CN112761549A

CN112761549A - Monitoring method and device for top drive gearbox, electronic equipment and storage medium

Info

Publication number: CN112761549A
Application number: CN202011585518.8A
Authority: CN
Inventors: 白晓捷; 张磊; 杨决算; 李玉海; 齐悦; 谷玉堂; 于成龙; 马晓伟; 耿晓光; 段立俊; 万征; 贾丽; 董岩; 郑璐
Original assignee: Daqing Petroleum Administration Bureau; China National Petroleum Corp
Current assignee: Daqing Petroleum Administration Bureau; China National Petroleum Corp
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-05-07
Anticipated expiration: 2040-12-29
Also published as: CN112761549B

Abstract

The utility model relates to a monitoring method and device, electronic equipment and storage medium of top drive gear box, relate to top drive gear box technical field, the monitoring method of top drive gear box includes: acquiring a priority level corresponding to the operating parameters of the top drive gearbox; and acquiring the operating parameters of the top drive gearbox in real time based on the priority level to monitor and prompt the top drive gearbox. The embodiment of the disclosure can realize the hierarchical monitoring of the state of the top drive gearbox, and ensure that the top drive gearbox is in a good state in the service life cycle.

Description

Monitoring method and device for top drive gearbox, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of top drive gearboxes, in particular to a monitoring method and device of a top drive gearbox, electronic equipment and a storage medium.

Background

The top drilling driving device is advanced drilling equipment combining mechanical, electrical and hydraulic. In drilling construction, compared with the traditional turntable transmission, the rotary table transmission has obvious advantages and high efficiency. By organically integrating the machine, the electricity and the liquid, the real-time monitoring of output torque, load, the running condition of an electric control system, oil liquid pressure, flow and the like is realized. The existing mature top drive products basically adopt a motor-gear box form to output and transmit power. On the top drive, the gear box is not only a channel for transmitting power, but also a frame of the top drive, and plays a role of bearing up and down, and various motors, auxiliary equipment, pipelines and the like are attached to the surface or the inner side of the gear box. Therefore, the gear box is used as a core component of the top drive and determines whether the top drive can work safely and normally. The existing top drive product is not designed with a monitoring system for a gear box, and along with the development of intelligent and automatic top drive, a user can drive the improvement of the requirement on the top, and the real-time monitoring of the state of the top drive gear box can be realized.

Meanwhile, the existing top driving force and control transmission system adopts a moving cable mode of dragging a power cable and a multi-core control cable. The environment of a top drive use place is severe, and the moving cable is not only required to bear the influence of severe natural environments such as high-temperature insolation, severe cold freezing and the like, but also required to bear the adverse influence of working conditions such as repeated bending, dragging and overflow of drilling fluid corrosion. The occurrence of the conditions such as the damage of a cable protective layer, the breakage of a cable, the disconnection and the like is easy to occur. The field repair and replacement are difficult, and particularly the field repair of the multi-core control cable is more difficult. And with the development of top drive towards the full automation direction, the core number of the multi-core control cable can not well meet the requirements of monitoring and controlling hundreds of drilling parameters.

Meanwhile, for the above reasons, how to receive the acquisition signal and the control signal of the top drive is also a very critical issue, and particularly in a severe environment, a stable and durable control method is needed to better receive the acquisition signal and the control signal of the top drive.

Disclosure of Invention

The disclosure provides a monitoring method and device for a top drive gearbox, electronic equipment and a storage medium technical scheme.

According to an aspect of the present disclosure, there is provided a monitoring method of a top drive gearbox, including:

acquiring a priority level corresponding to the operating parameters of the top drive gearbox;

and acquiring the operating parameters of the top drive gearbox in real time based on the priority level to monitor and prompt the top drive gearbox.

Preferably, the operating parameters of the top drive gearbox include:

acquiring a first load and a stress state of a positioning sleeve in a top drive gearbox, a second load and a stress state of the second load borne by a box cover and a box body, first information corresponding to a transmission shafting, second information corresponding to an output shafting and oil related information corresponding to a lubricating system in real time;

and/or, before the priority level corresponding to the operating parameter of the top drive gearbox is obtained, determining a set priority level, wherein the method comprises the following steps:

determining the first load of the positioning sleeve and the level corresponding to the stress state of the positioning sleeve as a first priority level;

determining the level corresponding to the first information corresponding to the transmission shafting and the second information corresponding to the output shafting as a second priority level;

and determining the second load born by the box cover and the box body, the stress state of the second load and the level corresponding to the oil related information corresponding to the lubricating system as a third priority level.

Preferably, the method for monitoring and prompting the top drive gearbox by acquiring the operating parameters of the top drive gearbox in real time based on the priority comprises the following steps:

acquiring operation parameters corresponding to a first priority level in the priority levels in real time, and controlling the top drive gearbox to stop if the operation parameters corresponding to the first priority level in the priority levels meet a stop condition;

if the operating parameters corresponding to the first priority in the priority levels do not meet the shutdown condition, acquiring the operating parameters corresponding to the second priority and the operating parameters corresponding to the first priority in real time, and if the operating parameters corresponding to the second priority meet the alarm condition, controlling the top drive gearbox to give a corresponding alarm;

and if the operating parameters corresponding to the second priority level do not meet the alarm conditions, acquiring the operating parameters corresponding to a third priority level, the operating parameters corresponding to the second priority level and the operating parameters corresponding to the first priority level in real time, and if the operating parameters corresponding to the third priority level meet the early warning conditions, controlling the top drive gear box to perform corresponding early warning.

