly; 21. First drum; 22. Second drum; 3. Cable tray; 4. Guide rod; 41. First guide rod; 42. Second guide rod. Detailed Implementation

[0035] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1 - Appendix Figure 9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0036] This application discloses a method for controlling a tubing winch. This method is executed by the tubing winch, as described above. Figure 1 The hydraulic pipe winch includes a mounting frame 1, a drum assembly 2 mounted on the mounting frame 1, and a cable tray 3 hinged to one side of the mounting frame 1. The drum assembly 2 includes a first drum 21 and a second drum 22. The first drum 21 is wound with hydraulic pipes, and the second drum 22 is wound with cables and air pipes. The other ends of the hydraulic pipes, cables, and air pipes are connected to a hydraulic pile hammer to provide hydraulic power transmission, electrical signal transmission, and gas supply for the hydraulic pile hammer.

[0037] Reference Figure 2 The control methods for oil pipe winches include: Step S101: In response to the start signal of the hydraulic pile hammer, control the cable tray to switch from the retracted state to the unfolded state, so that the cable is released from the cable tray groove of the cable tray. The tail end of the cable is wound around the drum assembly, and the front end of the cable is laid on the cable tray groove of the cable tray and connected to the hydraulic pile hammer.

[0038] Upon startup, the hydraulic pile hammer generates a start signal. Upon receiving this signal, the hydraulic pipe winch switches the cable tray from the retracted state to the deployed state. (Refer to...) Figure 3 When the cable tray is in this position, it is in the unfolded state. (Refer to...) Figure 1When the cable tray is in this state, it is in the storage state.

[0039] The cable tray includes a first cable tray and a second cable tray. The first cable tray guides the oil pipe to prevent excessive bending and minimizes resistance during retraction and extension. The second cable tray guides the cables and air pipes to prevent excessive bending and minimize resistance during retraction and extension.

[0040] The cable tray can be rotated by a hydraulic device to switch from a retracted to an extended state. When the hydraulic pile hammer and the oil pipe winch stop working, the cable tray will return to the retracted state.

[0041] Step S102: Obtain the motor load of the drum motor in real time, and obtain the real-time tension value of the drum motor based on the motor load.

[0042] Motor load refers to the output torque of the drum motor under the current operating state. Since there is a mapping relationship between the output torque of the drum motor and the tension applied by the driving drum to the pipeline, the real-time tension value of the drum motor at the current moment can be calculated based on the motor load parameters, combined with the effective radius of the drum and the transmission structure parameters. This value is used to characterize the actual traction force applied by the drum to the pipeline, i.e., the tension applied by the pipeline to the drum.

[0043] Step S103: Obtain the pipeline extension length.

[0044] The term "pipeline" refers to a general term for oil pipes, cables, and air pipes. Since one end of each pipe is wound around a reel assembly and the other end is connected to a hydraulic pile hammer, their extended lengths are equal (length differences due to specific installation locations are negligible). Therefore, the extended length of the oil pipe can be used as the extended length of the oil pipe, cable, and air pipe, i.e., the pipeline extended length. In this embodiment, the pipeline extended length is obtained by detecting the rotation state of the reel assembly. Specifically, a rotary encoder can be installed on the reel shaft to acquire the rotation angle or number of rotations of the reel in real time. Based on the rotation angle or number of rotations of the reel, and combined with the effective winding radius of the reel, the real-time extended length of the pipeline is calculated. When the reel is in a multi-layer winding state, the effective winding radius can be updated according to the current number of winding layers, thereby obtaining the pipeline extended length in real time.

[0045] Furthermore, the cable tray is equipped with several pulleys. When the cable is being retracted or extended, it will drive the pulleys to rotate. The number of rotations of the pulleys is obtained by the encoder at the pulley. The average number of rotations of several pulleys is taken as the product of the pulley circumference and the average number of rotations of several pulleys as the amount of movement of the cable in the cable tray. When the direction of movement of the cable is the extension direction, this amount of movement is the extension length of the cable.

[0046] Step S104: Determine the foundation weight of the pipeline based on the pipeline length.

[0047] The base weight is positively correlated with the pipeline length. The pipeline weight per unit length is a preset value that can be obtained by looking up a table. The base weight is obtained by multiplying the pipeline weight per unit length by the pipeline length.

[0048] Step S105: Compensate the real-time tension value based on the base weight to obtain the corrected tension value.

[0049] Compensation processing based on the base weight for real-time tension value refers to, after obtaining the real-time tension value corresponding to the drum motor, determining the base tension component generated by the pipeline's own weight based on the current pipeline laying length, and subtracting the base tension component from the real-time tension value to obtain the corrected tension value after eliminating the influence of the pipeline's own weight; the corrected tension value is used to reflect the actual tension change caused by the movement of the hydraulic pile hammer or the change of the pipeline path under the same laying length conditions.

[0050] Step S106: Determine the control strategy of the drum motor based on the corrected tension value.

[0051] The corrected tension value is compared with a preset bias threshold to identify the current stress state of the pipeline. Based on this stress state, the adjustment parameters for the drum motor are obtained, which can be obtained by looking up a table. These adjustment parameters are then incorporated into the control strategy. Specific steps can be found in [reference needed]. Figure 2 The content of the examples.

[0052] Step S107: Adjust the drum motor according to the control strategy.

