CN113250630A - Master-slave type visual remote control minor repair mechanized well repair operation control system and method - Google Patents

Master-slave type visual remote control minor repair mechanized well repair operation control system and method Download PDF

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Publication number
CN113250630A
CN113250630A CN202110792254.1A CN202110792254A CN113250630A CN 113250630 A CN113250630 A CN 113250630A CN 202110792254 A CN202110792254 A CN 202110792254A CN 113250630 A CN113250630 A CN 113250630A
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China
Prior art keywords
control
sucker rod
slave
module
master
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CN202110792254.1A
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CN113250630B (en
Inventor
岳吉祥
程鸣
周扬理
朱文玉
任红伟
范蓉洁
商玉梅
綦耀光
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Shengli College China University of Petroleum
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Shengli College China University of Petroleum
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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/02Rod or cable suspensions
    • E21B19/06Elevators, i.e. rod- or tube-gripping devices
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16Connecting or disconnecting pipe couplings or joints
    • E21B19/165Control or monitoring arrangements therefor
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output

Abstract

The invention relates to the technical field of oil field minor workover operation control, in particular to a master-slave type visual remote control minor workover mechanized workover operation control system and a method thereof, and the technical scheme is as follows: the slave control system is connected with the master control system through wireless transmission equipment, and the core control modules of the master control system and the slave control system are a PLC or a single board computer; the master control system and the slave control system are connected with the data acquisition system and the execution mechanism, and the data acquisition system respectively provides corresponding data information for the master control system and the slave control system according to the requirement and the installation position; the data real-time monitoring system has the beneficial effects that according to the instructions and the data information of the main control system: a visual coordinate system is established on the well site, the master control system can carry out unified control according to the master-slave logic relation of each device, the joint action of the field devices of the oil drilling and workover rig is realized, the purpose of mechanical operation is achieved, the mechanization of small workover operation of the oil field is realized, and the safety performance of the joint operation of the workover rig is enhanced.