Preferably, the monitoring method further includes:

acquiring a set position of a top drive gear box;

the top drive gear box is driven to slide on the guide rail according to the set position,

acquiring a position signal corresponding to a first communication unit of the top drive gearbox in real time;

and adjusting the position of the tracking antenna according to the position signal, so that the tracking antenna receives the operation parameters sent by the first communication unit in real time and/or the first communication unit receives the control signal sent by the tracking antenna in real time.

Preferably, the method for adjusting the orientation of the tracking antenna according to the position signal comprises:

acquiring a horizontal distance between the adjusting tracking antenna and the top drive gear box in the horizontal direction and a first height from the receiving distance of the tracking antenna to the ground;

determining a height difference between the tracking antenna and the top drive gearbox according to the first height and a second height from the ground in the position signal;

and determining an azimuth adjusting signal of the tracking antenna according to the horizontal distance and the height difference, and adjusting the azimuth of the tracking antenna according to the azimuth adjusting signal.

Preferably, the method of adjusting the orientation of the tracking antenna according to the orientation adjustment signal includes:

and controlling the tracking antenna to rotate on a horizontal plane according to the horizontal angle in the azimuth adjusting signal, and controlling the tracking antenna to rotate according to the pitching angle in the azimuth adjusting signal.

Preferably, after the adjusting the orientation of the tracking antenna according to the position signal, the method further includes:

acquiring a preset transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna;

acquiring actual transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna in real time;

if the actual transmitting/receiving frequency is less than the preset transmitting/receiving frequency, increasing the power of the first communication unit or the tracking antenna;

and/or the method for driving the top drive gearbox to slide on the guide rail according to the set position comprises the following steps:

acquiring a decoding vector corresponding to a position signal when the measurement output of the top drive gearbox is abnormal;

determining a gain corresponding to a controller based on the decoding vector;

obtaining a decoding vector corresponding to the azimuth information at the second moment according to the controller and the decoding vector corresponding to the azimuth information at the first moment;

and the controller drives the top drive gearbox to slide on the guide rail based on the decoding vector corresponding to the azimuth information at the second moment.

According to an aspect of the present disclosure, there is provided a monitoring device for a top drive gearbox, comprising:

the acquiring unit is used for acquiring the priority level corresponding to the operating parameter of the top drive gearbox;

and the monitoring unit is used for acquiring the operating parameters of the top drive gearbox in real time based on the priority level to monitor and prompt the top drive gearbox.

According to an aspect of the present disclosure, there is provided an electronic device including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to: the monitoring method described above is performed.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above monitoring method.

In the embodiment of the disclosure, the hierarchical monitoring of the state of the top drive gearbox can be realized by utilizing the priority level corresponding to the operating parameter of the top drive gearbox, and the top drive gearbox is ensured to be in a good state in the service life cycle, so that the problems of safety and service life caused by the fact that the top drive gearbox cannot be well monitored in the past are solved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 illustrates a flow chart of a method of monitoring a top drive gearbox according to an embodiment of the present disclosure;

FIG. 2 shows a schematic view of the installation of a top drive gearbox according to an embodiment of the present disclosure;

FIG. 3 illustrates a cross-sectional view of a top drive body looking down according to an embodiment of the present disclosure;

fig. 4 shows a detailed structural schematic diagram of a current collection mechanism according to an embodiment of the present disclosure;

FIG. 5 is a block diagram illustrating an electronic device 800 in accordance with an exemplary embodiment;

fig. 6 is a block diagram illustrating an electronic device 1900 according to an example embodiment.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted.

In addition, the present disclosure also provides a control device, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any one of the control methods provided by the present disclosure, and the descriptions and corresponding descriptions of the corresponding technical solutions and the corresponding descriptions of the method portions are omitted for brevity.

The basic structural form of the top drive gear box can be roughly divided into: the box cover, the box body and the positioning sleeve are fixed parts; the transmission shaft system and the output shaft system are moving parts; gear oil pump lubricating system. The invention optimizes the structure design, installs corresponding sensors on each part, arranges data transmission line grooves in the box cover and the box body, and realizes the measurement of the top drive gearbox.

Fig. 1 shows a flow chart of a monitoring method of a top drive gearbox according to an embodiment of the present disclosure, which, as shown in fig. 1, includes: step S101: acquiring a priority level corresponding to the operating parameters of the top drive gearbox; step S102: and acquiring the operating parameters of the top drive gearbox in real time based on the priority level to monitor and early warn the top drive gearbox. The method and the device can utilize the priority level corresponding to the operating parameter of the top drive gearbox to realize the hierarchical monitoring of the state of the top drive gearbox and ensure that the gearbox is in a good state in the service life cycle.

Step S101: and acquiring the priority level corresponding to the operating parameters of the top drive gearbox.