[0053] Based on the drum motor control strategy, the operating parameters of the drum motor are adjusted accordingly, so that the winding and unwinding speed of the drum assembly can respond in real time to changes in the stress state of the pipeline. This avoids excessive tension or sagging of the pipeline caused by a mismatch between the unwinding speed and the actual traction requirements during the movement of the hydraulic pile hammer. Through the above adjustments, the pipeline can always be kept in a smooth stress state, reducing friction and impact between the pipeline and the drum assembly and cable tray, reducing the risk of jamming, and improving the operational stability and reliability of the hydraulic pipe winch under complex working conditions.

[0054] Reference Figure 4 The control strategy for the drum motor is determined based on the corrected tension value, including: Step S201: Compare the corrected tension value with the preset deflection threshold to obtain the tension deflection direction of the corrected tension value, wherein the tension deflection direction is any one of positive deflection, negative deflection, or centering.

[0055] The preset bias threshold is a preset constant, including a positive threshold, a negative threshold, and a centering threshold. It is used to divide the corrected tension value into different stress ranges; the preset bias threshold can be set according to the rated tension range of the tubing winch, pipeline specifications, or actual operating conditions.

[0056] The direction of tension deflection refers to the direction of deviation of the corrected tension value from the preset deflection threshold. It is used to reflect whether the current pipeline stress tends to increase, decrease, or is within the allowable fluctuation range.

[0057] Centering maintenance refers to the allowable range of tension variation defined by the centering threshold, within which tension variation is considered not to have a significant impact on the pipeline's deployment and retraction status.

[0058] For example, when the hydraulic pile driver is accelerating downward, the traction force applied to the drum assembly by the front end of the pipeline gradually increases, causing the corrected tension value to exceed the preset positive threshold. At this time, it can be determined that the tension deflection direction is positive. When the hydraulic pile driver decelerates or moves upward, the pipeline tension decreases accordingly. If the corrected tension value is lower than the preset negative threshold, the tension deflection direction is determined to be negative. When the hydraulic pile driver runs at a relatively stable speed, if the corrected tension value is within the range defined by the central threshold, the current tension deflection direction is considered to be maintained in the center, and the pipeline stress state is relatively stable.

[0059] Step S202: Determine the change in rotational speed of the drum motor based on the corrected tension value and the direction of tension deflection.

[0060] The change in rotational speed refers to the increment or decrease in rotational speed required relative to the current operating speed of the drum motor. It is used to change the winding and unwinding speed of the drum assembly so that the tension in the pipeline returns to the target force range.

[0061] Based on the obtained direction of tension deflection, the magnitude of the corrected tension value is further combined to determine the change in the speed of the drum motor. By simultaneously incorporating the directionality and amplitude information of the tension change into the speed adjustment of the drum motor, the winding and unwinding actions of the drum assembly can respond promptly to changes in pipeline force, thereby avoiding pipeline tensioning, loosening, or abnormal vibration caused by sudden increases or decreases in tension.

[0062] In one feasible embodiment, when the tension deflection direction is positive, the change in rotational speed is determined as the acceleration direction to increase the unwinding speed of the drum or weaken the winding tendency; when the tension deflection direction is negative, the change in rotational speed is determined as the deceleration direction to reduce the unwinding speed of the drum or increase the winding tendency; wherein, the specific amount of speed increase or deceleration can be obtained through a preset tension change-rotational speed adjustment table. When the tension deflection direction is maintained in the center, the change in rotational speed is set to zero or a small change less than a preset fine-tuning threshold to maintain the current operating state.

[0063] For example, when the hydraulic pile driver accelerates downwards, causing a continuous increase in pipeline tension and a corresponding positive deflection in the corrected tension value, the controller determines the corresponding change in acceleration speed based on the magnitude of the corrected tension value. This causes the drum motor to increase the wire-laying speed, thereby suppressing further increases in tension. Conversely, when the hydraulic pile driver decelerates or moves upwards, causing a decrease in pipeline tension and a negative deflection, the controller determines the corresponding change in acceleration speed. This causes the drum motor to reduce the wire-laying speed, preventing the pipeline from slackening or springing back. When the corrected tension value remains at a neutral level, the drum motor maintains its current speed, keeping the system stable.

[0064] Step S203: When the direction of the tension deflection is kept in the center, obtain the duration during which the direction of the tension deflection is kept in the center.

[0065] When the direction of tension deflection remains centered, it indicates that the tension on the pipeline has not increased or decreased significantly. However, this state may correspond to a situation where the pipeline has already formed a sag but has not yet experienced a significant change in tension. Therefore, the duration for which the direction of tension deflection remains centered is used to determine whether the low tension or near-zero change state is sustainable, and this serves as a basis for determining whether a sag has formed on the pipeline.

[0066] In one feasible embodiment, when the direction of the tension deflection is centered and maintained, the controller starts the duration timing; if the corrected tension value exceeds the centered threshold range during the timing process, the timing is terminated and the duration is reset to zero; when the direction of the tension deflection is centered and maintained and the duration is longer than the preset duration, it is determined that the pipeline forms a vertical section or a slack section between the cable tray and the hydraulic pile hammer.

[0067] Step S204: If the duration exceeds the preset duration, control the drum assembly to perform a winding operation via the drum motor.