Description

Master-slave type visual remote control minor repair mechanized well repair operation control system and method
Technical Field
The invention relates to the technical field of oilfield minor workover operation control, in particular to a master-slave type visual remote control minor workover mechanized workover operation control system and method.
Background
The well repair operation is the most common form of oil field, and is divided into minor repair operation and major repair operation, wherein the minor repair operation mainly comprises operations of pump inspection, process change, sand washing and the like by lifting and lowering a transport pipe column to complete the operation task. At present, the main flow sucker rod operation process is characterized in that: the method is completed by machinery and manpower. Most of the existing oil field minor well workover equipment is manually operated and mutually independent, the operation intensity is high, and the operation environment is severe. The small workover treatment equipment has poor interconnection, high labor cost and inconvenient operation, and the problem that the existing small workover treatment equipment for the oil field cannot be remotely monitored and controlled is solved.
The catwalk, the power slip and the automatic elevator related to the invention are patents already filed by the team of the invention, and comprise an integrated guide type vertical operation workover catwalk with well mouth positioning and a use method (ZL202010998186. X), a double-flap jacking type sucker rod workover power slip and an operation process (ZL 202011093257.8), an automatic elevator and a use method (ZL 202011073476. X) for an oil field workover sucker rod, an automatic elevator and a use method (ZL 202011573843.2) for the sucker rod, which can realize the automatic alignment function, or are improved and simplified on the basis of the patents. The invention provides a master-slave type visual remote control minor repair mechanized well repair operation control system and method based on the above patent.
Disclosure of Invention
The invention aims to provide a master-slave type visual remote control minor repair mechanized workover operation control system and a method aiming at the defects in the prior art, a Cartesian coordinate system is established for a well site by taking a sucker rod as an operation object, the working state of oilfield minor repair operation equipment can be collected and monitored, the positions and the states of the operation object sucker rod and each execution equipment for oilfield workover can be displayed on a display screen in real time, and when a plurality of execution equipment are in combined operation, the master control system controls the execution mechanism to work according to the logical control master-slave relation among the plurality of equipment, so that the mechanization of oilfield minor repair operation is realized, and the safety performance of the combined operation of the workover equipment is enhanced.
The invention provides a master-slave type visual remote control minor repair mechanized well repair operation control system, which adopts the technical scheme that: the device comprises an actuating mechanism, wherein the actuating mechanism is divided into five modules, and comprises a turnover vertical catwalk module, an automatic elevator guide mechanism module, an automatic elevator module, an upper shackle power tong module and a power slip module, wherein the turnover vertical catwalk module is mainly responsible for clamping a sucker rod, measuring the sucker rod and turning the sucker rod; the automatic elevator guiding mechanism module is mainly responsible for accurately positioning the automatic elevator; the automatic elevator module is mainly responsible for accurately clamping the sucker rod; the upper and lower shackle power tong module is mainly responsible for the upper and lower shackle actions of the sucker rod; the power slip module is mainly responsible for the direction to the sucker rod, and its improvement is: the system comprises a master control system, a plurality of slave control systems, a data acquisition system and a data real-time monitoring system, wherein the slave control systems are connected with the master control system through wireless transmission equipment; the master control system and the slave control system are connected with the data acquisition system and the execution mechanism, and the data acquisition system respectively provides corresponding data information for the master control system and the slave control system according to the requirement and the installation position; the data real-time monitoring system establishes a Cartesian coordinate system by taking the sucker rod as an operation object according to the instructions and the data information of the main control system, and displays the position and the operation state of the sucker rod on a display screen in real time; the control system is in a manual and semi-automatic double control mode, in the manual mode, an operator controls the wireless transmission equipment to send a control instruction to the master control system according to the position and the operation state of the sucker rod on the display screen, and the master control system controls the execution mechanism according to the control instruction or controls the execution mechanism according to the control instruction of the slave control system; in the semi-automatic mode, part of control instructions are sent by a master control system PLC and a slave control system PLC or a single board computer to complete the control of an actuating mechanism;
the master control system comprises at least one master control system PLC or single board computer, wireless transmission equipment and an artificial instruction module, and is connected with the artificial instruction module and the slave control system through the wireless transmission equipment;
the slave control system comprises at least one slave control system PLC or single board computer and wireless transmission equipment, is arranged on the automatic elevator module, receives the data information of the automatic elevator and the data information of the automatic elevator guide mechanism, controls the movement of the automatic elevator guide mechanism and drives the automatic elevator to move up and down along the guide mechanism;
the data acquisition system is used for acquiring the working operation condition of an actuating mechanism of the oil field well repairing operation and sending the acquired data to the master control system, the slave control system and the data real-time monitoring system.
Preferably, the Cartesian coordinate system established by taking the sucker rod as an operation object is a visual coordinate system, the center of the upper edge of the flange of the sucker rod is clamped by a power slip on a display screen to serve as an original point, the axis of a wellhead is taken as a Y axis, the horizontal direction of a turnover vertical catwalk is taken as an X axis to establish the coordinate system, and the operation state of the sucker rod is displayed in real time in an image and character mode; in addition, a sucker rod length measuring mechanism in the turnover vertical catwalk module is required to detect the length of each sucker rod, the position of the automatic elevator guiding mechanism module detects elevator position information in real time, and the position data information of the power slip is determined together.
Preferably, the turnover vertical catwalk module adopts a pull rod type sensor, so that the measurement of each sucker rod is realized, and the measurement is transmitted to the main control system.
Preferably, in visual coordinate system, the location height of establishing automatic elevator guiding mechanism module is H, and sucker rod working length is L1, and the distance of sucker rod lower part to the origin of coordinates is L2 when the vertical catwalk upset arm of upset is in vertical state, and the centre gripping sucker rod spanner square diameter is realized to the elevator, and the distance that automatic elevator guiding mechanism module need descend is Hi, can obtain the relational expression: hi = H-L1-L2.