In the present disclosure, the operating parameters of the top drive gearbox include: the method comprises the steps of collecting a first load and a stress state of a locating sleeve in a top drive gearbox, a second load and a stress state of the second load borne by a box cover and a box body, first information corresponding to a transmission shafting, second information corresponding to an output shafting and oil related information corresponding to a lubricating system in real time.

In this disclosure, before obtaining the priority level corresponding to the operating parameter of the top drive gearbox, it is necessary to determine a set priority level, and the method includes: determining the first load of the positioning sleeve and the level corresponding to the stress state of the positioning sleeve as a first priority level; determining the level corresponding to the first information corresponding to the transmission shafting and the second information corresponding to the output shafting as a second priority level; and determining the second load born by the box cover and the box body, the stress state of the second load and the level corresponding to the oil related information corresponding to the lubricating system as a third priority level.

In an embodiment of the present disclosure, the first information corresponding to the transmission shafting includes: monitoring first information corresponding to a shaft, a gear, a bearing and a transmission shaft system, and comprising: monitoring torque signals, temperature signals and vibration signals corresponding to a shaft, a gear and a bearing; the monitoring shaft, the gear and the bearing are respectively provided with a torque sensor, a temperature sensor and a vibration sensor, and first information corresponding to the transmission shaft system can be measured through the torque sensor, the temperature sensor and the vibration sensor.

In this embodiment of the present disclosure, the outputting the second information corresponding to the shafting includes: the load signal, the torque signal, the temperature signal and the vibration signal of the output shaft can be used for measuring second information corresponding to the output shaft system by arranging the load sensor, the torque sensor, the temperature sensor and the vibration sensor on the output shaft.

In the disclosed embodiment, the oil related information corresponding to the lubrication system includes: the pressure signal, the flow signal, the temperature signal and the oil quality signal are arranged in the lubricating system, and the working state and the effect of the lubricating system are monitored in real time by arranging a pressure sensor, a flow sensor and a temperature and oil quality sensor in the lubricating system.

In this disclosure, the method for monitoring and early warning the top drive gearbox by acquiring the operating parameters of the top drive gearbox in real time based on the priority level includes: acquiring operation parameters corresponding to a first priority level in the priority levels in real time, and controlling the top drive gearbox to stop if the operation parameters corresponding to the first priority level in the priority levels meet a stop condition; if the operating parameters corresponding to the first priority in the priority levels do not meet the shutdown conditions, acquiring the operating parameters corresponding to the second priority and the operating parameters corresponding to the first priority in real time, and if the operating parameters corresponding to the second priority meet the alarm conditions and do not meet the shutdown conditions, controlling the top drive gearbox to give corresponding alarms; and if the operating parameters corresponding to the second priority level do not meet the alarm condition, acquiring the operating parameters corresponding to a third priority level, the operating parameters corresponding to the second priority level and the operating parameters corresponding to the first priority level in real time, and if the operating parameters corresponding to the third priority level meet the early warning condition and do not meet the shutdown condition and do not meet the alarm condition, controlling the top drive gear box to perform corresponding early warning.

In an embodiment of the present disclosure, a method for determining that an operating parameter corresponding to a first priority level in the priority levels meets a shutdown condition includes: detecting a first load and a stress state of the positioning sleeve; if the first load and the stress state of the positioning sleeve are greater than or equal to a first set load and a set stress state of the first set load, judging that the operating parameters corresponding to a first priority level in the priority levels meet shutdown conditions; and if the first load and the stress state of the positioning sleeve are smaller than the first set load and the set stress state of the positioning sleeve, judging that the operation parameters corresponding to the first priority in the priority levels do not meet the shutdown condition.

In an embodiment of the present disclosure, a method for determining that an operating parameter corresponding to the second priority level meets an alarm condition includes: simultaneously detecting first information corresponding to the transmission shafting and second information corresponding to the output shafting; if any one of the first information or the second information is larger than or equal to the first information, the second information and a corresponding set value, judging that the operating parameter corresponding to the second priority level meets an alarm condition; and if any one of the first information and the second information is smaller than the first information, the second information and the corresponding set value, judging that the operation parameter corresponding to the second priority level does not meet the alarm condition. The values of the first information, the second information and the corresponding set value may be different even under the same operating parameter, for example, the set value corresponding to the temperature signal in the first information may be 350 ℃, and the set value corresponding to the temperature signal in the second information may be 380 ℃.

In an embodiment of the present disclosure, a method for determining that an operating parameter corresponding to the third priority level meets an early warning condition includes: simultaneously detecting a second load borne by the box cover and the box body, the stress state of the second load and oil related information corresponding to the lubricating system; if the second load and the stress state thereof and the oil-related information corresponding to the lubricating system are greater than or equal to any information of the box cover and the box body or any information of the box cover and the box body is greater than or equal to a corresponding set value, judging if the operating parameters corresponding to the third priority level meet early warning conditions; and if the second load, the stress state of the second load and the oil-related information corresponding to the lubricating system are greater than or equal to any information of the box cover and the box body or any information of the box cover and the box body is less than a corresponding set value, judging that the operation parameters corresponding to the third priority level do not meet the early warning condition.