[0068] When the direction of the tension deflection remains centered and the duration exceeds the preset duration, it indicates a high probability of a sag in the pipeline between the cable tray and the hydraulic pile hammer. In this case, the drum assembly is controlled by the drum motor to perform a winding operation, actively retrieving the pipeline and gradually straightening the sag, thereby eliminating the slack in the pipeline and restoring its stress stability.

[0069] For example, when the hydraulic pile hammer stops descending briefly during construction, the drum assembly continues to lay out the line for a period of time according to the previous working condition, causing the pipeline to sag significantly below the cable tray. When the tension deflection direction remains centered for more than the preset duration, the controller controls the drum motor to rotate at low speed, causing the drum assembly to wind up at low speed, gradually recovering the sagning pipeline. Once the sag is eliminated and the pipeline re-enters the stress state, the tension value is corrected to leave the centered threshold range, the drum assembly stops winding, and the original operating strategy is restored.

[0070] Step S205: When the corrected tension value reaches the preset bias detection threshold, the drum assembly is controlled to exit the winding operation by controlling the drum motor.

[0071] The preset bias detection threshold is a preset constant, which can be adjusted according to the actual situation.

[0072] When the drum assembly performs a winding operation to eliminate sagging in the pipeline, if the detected correction tension value reaches the preset deviation detection threshold, it indicates that the pipeline has re-entered a stressed state from a relaxed state, and continued winding may lead to excessive tension or biased pulling of the pipeline. At this time, the drum assembly is controlled by the drum motor to exit the winding operation, thereby terminating the sagging elimination action and preventing adverse effects on the pipeline and hydraulic pile hammer.

[0073] This application provides a method for relieving tension, referring to... Figure 5 The method includes: Step S301: Obtain the rate of change of the corrected tension value within the preset detection window.

[0074] The preset detection window is a fixed value that can be adjusted according to actual conditions.

[0075] The rate of change of tension refers to the speed at which the corrected tension value changes within a preset detection window, and is used to characterize the rate at which the force on the pipeline changes.

[0076] By continuously sampling the corrected tension value within a preset detection window, the rate of change of the corrected tension value over time is calculated to obtain the dynamic characteristics of pipeline tension changes. The rate of tension change is used to reflect the degree of sudden tension changes caused by changes in the motion state of the hydraulic pile hammer or abnormal pipeline motion.

[0077] Step S302: Determine the deflection direction of the cable tray based on the direction of the tension deflection.

[0078] In one feasible embodiment, when the direction of the tension deflection is positive, the cable tray is controlled to deflect in a first preset direction; when the direction of the tension deflection is negative, the cable tray is controlled to deflect in a second preset direction opposite to the first preset direction; when the direction of the tension deflection is centered, the cable tray is controlled to maintain the current deflection state or return to the initial neutral position.

[0079] The first preset direction is deflection away from the drum assembly, and the second preset direction is deflection towards the drum assembly. The deflection can be achieved by driving the cable tray with a hydraulic device.

[0080] For example, when the hydraulic pile hammer moves rapidly downwards, causing a positive deflection in the pipeline correction tension value, the controller determines that the tension on the pipeline is concentrated downstream. At this time, the control cable tray is deflected away from the drum assembly to release the localized stress concentration on the pipeline; conversely, when the correction tension value deflects negatively, the control cable tray is deflected closer to the drum assembly to suppress pipeline rebound or slackness.

[0081] Step S303: Match the deflection angle level of the cable tray according to the rate of change of tension.

[0082] Based on the rate of change of tension, the deflection angle of the cable tray is matched to different levels so that the deflection amplitude of the cable tray corresponds to the severity of the change in pipeline stress, thereby achieving differentiated cable tray adjustment under different working conditions.

[0083] In one feasible embodiment, the system pre-sets multiple tension change rate ranges, and assigns a deflection angle level to each tension change rate range. When the tension change rate falls within a certain range, the controller selects the deflection angle level corresponding to that range to control the cable tray to perform a deflection action of the corresponding magnitude. Specifically, the higher the tension change rate, the higher the corresponding deflection angle level, and the larger the deflection angle of the cable tray.

[0084] Step S304: Control the cable tray to deflect according to the deflection direction and deflection angle level.

[0085] Based on the determined deflection direction and deflection angle level of the cable tray, control the cable tray to perform deflection actions of the corresponding direction and amplitude, so that the routing of the pipeline in the cable tray matches the current stress state.

[0086] By orienting and classifying the cable tray according to the direction and angle of the tension deflection, the adjustment action of the cable tray is consistent with the actual stress change trend of the pipeline. This actively guides the distribution of the pipeline during the cable laying and unlaying process, avoiding stress concentration or biased stacking of the pipeline in the cable tray.

[0087] Specifically, after the cable tray performs the deflection action, the contact position of the cable in the cable tray changes with the direction of deflection, causing the cable to wind or release along a more favorable path on the drum assembly, thereby reducing the local tension peak and lowering the probability of the cable jumping out of the tray, crossing and winding or abnormal wear.

[0088] Furthermore, by matching the deflection amplitude with the rate of change of tension, the position of the cable tray can be quickly and significantly adjusted when the tension changes drastically, and only minor corrections can be made when the tension changes gradually. This allows the cable tray to respond promptly to changes in working conditions without causing new stress disturbances due to excessive deflection, thereby achieving a stable and continuous dynamic cable tray control effect.

[0089] This application provides a method for resolving pipeline jamming, referring to... Figure 6 The method includes: Step S401: During the process of the drum assembly releasing the pipeline, the rotation information of the drum assembly is acquired in real time.

[0090] Rotation information refers to the parameter information used to characterize the rotation state of the drum assembly during operation, including the rotation angle, number of rotations, rotation direction, and rotation speed of the drum.

[0091] The rotation information can be obtained from the rotary encoder installed on the drum shaft of the drum assembly.

[0092] Step S402: Obtain the theoretical release length of the pipeline based on the rotation information.

[0093] The theoretical release length refers to the pipeline release length calculated based on the rotation information of the drum assembly without considering abnormal conditions such as pipeline slippage, skipping, or jamming. This length is used to characterize the length of pipeline that should be released when the drum assembly rotates under ideal winding and unwinding conditions.

[0094] By using the rotation information collected by the drum assembly during the wire feeding process, the rotation amount of the drum is converted into the displacement of the pipeline on the drum surface, thereby obtaining the theoretical length of the pipeline fed out at the current moment.

[0095] Specifically, after obtaining the rotation angle or number of rotations of the drum assembly, the change in the rotation angle of the drum is converted into a linear displacement along the circumference of the drum based on the effective winding radius of the drum, and this linear displacement is used as the theoretical unwound length of the pipeline during that time period. The effective winding radius can be calculated based on the total pipeline length, pipeline diameter, pipeline unwound length, and drum diameter.

[0096] Step S403: Determine whether the difference between the theoretical discharge length and the pipeline discharge length is greater than the preset jamming difference.

[0097] The preset jamming difference value is a preset constant, which is a pre-set threshold used to determine whether there is a risk of jamming in the pipeline. This threshold represents the maximum deviation range between the theoretical and actual lengths that are allowed under normal laying conditions.

[0098] Step S404: If yes, then it is determined that the pipeline is stuck in the drum assembly.

[0099] On the other hand, if the difference between the theoretical release length and the pipeline release length is not greater than the preset jamming difference, no action will be taken.

[0100] The jammed state refers to the operating state in which the rotation behavior of the drum assembly is inconsistent with the actual release behavior of the pipeline during the pipeline release process due to obstruction, unsmooth winding, or abnormal local stress. This state is used to characterize the abnormal situation in which the pipeline fails to be released smoothly in the drum assembly as expected.

[0101] In one feasible embodiment, after the controller determines the pipeline jamming state, it generates a corresponding jamming state identifier to indicate that the pipeline is currently in an abnormal retraction / extraction condition. Further, after generating the jamming state identifier, the controller sends an alarm signal to the hydraulic pile hammer or its corresponding control system to indicate the risk of pipeline jamming. This alarm signal provides a clear indication of the abnormal operating condition to the hydraulic pile hammer, preventing it from continuing large-scale movement operations while the pipeline is jammed, thereby preventing a sudden increase in pipeline stress, exacerbation of jamming, or pipeline damage due to equipment displacement.

[0102] For example, when a hydraulic pile hammer is being lowered, if the drum assembly continues to rotate but the pipeline does not extend to the corresponding length, the system will immediately trigger an alarm after determining that the hammer is stuck, causing it to stop moving the pile hammer in a large lateral or longitudinal direction, thus creating a safe condition for subsequent execution of the stuck release method.

[0103] Step S405: Obtain the jammed position of the target drum in the drum group, where the target drum refers to the drum in the drum group that is jammed.

[0104] Since the drum assembly includes a first drum and a second drum, the target drum is the drum in the first and second drums that is stuck. When either the first or second drum is stuck, the target drum refers to that drum. When both the first and second drums are stuck, the target drum refers to either the first or the second drum; that is, the target drum can refer to either the first or the second drum.

[0105] The jamming location is the specific spatial position where the pipeline cannot continue to be smoothly wound up or down on the target drum. It is used to characterize which area of ​​the target drum is jammed. The jamming location can be obtained according to a preset method. The specific steps for obtaining the jamming location of the pipeline on the target drum in the drum assembly can be found in [reference needed]. Figure 7 The content of the examples.

[0106] Step S406: Execute the preset jamming release method to release the pipeline from the jammed state.

[0107] The pre-set jamming release method refers to a set of pre-defined release control actions for the jammed pipeline, based on the known jamming position of the pipeline in the target drum. This is achieved through coordinated control of the drum assembly and the cable tray, releasing the pipeline from its overlapping, compression, or obstruction state, thereby restoring normal pipeline winding and unwinding. The pre-defined set of release control actions can be referenced from [reference needed]. Figure 8 The content of the examples.

[0108] Reference Figure 7 The method for obtaining the jammed position of the pipeline on the target drum in the drum assembly includes: Step S501: Obtain the position information of the guide rod relative to the target drum.

[0109] Reference Figure 1 A guide rod 4 is provided between the drum assembly 2 and the cable tray 3 for the pipeline to abut against. The guide rod includes a first guide rod 41 and a second guide rod 42. The first guide rod 41 corresponds to the first drum 21 and is used for the oil pipe on the first drum 21 to abut against. The second guide rod 42 corresponds to the second drum 22 and is used for the air pipe and cable on the second drum 22 to abut against.