In an embodiment of the present disclosure, the monitoring method further includes: acquiring a set position of a top drive gear box; driving the top drive gearbox to slide on the guide rail according to the set position, and acquiring a position signal corresponding to a first communication unit of the top drive gearbox in real time; and adjusting the position of the tracking antenna according to the position signal, so that the tracking antenna receives the operation parameters sent by the first communication unit in real time and/or the first communication unit receives the control signal sent by the tracking antenna in real time. The first communication unit is in wireless communication with the tracking antenna, communication failure caused by cable problems is avoided, the position of the tracking antenna is adjusted in real time, the collected signals and the control signals of the top drive gearbox can be safely and effectively received, particularly, the collected signals and the control signals of the top drive gearbox can be better received under the severe environment, and stability and accuracy of transmission of the operation parameters and/or the control signals are improved. The problem that the transmission of the acquisition signals of the existing top drive gearbox and the receiving of the control signals are invalid is solved.

And acquiring the set position of the top drive gearbox.

The top drive gearbox can be provided with a receiver, the receiver is matched with a remote controller through signals, and the receiver can receive signals corresponding to the set position from the remote controller. For example, the set position may be 10 meters, 20 meters, etc. from the ground.

Step S102: and driving the top drive gear box to slide on the guide rail according to the set position, and acquiring a position signal corresponding to a first communication unit of the top drive gear box in real time. The position signal transmitter can be arranged on the first communication unit and can realize real-time acquisition of the position signal corresponding to the first communication unit of the top drive gearbox.

In the disclosure, the method for driving the top drive gearbox to slide on the guide rail according to the set position comprises the following steps: acquiring a decoding vector corresponding to a position signal when the measurement output of the top drive gearbox is abnormal; determining a gain corresponding to a controller based on the decoding vector; obtaining a decoding vector corresponding to the azimuth information at the second moment according to the controller and the decoding vector corresponding to the azimuth information at the first moment; and the controller drives the top drive gearbox to slide on the guide rail based on the decoding vector corresponding to the azimuth information at the second moment. The problem that the top drive gearbox slides on the guide rail when the sensor generates an abnormal value is solved. The first time is a time before the second time, for example: the first moment was 9 a.m.: 00, the second moment is 9 a.m.: 01.

according to the method and the device, after the gain corresponding to the controller is determined, the controller can obtain the decoding vector corresponding to the azimuth information at the second moment according to the decoding vector corresponding to the azimuth information at the first moment, and the top drive gearbox moves based on the decoding vector corresponding to the azimuth information at the second moment. The method introduces the encoding and decoding communication protocol, so that no real data can be obtained even if the data is stolen in the transmission process, and the phenomenon of unsafe data is effectively avoided.

In an embodiment of the present disclosure, the method for determining a corresponding gain of a controller based on the decoding vector includes: acquiring a mathematical model corresponding to the angle and the position of the top drive gearbox and a measurement output abnormal vector of a sensor in the mathematical model; determining a state observer according to the mathematical model and the measurement output abnormal vector, and determining an intermediate state vector according to a decoder; determining a coding vector according to the estimation vector of the state observer and the intermediate state vector; decoding the coding vector to obtain a decoding vector; determining a controller of the top drive gearbox according to the decoding vector and a state observation model of the mathematical model, and solving the gain of the controller; wherein the orientation information comprises at least a position and/or a velocity.

In an embodiment of the present disclosure, before the obtaining of the mathematical model corresponding to the angle and the position of the controlled object, the determining of the mathematical model includes: acquiring an environmental interference vector of the top drive gearbox, a control input vector of a driving mechanism and a vector corresponding to azimuth information; and determining the mathematical model based on the environmental interference vector, the control input vector of the driving mechanism and the vector corresponding to the orientation information.

For example, the position and speed measurement information of the top drive gearbox in three different degrees of freedom can be measured in real time through a position sensor and a speed sensor, the position and speed measurement information in three different degrees of freedom is a vector corresponding to the azimuth information, the environmental interference vector of the top drive gearbox is an environmental interference force (a nonlinear external disturbance signal) such as wind, the control input vector of the driving mechanism is a control input signal (vector), and the mathematical model is determined based on the environmental interference vector, the control input vector of the driving mechanism and the vector corresponding to the azimuth information.

In an embodiment of the present disclosure, the mathematical model includes: a state observation model and a sensor measurement output model; the state observation model is used for determining the azimuth information at the K +1 moment according to the disturbance component at the K moment, the control input vector of the driving mechanism and the azimuth information; and the sensor measurement output model is used for measuring the measurement output corresponding to the orientation information at the moment K.

In an embodiment of the present disclosure, the method for determining the state observation model includes: determining a nonlinear external disturbance function corresponding to the environmental interference vector, and determining a disturbance component at the K moment according to a vector corresponding to the azimuth information at the K moment and the nonlinear external disturbance function; determining a coefficient matrix of the state observation model according to the disturbance component at the moment K, the control input vector and the azimuth information of the driving mechanism and the azimuth information at the moment K + 1; and determining the state observation model based on the coefficient matrix, the corresponding disturbance component at the K moment, the control input vector of the driving mechanism and the orientation information. Specifically, a linear regression may be performed on the environmental interference vector to obtain a non-linear external disturbance function corresponding to the environmental interference vector. Similarly, linear regression can be performed on the disturbance component at the time K, the control input vector and the orientation information of the driving mechanism, and the orientation information at the time K +1, so as to determine the coefficient matrix of the state observation model.

In an embodiment of the present disclosure, the method of determining a state observer from the mathematical model and the measurement output anomaly vector includes: obtaining the measurement output abnormal vector, and determining a saturation function according to the measurement output abnormal vector; and determining the state observer according to the saturation function and a state observation model of the mathematical model.

In the embodiment of the present disclosure, the measurement output of the mathematical model and the sensor that may occur is greater than or equal to the set value (vector), and is considered to be a measurement output abnormal value (vector). For example,

if the value is greater than or equal to the set value (vector), the measurement output abnormal value (vector) is considered.

In an embodiment of the present disclosure, the method for determining an intermediate state vector according to a decoder includes: and obtaining an intermediate state vector at the moment according to the state observation model of the mathematical model and the decoding vector at the last decoding moment of the decoder.

In an embodiment of the disclosure, the method of determining a code vector from the estimated vector of the state observer and the intermediate state vector comprises: and determining a coding vector according to the difference value of the estimation vector and the intermediate state vector at the same coding moment.

In an embodiment of the present disclosure, the method of determining a saturation function from the measurement output anomaly vector includes: acquiring a set maximum value vector corresponding to the measurement output abnormal vector; determining an absolute value of the measurement output anomaly vector; and determining the size of a saturation function according to the absolute value and the corresponding set maximum value vector thereof, and determining the sign of the saturation function according to the measurement output abnormal vector.

The method for determining the size of the saturation function according to the absolute value and the set maximum value vector corresponding to the absolute value is that the minimum value of the absolute value and the set maximum value vector corresponding to the absolute value is taken to determine the size of the saturation function.

In an embodiment of the present disclosure, the method for decoding the encoded vector to obtain a decoded vector includes: obtaining a plurality of code words according to the coding vector, and determining a plurality of central points of corresponding hyper-rectangles of the code words; and respectively decoding the corresponding code words according to the plurality of central points to obtain the decoding vectors.

In an embodiment of the present disclosure, the method for determining a controller of the top drive gearbox according to the decoded vector and a state observation model of the mathematical model and solving a gain of the controller includes: determining, from the decoded vector, a controller in the top drive gearbox that has a gain to be determined for a drive mechanism; determining a mathematical model corresponding to the closed-loop form of the top drive gearbox based on a state observation model controller of the mathematical model; and determining a gain matrix according to the mathematical model corresponding to the closed-loop form and the input-state stability index, and solving the gain to be determined according to the gain matrix to obtain the gain of the controller.

Step S103: and adjusting the position of the tracking antenna according to the position signal, so that the tracking antenna receives the operation parameters sent by the first communication unit in real time and/or the first communication unit receives the control signal sent by the tracking antenna in real time.

In the disclosure, the method of adjusting the azimuth of the tracking antenna according to the position signal includes: acquiring a horizontal distance between the adjusting tracking antenna and the top drive gear box in the horizontal direction and a first height from the receiving distance of the tracking antenna to the ground; determining a height difference between the tracking antenna and the top drive gearbox according to the first height and a second height from the ground in the position signal; and determining an azimuth adjusting signal of the tracking antenna according to the horizontal distance and the height difference, and adjusting the azimuth of the tracking antenna according to the azimuth adjusting signal.

In an embodiment of the present disclosure, the pitch angle in the orientation of the tracking antenna may be determined based on a height difference of the tracking antenna and the top drive gearbox and a horizontal distance of the adjustment tracking antenna and the top drive gearbox in a horizontal direction.

Specifically, the height difference and the horizontal distance satisfy the pythagorean theorem of a right triangle, and the hypotenuse of the right triangle is the pitch angle in the azimuth of the tracking antenna.

In the present disclosure, the method of adjusting the azimuth of the tracking antenna according to the azimuth adjustment signal includes: controlling the tracking antenna to rotate on a horizontal plane according to the horizontal angle in the azimuth adjusting signal; and controlling the tracking antenna to rotate according to the pitching angle in the azimuth adjusting signal. The tracking antenna enables the antenna surface of the tracking antenna to face the first communication unit through rotation of the horizontal angle and the pitching angle, so that the tracking antenna can better receive the operation parameters sent by the first communication unit in real time and/or the first communication unit can receive the control signals sent by the tracking antenna in real time.

In this disclosure, after the adjusting the orientation of the tracking antenna according to the position signal, the method further includes: acquiring a preset transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna; acquiring actual transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna in real time; if the actual transmitting/receiving frequency is less than the preset transmitting/receiving frequency, the power of the first communication unit or the tracking antenna is increased.

For example, the preset transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna is set to 5HZ, that is, the operation parameters and/or the control signals can be received 5 times per second. When the first communication unit is set to be in a receiving state, the first communication can receive the control signal for 5 times in a single second; when the first communication unit is set to the transmission state, the tracking antenna can receive the operation parameters 5 times a second.