[0110] For ease of description of the first guide rod and the second guide rod, the term "guide rod" is used to refer to either the first guide rod or the second guide rod.

[0111] Position information refers to information used to characterize the positional relationship of the guide rod relative to the target drum in space, including the distance, direction, or spatial coordinate relationship of the guide rod relative to the target drum.

[0112] In one feasible embodiment, reference is made to Figure 1 A two-dimensional coordinate system is established with the lower left corner of the frame as the origin. The horizontal direction of the frame is set as the X-axis, and the vertical direction of the frame is set as the Y-axis. The guide rod and the drum assembly are both located within this two-dimensional coordinate system, and their spatial positions can be characterized by their respective coordinate parameters.

[0113] Specifically, the guide rod's central axis coordinates in a two-dimensional coordinate system are obtained, as well as the target drum's central axis coordinates; the guide rod's central axis coordinates and the drum's central axis coordinates together constitute the position information of the guide rod relative to the target drum.

[0114] Step S502: Determine the coordinate line connecting the central axis coordinate of the guide rod to the central axis coordinate of the target drum based on the position information.

[0115] The coordinate line refers to a straight line in a two-dimensional coordinate system, determined by the central axis coordinates of the guide rod and the central axis coordinates of the target drum.

[0116] Specifically, in the same two-dimensional coordinate system, the central axis coordinates of the guide rod and the central axis coordinates of the drum in the drum assembly are read, and a straight line connecting the two points is determined with the central axis coordinates of the guide rod as the starting point and the central axis coordinates of the drum as the ending point, which serves as the coordinate line.

[0117] Furthermore, since the guide rod has a circular cross-section and a diameter, and the pipeline exits from the drum and then winds around the bottom of the guide rod before entering the cable tray, the actual route of the pipeline between the guide rod and the target drum is not strictly a straight line along the central axis coordinates. This coordinate line should start from the central axis coordinate of the target drum and connect tangentially to the bottom of the guide rod's outer contour. This coordinate line is used to characterize the actual force direction and spatial orientation of the pipeline when it is partially straightened between the target drum and the guide rod in a jammed state. However, in practical applications, because the pipeline cannot be completely straightened, and because the diameters of the guide rod and the drum differ significantly (e.g., the guide rod diameter is 50mm and the drum diameter is 2000mm), the deviation of the tangential line from the line connecting the guide rod's central axis coordinate to the target drum's central axis coordinate in the overall direction is relatively small under this dimensional difference. For the reasons mentioned above, in this embodiment, to simplify the calculation process, the line connecting the central axis coordinate of the guide rod to the central axis coordinate of the target drum is still used as the ideal coordinate line of the pipeline in the straightened state, which is used to characterize the overall force direction and spatial orientation of the pipeline in the stuck state.

[0118] Step S503: Determine the nearest connection area based on the intersection of the coordinate line and the target roll.

[0119] The nearest connection area refers to a pre-defined range centered on the junction point and extending along the outer periphery of the target reel. It is used to characterize the area where the pipeline is most likely to become entangled or stuck on the target reel.

[0120] Specifically, the target reel is abstracted in a two-dimensional coordinate system as a circular outline with the central axis of the reel as the center and the outer radius of the reel as the radius. The intersection point of the coordinate line and this circular outline is calculated. This intersection point is the position on the target reel where the pipeline first contacts the outer circumference of the target reel when the pipeline is straightened between the target reel and the cable tray during the rotation of the target reel. Based on this intersection point, the position on the outer circumference of the reel where the intersection point is located is taken as the reference position, and a preset range is extended on both sides of the reference position to serve as the nearest connection area on the target reel.

[0121] Step S504: Obtain the pipeline release speed corresponding to the pipeline release length.

[0122] The pipeline discharge speed is obtained by dividing the length segment within the preset time window by the length corresponding to the preset time window.

[0123] Furthermore, as the pipeline slides within the cable tray of the cable tray, it will cause the pulleys to rotate. The average rotational speed of several pulleys is taken as the pipeline release speed.

[0124] Step S505: Obtain the target time point when the pipeline discharge speed is zero.

[0125] For example, at the current moment, the target drum is releasing the cable in a clockwise direction. Assume the cable is stuck at position A at the bottom of the target drum. As the drum continues to rotate, position A will move towards the nearest connection area. The distance from the nearest connection area to the guide rod is the shortest path. At this time, the cable will continue to be released, and it will still have a certain speed in the cable tray of the cable tray. When position A moves to the nearest connection area, since position A is stuck, the portion of the cable between the nearest connection area and the guide rod will be "straightened." If the target drum continues to rotate, the cable will be rewound. Therefore, when position A reaches the nearest connection area, the speed of the cable in the cable tray of the cable tray is 0. Conversely, if a node occurs where the cable release speed is zero during the cable release process, it indicates that the cable is stuck at that node, and the stuck position is located in the nearest connection area.

[0126] Step S506: Determine the drum rotation state corresponding to the rotation information based on the target time point.

[0127] Based on the target time point when the pipeline discharge speed is zero, this time point is time-aligned with the rotation information of the drum assembly to determine the drum rotation state corresponding to the target time point.