In this disclosure, after the power of the first communication unit or the tracking antenna is increased to the maximum power, if the actual transmitting/receiving frequency is still less than the preset transmitting/receiving frequency, the top drive gear box controls the corresponding alarm mechanism to give an alarm.

In this disclosure, after the power of the first communication unit or the tracking antenna is increased to the maximum power, if the actual transmitting/receiving frequency is still less than the preset transmitting/receiving frequency, a fine-tuning azimuth signal is obtained; the tracking antenna finely adjusts the azimuth according to the fine-tuning azimuth signal; after the azimuth is finely adjusted, if the actual transmitting/receiving frequency is still smaller than the preset transmitting/receiving frequency, the top drive gear box controls a corresponding alarm mechanism to give an alarm.

In an embodiment of the present disclosure, the fine tuning azimuth signal includes: the step length and the corresponding step number are adjusted in the horizontal direction, and the step length and the corresponding step number are adjusted in the vertical direction. And when the tracking antenna finely adjusts the azimuth according to the fine adjustment azimuth signal, the tracking antenna adjusts the azimuth according to the horizontal direction adjustment step length and the corresponding step number as well as the vertical direction adjustment step length and the corresponding step number, and if the actual sending/receiving frequency is equal to the preset sending/receiving frequency, the adjustment is stopped. The fine adjustment may be a combination of left-up, left-down, right-up, and right-up asynchronism, and the fine adjustment is stopped until the actual transmitting/receiving frequency is equal to the preset transmitting/receiving frequency.

For example, the tracking antenna may be adjusted by one step at the right side in the horizontal direction according to the horizontal direction adjustment step size, and may be adjusted by one step at the vertical direction upward, and so on; and stopping the adjustment until the actual transmitting/receiving frequency is equal to the preset transmitting/receiving frequency.

In this disclosure, after the power of the first communication unit or the tracking antenna is increased to the maximum power, if the actual transmitting/receiving frequency is still less than the preset transmitting/receiving frequency; or, after the power of the first communication unit or the tracking antenna is increased to the maximum power, if the actual transmitting/receiving frequency is still less than the preset transmitting/receiving frequency, obtaining a fine-tuning azimuth signal; the tracking antenna finely adjusts the azimuth according to the fine-tuning azimuth signal; after the azimuth is finely adjusted, if the actual sending/receiving frequency is still less than the preset sending/receiving frequency; establishing communication between the first communication unit and a second communication unit of a derrick where the top drive gearbox is located; the second communication unit is connected with an electric control room through an information transmission cable, and the electric control room stores the operation parameters sent by the first communication unit through the second communication unit or forwards the control signals sent by the tracking antenna to the first communication unit through the second communication unit.

If the second communication unit fails to communicate with the electric control room, establishing connection between the second communication unit and the tracking antenna; the second communication unit is used for forwarding the operation parameters sent by the first communication unit to the tracking antenna and/or forwarding the control signals sent by the tracking antenna to the first communication unit through the second communication unit.

The main body of the control method may be a control apparatus, for example, the control method may be executed by a terminal device or a server or other processing device, where the terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, or the like. In some possible implementations, the control method may be implemented by a processor calling computer readable instructions stored in a memory. "

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

The top drive gearbox control device comprises: the acquisition unit is used for acquiring the set position of the top drive gearbox; the acquisition unit is used for driving the top drive gear box to slide on the guide rail according to the set position and acquiring a position signal corresponding to a first communication unit of the top drive gear box in real time; and the adjusting unit is used for adjusting the position of the tracking antenna according to the position signal, so that the tracking antenna receives the operation parameters sent by the first communication unit in real time and/or the first communication unit receives the control signal sent by the tracking antenna in real time.

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

FIG. 2 shows a schematic diagram of a top drive gearbox control system according to an embodiment of the present disclosure; FIG. 3 illustrates a cross-sectional view of a top drive body looking down according to an embodiment of the present disclosure; fig. 4 shows a specific structural schematic diagram of a current collecting mechanism according to an embodiment of the present disclosure. In fig. 2-4, a top drive gearbox control system, comprising: a control unit capable of executing the control method of the top drive gearbox or the control device of the top drive gearbox; and, a drilling rig substructure 1; a derrick 2 is installed on the drilling rig base 1, a guide rail 3 is arranged on the derrick 2, a slidable top drive gear box 4 is arranged on the guide rail 3, the top drive gear box 4 is provided with the first communication unit, and a second communication unit is arranged on the derrick 2; a power transmission cable 6 is arranged on the inner side of the guide rail 3, the top drive gear box 4 is in contact connection with the power transmission cable 6, the power transmission cable 6 is connected with a driving mechanism of the top drive gear box 4, and the driving mechanism is used for driving the top drive gear box to slide on the guide rail according to the set position; if the first communication unit fails to communicate with the tracking antenna, establishing communication between the first communication unit and a second communication unit of the derrick 2 where the top drive gearbox 4 is located; the second communication unit is connected with an electric control room 7 through an information transmission cable 5, and the electric control room 7 stores the operation parameters sent by the first communication unit through the second communication unit or forwards the control signals sent by the tracking antenna to the first communication unit through the second communication unit; if the second communication unit fails to communicate with the electronic control room 7, establishing connection between the second communication unit and the tracking antenna; the second communication unit is used for forwarding the operation parameters sent by the first communication unit to the tracking antenna and/or forwarding the control signals sent by the tracking antenna to the first communication unit through the second communication unit.