[0128] Specifically, the controller continuously records the rotation information of the target drum during its rotation and adds time stamps to the rotation information. When the target time point when the pipeline release speed is zero is obtained, the controller extracts the rotation record corresponding to the target time point from the recorded rotation information and uses it as the drum rotation state corresponding to the target time point.

[0129] For example, when the system detects that the pipeline release speed becomes zero at time point T0, the controller queries the drum rotation angle corresponding to time point T0 based on the drum rotation information, and uses this angle as the rotation state of the drum when jamming occurs.

[0130] Step S507: Determine the jamming position based on the position of the nearest connection area corresponding to the drum rotation state.

[0131] Since the time point corresponding to the drum's rotation state is the target time point, meaning the pipeline release speed is zero at that time point, and based on the analysis in step S505, when the pipeline release speed is zero, the jamming position of the pipeline has moved to the nearest connection area with the rotation of the target drum, and the pipeline between the nearest connection area and the guide rod is in a straightened or nearly straightened state. In this state, the force on the pipeline on the target drum is concentrated at the position corresponding to the nearest connection area. Therefore, at the drum rotation state corresponding to the target time point, the position of the nearest connection area corresponding to the target drum is the actual jamming position in the pipeline. Accordingly, the position of the nearest connection area corresponding to the drum rotation state is determined as the jamming position.

[0132] Reference Figure 8 The preset jamming release method is executed to release the pipeline from the jammed state, including: Step S601: Obtain the time interval from the current time point to the time point when the judgment is made that the pipeline is stuck in the drum assembly.

[0133] When the system completes the jamming state determination, the time of determination is recorded. Since the drum will not stop rotating immediately when releasing the pipeline even if there is a jamming state, it will rewind a portion of the pipeline when the preset jamming release method is executed. The difference between the current time and the jamming state determination time is calculated to obtain the duration of the pipeline being in a jamming state.

[0134] Step S602: Determine the relative position of the jammed position to the current time point and the pipeline overlap length based on the rotation information and time interval.

[0135] The relative position of the jammed position to the current time point refers to the angular offset of the originally determined jammed position relative to the current outer periphery of the drum while the target drum continues to rotate during the jammed state. In other words, after it is determined that the pipeline is jammed in the drum assembly, the jammed position continues to rotate until the preset jammed release method is executed, and the actual position of the jammed position in the target drum is then determined.

[0136] The pipeline overlap length refers to the length of the pipeline that is wound back around the outer circumference of the drum when the drum continues to rotate and the pipeline cannot be released normally in a stuck state.

[0137] Based on the determined jamming location, and combined with the duration of the jamming state, and using the rotation information of the drum within that time period, the amount of rotation of the drum relative to the jamming location is calculated during that time period. This determines the relative position change of the jamming location relative to the outer periphery of the drum at the current time point. Simultaneously, based on the amount of rotation of the drum during that time period, the overlap length of the pipeline caused by the pipeline rewinding due to the jamming is further calculated.

[0138] Step S603: Control the drum assembly to rotate in the opposite direction according to the relative position and pipeline overlap length, so that the jammed position is located at the preset unjamming position.

[0139] Reverse rotation refers to the rotation of the target drum in the opposite direction to the original rotation direction when jamming occurred, used to unwind the pipeline around the drum's outer circumference. For example, if the drum rotates clockwise when releasing the pipeline, then reverse rotation means the drum rotates counterclockwise.

[0140] The preset unblocking position is a pre-set position. In this embodiment, the preset unblocking position can be set in the nearest connection area, which is a pre-set position area on the outer periphery of the target drum that is suitable for the pipeline to be unblocked. This position is usually an area where the pipeline is subjected to less force, has better guiding conditions, and is easy to untangle.

[0141] Based on the determined relative position of the jammed position at the current time and the pipeline overlap length, the controller calculates the circumferential offset between the jammed position and the preset unjamming position according to the relative position, and determines the required reverse rotation amount in combination with the pipeline overlap length, thereby controlling the target drum to rotate in the reverse direction, so that the jammed position gradually moves towards the preset unjamming position until the jammed position reaches the preset unjamming position.

[0142] Step S604: Lock the reel assembly and secure the pipeline using the cable tray.

[0143] Optionally, the cable tray is equipped with cable clamps to hold the cables in place within the cable tray.

[0144] The pipeline is secured by clamping it in the cable tray.

[0145] Step S605: Control the cable tray to deflect in the preset unblocking direction so that the cable in the stuck position can be released from the stuck state.

[0146] The preset card release direction is a preset direction. In this embodiment, the preset card release direction is the direction in which the card is deflected away from the target drum.

[0147] With the drum assembly locked and the pipeline fixed, the controller sends a deflection control command to the drive mechanism corresponding to the cable tray, causing the cable tray to deflect at an angle around its mounting axis in a preset unblocking direction; this swinging motion changes the outgoing direction of the pipeline in the cable tray groove, thereby changing the direction of force on the pipeline around the drum.

[0148] By deflecting the cable tray, a lateral component is generated in the traction direction of the pipeline on the outer periphery of the target drum, causing the pipeline in the stuck position to gradually detach from the original overlapping, clamping, or squeezing area; under the action of lateral force, the contact state between the pipeline and the outer periphery of the drum is broken, thereby releasing the jam.

[0149] Reference Figure 9 This application provides a method for swinging out of a stuck state, the method comprising: Step S701: During the process of controlling the cable tray to deflect in the preset unblocking direction, the force value of the pipeline is obtained through the guide rod.

[0150] The frame is equipped with a guide rod drive device, which is installed at both ends of the guide rod and used to drive the guide rod to move up and down. This guide rod drive device can be an electric push rod. Force sensors are installed at both ends of the guide rod.

[0151] At this stage, the drum is locked, and the tension value corresponding to the pipeline cannot be obtained through the motor load of the drum motor.

[0152] When the cable tray deflects in the preset release direction, the pipeline will generate a corresponding tension change at the guide rod. The guide rod transmits this tension change to the force sensors at both ends to obtain the force situation of the guide rod. By detecting the force on the guide rod, the force value of the pipeline can be indirectly obtained according to the preset proportional coefficient.

[0153] Step S702: When the force value reaches the first preset force threshold, stop deflecting towards the preset unblocking direction.

[0154] The first preset force threshold refers to the upper limit of force that characterizes the pipeline under a predetermined taut state at the guide rod. This force threshold is used as a criterion for triggering the switch of the cable tray deflection state. This first preset force threshold is not used to determine whether jamming has occurred, but rather to limit the range of force that the cable tray is allowed to apply to the pipeline during the unjamming process, so as to avoid excessive stretching of the pipeline during the unjamming process.

[0155] Once the force value is confirmed to have reached the first preset force threshold, the controller sends a stop command to the hydraulic device of the cable tray, so that the cable tray maintains the current deflection angle and no longer increases the deflection amplitude.

[0156] Step S703: Execute a preset swing action, which includes controlling the cable tray to swing in a preset card release direction at a preset swing frequency.

[0157] The preset oscillation action refers to a method of applying instantaneous disturbance to the pipeline by periodically controlling the reciprocating motion of the cable tray within a small angle range after pausing its continuous deflection towards a preset release direction. The preset oscillation frequency is a control parameter used to limit the number of oscillations of the cable tray per unit time, thereby adjusting the rhythm and intensity of the disturbance applied to the pipeline by the cable tray.

[0158] By periodically oscillating, the pipeline is subjected to alternating forces at the guide rod and jamming position, thereby creating an instantaneous force release and reloading effect in a short time, which weakens the local jamming or entanglement of the pipeline at the jamming position.

[0159] Step S704: Perform a force verification action, which includes: after a preset number of swings, determining whether the force value has decreased and whether the decrease is greater than the preset force reduction value.

[0160] The preset number of swings is a constant that can be adjusted according to actual needs.

[0161] The preset stress reduction value is a threshold used to determine whether the stress on the pipeline has decreased significantly. When the decrease in stress value is greater than this threshold, it indicates that the stress on the pipeline at the stuck position has been effectively released, that is, it has been freed from the stuck state.

[0162] Step S705: If not, determine the downward movement of the guide rod based on the difference between the force value and the second preset force threshold.

[0163] The second preset stress threshold refers to the maximum safe stress that the pipeline can withstand during normal operation and during the unblocking process. This threshold is used to limit the maximum stress that the pipeline is allowed to withstand during the unblocking process, so as to avoid structural damage, fatigue failure or interface failure of the pipeline due to the unblocking operation.

[0164] After calculating the difference between the applied force value and the second preset applied force threshold, the downward displacement corresponding to the difference is obtained according to the preset applied force difference-downward displacement lookup table.

[0165] Step S706: Control the guide rod to move downward according to the downward displacement.

[0166] After obtaining the downward displacement, the guide rod is driven downward by the guide rod drive device, thereby changing the force on the pipeline and making the force value reach the second preset force threshold. On the other hand, after the guide rod moves downward, it can change the exit angle of the pipeline between the target drum and the guide rod, so that the force path of the pipeline at the jammed position is reconstructed.

[0167] Step S707: Execute the preset swing motion and force verification motion again to obtain the judgment result of the force verification motion.

[0168] Repeat steps S703 and S704 to verify that the stuck pipeline has been released from the stuck state.

[0169] Step S708: If the judgment result is negative, generate a pipeline jamming alarm.

[0170] A pipeline jamming alarm is an alarm signal used to indicate that the pipeline is still jammed in the drum assembly and the automatic unblocking process has failed to resolve the jamming. After a pipeline jamming alarm is generated, the operation of the drum motor is paused. The alarm signals the relevant equipment to enter restricted operation and indicates the need for manual intervention.

[0171] Step S709: If the judgment result is yes, determine that the pipeline in the stuck position is out of the stuck state.

[0172] The judgment result is yes, which means that after the guide rod is moved down and the preset swing action and force verification action are performed again, the force on the pipeline decreases significantly and the force reduction value is greater than the preset force reduction value. This indicates that the force constraint at the jamming position has been released. At this time, the pipeline no longer has a local jamming, cross-entanglement or abnormal obstruction at the target drum, and the pipeline can achieve normal winding and unwinding movement with the rotation of the drum assembly.

[0173] Based on the same inventive concept, embodiments of this application provide a pipe winch control system, including: The acquisition module is used to acquire the start signal, motor load, and pipeline extension length. A memory for storing the program for the above-described pipe winch control method; The processor and the program in the memory can be loaded and executed by the processor to implement the above-mentioned oil pipe winch control method.