In the embodiment of the present disclosure, a power transmission cable 6 is disposed on the inner side of the guide rail 3, the top drive gear box 4 is in contact connection with the power transmission cable 6, the power transmission cable 6 is connected with a driving mechanism of the top drive gear box 4, and the driving mechanism is configured to drive the top drive gear box to slide on the guide rail according to the set position, so as to achieve uninterrupted power supply during the vertical movement of the top drive gear box, and achieve the purpose of removing a dragging cable. The drag-free cable mode for power transmission and operation parameter and/or control signal transmission of the top drive gearbox is realized. The system adopts the mode that the power supply line penetrates through the guide rail, the radio transceiving antenna (second communication unit) and the top drive gear box body pulley are arranged in the power supply line, and the contact and the radio transceiving antenna (first communication unit) are arranged, so that the problems of easy breakage and easy disconnection of a cable joint of a moving cable are fundamentally solved, the influence of adverse external conditions on the cable and the problem of insufficient information transmission wire cores are reduced, meanwhile, the external signal interference is reduced, and the stability and the accuracy of operation parameters and/or control signal transmission are improved.

In an embodiment of the present disclosure, a method for determining a communication failure between the first communication unit and the tracking antenna includes: acquiring a preset transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna; acquiring actual transmitting/receiving frequency corresponding to the first communication unit or the tracking antenna in real time; if the actual transmitting/receiving frequency is less than the preset transmitting/receiving frequency, increasing the power of the first communication unit or the tracking antenna; after the power of the first communication unit or the tracking antenna is increased to the maximum power, if the actual sending/receiving frequency is still smaller than the preset sending/receiving frequency, it is determined that the first communication unit fails to communicate with the tracking antenna.

Or, after the power of the first communication unit or the tracking antenna is increased to the maximum power, if the actual transmitting/receiving frequency is still less than the preset transmitting/receiving frequency, obtaining a fine-tuning azimuth signal; the tracking antenna finely adjusts the azimuth according to the fine-tuning azimuth signal; after the azimuth is finely adjusted, if the actual sending/receiving frequency is still less than the preset sending/receiving frequency, it is determined that the first communication unit fails to communicate with the tracking antenna.

In the disclosed embodiment, in the present disclosure, the top drive gearbox 4 includes: a top drive gearbox body; the top drive gearbox main body is provided with a driving mechanism 9, a sliding mechanism, a current collecting mechanism, a first communication unit and an information processing unit 19; the current collecting mechanism slides on the guide rail 3 along with the sliding mechanism of the top drive gearbox main body, and the driving mechanism 9 is connected with the current collecting mechanism; the first communication unit is connected to the information processing unit 19, and the information processing unit 19 is configured to store the operation parameters sent by the first communication unit and/or process the control signal sent by the tracking antenna in real time.

In an embodiment of the present disclosure, the sliding mechanism includes: a pulley 10 and a pulley roller 11; the pulley rollers 11 are arranged on the inner side of the pulley 10 and are connected with the outer side of the guide rail 3 in a sliding way; the number of the pulley rollers 11 is 6, and every three pulleys are respectively arranged at two ends of the inner side of the pulley 10.

In an embodiment of the present disclosure, the current collecting mechanism includes: a collector support 14, wherein one side of the collector support 14 is provided with a collector connecting plate, a trolley wire 15 is arranged on the collector connecting plate, and a collector contact 20 is arranged in the trolley wire 15; the other side of the collector support 14 is connected to the driving mechanism 9 to supply power to the driving mechanism 9. The outside of the current collection mechanism is also provided with a trolley wire guide rail shell 13.

In the disclosed embodiment, the first communication unit is a wireless communication component 18, such as a transceiver antenna. The information processing unit 19 may be a conventional controller such as a CPU, a single chip microcomputer, or a PLC. The outside of the first communication unit has a housing 17, for example a radio antenna track housing.

Meanwhile, the guide rail 3 has a rail connecting lug 16, and the guide rail 3 is fixed to the derrick 2 by the rail connecting lug 16.

Specifically, in the embodiment of the disclosure, after being led out from the electric control room 7, the power cable 9 is led out to the position above the drilling machine base 1 along the cable bridge, and the guide rail is led in at the bottom of the guide rail 3 to be connected with the trolley line 15. The collector support 14 is provided at its front end with a collector contact 20 which is in contact with the trolley wire 15, thereby achieving continuous transmission of the motive power. The other end of the current collector bracket 14 is connected to the pulley 10, and the connection with a distribution box or a motor 9 arranged on the top drive gear box 4 is realized by arranging an electric wire in a cable channel on the pulley 10, so that the conduction from a power source to a power machine is realized. The information transmission cable 5 is led out from the electric control room 7, is led to the top of the guide rail 3 upwards along the outer side of the derrick 2, and is led into a fixed transceiving antenna (a second communication unit) arranged in the guide rail at the top of the guide rail 3. Another transceiver antenna (wireless communication unit 18, or first communication unit) is fixed to the trolley 10 and is connected through it to an information processing unit 19 disposed on the top drive gearbox 4. Information transmission is realized between the fixed transceiving antenna inside the guide rail and the other transceiving antenna (the wireless communication component 18, or the first communication unit) of the transceiving antenna. The information processing unit 19 collects and distributes information of various sensors and controllers provided on the top drive gearbox 4 body. Meanwhile, information transmission between the tracking antenna 8 and another transmitting and receiving antenna (the wireless communication component 18, or the first communication unit) can also be realized. The main and standby settings of information transmission are controlled by the soft and hard systems in the electric control room 7. A trolley wire guide rail housing 13 and a housing 17 are provided on the left and right sides of the rear side of the guide rail body 12 of the guide rail 3. The inside and outside of the sliding contact line guide rail shell 13 are insulated, and the wireless antenna guide rail shell 17 is provided with a shielding layer and an insulating layer. The dolly 10 moves up and down along the rail body 12 to effect movement of the collector bracket 14 and the transceiver antenna 18 within the trolley wire rail housing 13 and the wireless antenna rail housing 17.

In the present disclosure, a specially designed trolley wire 15 is arranged in the guide rail 3, a power supply connection with the power transmission cable 6 is led out at a proper position of the guide rail, a current collector bracket 14 is arranged on the pulley 10 and is in contact with the trolley wire 15, and the current collector bracket 14 is led to the top drive gearbox electric equipment or the distribution box along the pulley through a lead wire. Therefore, uninterrupted power supply in the up-and-down movement process of the top drive gear box is realized, and the purpose of removing a dragging cable is achieved.

In the present disclosure, a wireless transceiver (second communication unit) is designed at the inner top end of the guide rail 3, and is led to the outside of the guide rail through a lead wire and connected with the electric control room 7. Meanwhile, a tracking antenna 8 with the direction capable of being automatically adjusted is arranged at the top of the electric control room 7. An antenna (first communication unit) extending into the guide rail and remaining outside is arranged on the pulley 10, and the other end of the antenna (first communication unit) is led to a signal processing unit 19 on the top drive gearbox body along the pulley 10. Therefore, the information is transmitted in a wireless transmission mode. The tracking antenna 8 of the electric control room is connected with the inside of the guide rail, so that the two paths of signals are transmitted and received, mutually backup and carry out information wireless transmission verification. In use, one path (the first communication unit and the tracking antenna 8) is selected to be a communication unit of the operation parameter, and the other path can only receive the control signal and can be switched between two paths according to requirements, or one path simultaneously executes the transmission and the reception of the operation parameter or the transmission and the reception of the control signal. An antenna (first communication unit) is designed in the guide rail 3, and the guide rail 3 can be used as a shielding layer of harmful signals, so that signal transmission loss is reduced. The double-channel information transmission mechanism improves the stability, reliability and accuracy of information transmission. The guide rail 3 is in a specially designed cross section form, and the guide rail 3 is divided into three functional areas which are respectively used for arranging a safety sliding contact line (current collection mechanism), an information receiving and transmitting antenna (second communication unit) and a guide sliding rail. The design of the guide rail organically integrates the three functional areas, but the three functional areas are mutually independent in function and do not influence each other, and meanwhile, the mounting and dismounting workload of the guide rail is not increased.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured as the above method. The electronic device may be provided as a terminal, server, or other form of device.

Fig. 5 is a block diagram illustrating an electronic device 800 in accordance with an example embodiment. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

Fig. 6 is a block diagram illustrating an electronic device 1900 according to an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 6, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method of monitoring a top drive gearbox, comprising:

2. The monitoring method of claim 1, wherein the operating parameters of the top drive gearbox comprise:

3. The monitoring method according to claim 1, wherein the method for monitoring and prompting the top drive gearbox by acquiring the operating parameters of the top drive gearbox in real time based on the priority level comprises the following steps:

if the operating parameters corresponding to the first priority in the priority levels do not meet the shutdown conditions, acquiring the operating parameters corresponding to the second priority and the operating parameters corresponding to the first priority in real time, and if the operating parameters corresponding to the second priority meet the alarm conditions and do not meet the shutdown conditions, controlling the top drive gearbox to give corresponding alarms;

and if the operating parameters corresponding to the second priority level do not meet the alarm condition, acquiring the operating parameters corresponding to a third priority level, the operating parameters corresponding to the second priority level and the operating parameters corresponding to the first priority level in real time, and if the operating parameters corresponding to the third priority level meet the early warning condition and do not meet the alarm condition and the shutdown condition, controlling the top drive gear box to perform corresponding early warning.

4. A monitoring method according to claims 1-3, further comprising:

acquiring a set position of a top drive gear box;

5. The method of monitoring of claim 4, wherein the method of adjusting the orientation of the tracking antenna based on the position signal comprises:

6. The method of monitoring of claim 5, wherein the method of adjusting the orientation of the tracking antenna based on the orientation adjustment signal comprises:

7. The top drive control method of claim 4, further comprising, after said adjusting the orientation of the tracking antenna based on the position signal:

determining a gain corresponding to a controller based on the decoding vector;

8. A monitoring device for a top drive gearbox, comprising:

9. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 7.

10. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 7.