[0174] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0175] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a pipe winch control method.

[0176] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0177] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a pipe winch control method.

[0178] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0179] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for controlling an oil pipe winch, characterized in that, include: In response to the start signal of the hydraulic pile hammer, the control cable tray is switched from the retracted state to the unfolded state, so that the cable is released from the cable tray groove of the cable tray. The tail end of the cable is wound around the drum assembly, and the front end of the cable is laid on the cable tray groove of the cable tray and connected to the hydraulic pile hammer. The motor load of the drum motor is obtained in real time, and the corresponding real-time tension value of the drum motor is obtained based on the motor load. Obtain the pipeline extension length; Determine the foundation weight of the pipeline based on the length of the pipeline laid out. The real-time tensile force value is compensated based on the base weight to obtain the corrected tensile force value; The control strategy for the drum motor is determined based on the corrected tension value; Adjust the drum motor according to the control strategy.

2. The tubing winch control method according to claim 1, characterized in that, The control strategy for determining the drum motor based on the corrected tension value includes: The corrected tension value is compared with the preset deflection threshold to obtain the tension deflection direction of the corrected tension value, wherein the tension deflection direction is any one of positive deflection, negative deflection, or centering. The change in the rotational speed of the drum motor is determined based on the corrected tension value and the direction of tension deflection. When the direction of the tension deflection is kept in the center, obtain the duration for which the direction of the tension deflection is kept in the center; If the duration exceeds the preset duration, the drum assembly is controlled by the drum motor to perform a winding operation. When the corrected tension value reaches the preset bias detection threshold, the drum assembly is controlled by the drum motor to exit the winding operation.

3. The tubing winch control method according to claim 2, characterized in that, The method further includes: Obtain the rate of change of the corrected tension value within a preset detection window; The deflection direction of the cable tray is determined based on the direction of the tension deflection. The deflection angle level of the cable tray is matched according to the rate of change of tension; The cable tray is deflected according to the deflection direction and deflection angle level.

4. The tubing winch control method according to claim 1, characterized in that, The method further includes: During the process of the drum assembly releasing the pipeline, the rotation information of the drum assembly is acquired in real time; The theoretical length of the pipeline can be obtained based on the rotation information; Determine whether the difference between the theoretical discharge length and the pipeline discharge length is greater than the preset jamming difference; If so, it is determined that the pipeline is stuck in the drum assembly; Obtain the jammed position of the target drum in the drum group, where the target drum refers to the drum in the drum group that is jammed. The preset jamming release method is executed to release the pipeline from the jammed state.

5. The tubing winch control method according to claim 4, characterized in that, A guide rod is provided between the reel assembly and the cable tray for the cable to abut against; the step of obtaining the jamming position of the cable on the target reel in the reel assembly includes: Obtain the position information of the guide rod relative to the target drum; Determine the coordinate line connecting the central axis coordinate of the guide rod to the central axis coordinate of the target drum based on the position information; The nearest connection area is determined by the intersection of the coordinate line and the target drum; Obtain the pipeline deployment speed corresponding to the pipeline deployment length; Obtain the target time point when the pipeline discharge rate is zero; Determine the drum rotation state corresponding to the rotation information based on the target time point; The jamming location is determined based on the position of the most recently connected area corresponding to the drum rotation state.

6. The tubing winch control method according to claim 5, characterized in that, The method of executing a preset jamming release technique to release the pipeline from the jammed position includes: Get the time interval from the current time point to the time point when the judgment is made that the pipeline is stuck in the drum assembly; The relative position of the jamming location to the current time point and the pipeline overlap length are determined based on rotation information and time intervals. The drum assembly is controlled to rotate in the opposite direction based on the relative position and pipeline overlap length, so that the jammed position is located at the preset unjamming position; Lock the reel assembly and secure the pipeline using the cable tray; Control the cable tray to deflect in the preset unblocking direction, so that the pipeline in the stuck position can be released from the stuck state.

7. The tubing winch control method according to claim 6, characterized in that, The method further includes: During the process of controlling the cable tray to deflect in the preset unblocking direction, the force value of the pipeline is obtained through the guide rod; When the force value reaches the first preset force threshold, the deflection towards the preset unblocking direction is stopped; Perform a preset swing action, which includes: controlling the cable tray to swing in a preset unblocking direction at a preset swing frequency; Perform a force verification action, which includes: after a preset number of swings, determine whether the force value has decreased and whether the decrease is greater than the preset force reduction value; If not, the downward movement of the guide rod is determined based on the difference between the applied force value and the second preset applied force threshold. The guide rod moves downward according to the downward displacement; Execute the preset swing motion and force verification motion again, and obtain the judgment result of the force verification motion; If the judgment result is negative, a pipeline jamming alarm is generated; If the judgment result is yes, the pipeline in the stuck position is determined to be freed from the stuck state.

8. A pipe winch control system, characterized in that, The system is used to execute the tubing winch control method as described in any one of claims 1 to 7, including: The acquisition module is used to acquire the start signal, motor load, and pipeline extension length. A memory for storing the program of the tubing winch control method; The processor and the program in the memory can be loaded and executed by the processor to implement the oil pipe winch control method.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The system contains a computer program that can be loaded by a processor and executed as described in any one of claims 1 to 7 for the control of a pipe winch.

Images