Preferably, the information acquired by the data acquisition system is respectively transmitted to the control centers of the master control system and the slave control system according to the information source position and the operation requirement, the acquired information of the data acquisition system comprises a turnover vertical catwalk data acquisition module, and the turnover vertical catwalk data acquisition module acquires turnover arm state data, sucker rod length data measured by a length measuring mechanism sensor, manipulator state data and distance data from a sucker rod positioning end to the origin of a coordinate system; power slip position information; information of the position and the working state of the upper shackle power tongs; the position information and the position length measurement information of the automatic elevator guide mechanism; the relative position information with the square diameter of the sucker rod wrench in the clamping process of the automatic elevator; in the operation information, the position information and the position length measurement information of the automatic elevator guide mechanism are transmitted to the slave control system, then transmitted to the master control system and then transmitted to the data real-time monitoring system by the master control system in the clamping process of the automatic elevator and the square diameter of the sucker rod wrench; and other collected operation information is directly sent to the main control system PLC.
Preferably, the master control system PLC or the single board computer controls the execution module directly or through the slave control system according to the operation position and the control requirement of the execution module, wherein the automatic elevator module and the automatic elevator guiding mechanism module are directly controlled by the slave control system.
Preferably, in the manual mode, an operator controls the data real-time monitoring system to send a control instruction to the main control system through the remote controller according to the position and the operation state of the sucker rod on the display screen of the data real-time monitoring system, and the main control system controls the executing mechanism according to the control instruction or controls the executing mechanism according to the control instruction of the slave control system.
The master-slave type visual remote control minor repair mechanized well repair operation control method provided by the invention comprises the following processes:
the data acquisition system acquires data information of each device and accessory devices of the oil field workover operation and sends the acquired data information to the corresponding control module and the data real-time monitoring system;
the master control system PLC or the slave control system PLC or the single board computer processes the data information of each control module received data acquisition system, and executes corresponding control instructions to the execution mechanism according to the relation between the control modules;
the data real-time monitoring system processes the data information of the data acquisition system and the control instructions of the master control system and the slave control system, and displays the data information and the control instructions on a display screen of the data real-time monitoring system in real time according to the operation state of the sucker rod;
in the manual mode, an operator can control the remote controller to issue appropriate control instructions to the master control system and the slave control system through the visual information of the operating state of the sucker rod on the display screen;
the execution mechanism receives and executes the control commands generated by the master control system and the slave control system;
by the system, system data acquisition, real-time display of operation states, automatic/manual control and the like are realized, and small repair mechanized operation is realized.
Preferably, the master-slave type visual remote control minor repair mechanized workover operation control method provided by the invention comprises the following processes:
for a Cartesian coordinate system which is established on site in a well field and takes a sucker rod as an operation object, a sucker rod length measuring mechanism in a turnover vertical catwalk module is required to detect the length of each sucker rod and the position information of a length measuring and positioning mechanism relative to a coordinate center, the position of an elevator guide mechanism is used for detecting the position information of an automatic elevator in real time, and the position data information of a power slip is determined together;
the length measuring mechanism of the sucker rod in the turning vertical catwalk module detects the length L3 of each sucker rod, the power catwalk collects and integrates sucker rod length measuring equipment and a data collecting module, and a pull rod type sensor is specifically adopted to realize the length measurement of each sucker rod by matching a sucker rod positioning device and a soft clamping bending-proof manipulator and transmits the length measurement to a main control system;
every sucker rod length L3 is detected to sucker rod length measuring mechanism in the vertical catwalk module of upset, and concrete operation is: the length measuring mechanism is provided with a displacement sensor, the sensor is arranged on a hydraulic cylinder, the installation distance between the initial position of the displacement sensor and the positioning turning plate of the catwalk length measuring mechanism is L, the hydraulic cylinder drives the displacement sensor to extend out, the displacement sensor contacts one end of the sucker rod and continues to advance until the other end of the sucker rod contacts the positioning turning plate of the catwalk length measuring mechanism, the advancing displacement is M, and the length of the sucker rod is L3= L-M;
the length measuring mechanism of the sucker rod in the turnover vertical catwalk module detects the operation length L1 of each sucker rod, which means the length of the center of the square diameter of the wrench at the two ends of the sucker rod, and the length of the excess length at the two ends needs to be subtracted from the length measuring length L3 of the sucker rod, specifically, the length of the center of the square diameter of the wrench at the two ends is subtracted by one half, and the length of a part of coupling is subtracted;
the automatic elevator guiding mechanism is provided with an automatic elevator motion track measuring mechanism, a laser ranging sensor is adopted, a ranging positioning target is installed at the upper positioning height position of the automatic elevator guiding mechanism through reverse installation, a laser ranging sensor main body is installed on a sliding guide rail of the automatic elevator guiding mechanism, ranging information is transmitted to a slave control system in a short distance, and the slave control system is installed in the automatic elevator.
Compared with the prior art, the invention has the following beneficial effects:
the invention combines the technologies of the group of the invention mentioned in the background technology together to form an oil field workover rig for realizing the mechanization of the sucker rod; a visual coordinate system is established on the well site, the master control system can carry out unified control according to the master-slave logic relationship of each device, the joint action of the field devices of the oil drilling and repairing machine is realized, the purpose of mechanical operation is achieved, meanwhile, a user can also remotely control the field devices through an intelligent terminal, and the safe operation and construction quality of each device are guaranteed to the maximum extent; when a plurality of executing devices are in combined operation, the master control system controls the executing mechanism to work according to the logical control master-slave relation among the plurality of devices, so that the mechanization of the small workover operation of the oil field is realized, and the safety performance of the combined operation of the workover devices is enhanced.
Drawings
FIG. 1 is a structural framework diagram of a master-slave based visual remote control minor workover mechanized workover control system;
FIG. 2 is a flow chart of a control method based on a master-slave mode visual remote control minor workover mechanized workover control system;
FIG. 3 is a schematic diagram of a master-slave-based visual remote control of a mechanized workover rig for minor workover of a sucker rod when the invert arm of the catwalk is in a horizontal state;
FIG. 4 is a schematic diagram of a visualization coordinate system on a display screen based on a master-slave visualization remote control minor workover mechanized workover control system;
FIG. 5 is a schematic view of a length measuring mechanism in a mechanized equipment for minor workover operations based on master-slave type visual remote control of a sucker rod;
FIG. 6 is a schematic diagram of automatic elevator ranging in a mechanized apparatus for minor workover operations based on master-slave mode visual remote control of a sucker rod;
FIG. 7 is a schematic diagram of a power tong and power slips in a mechanized apparatus for minor workover operations based on master-slave mode visual remote control of a sucker rod;
FIG. 8 is a data acquisition system based on a master-slave style visual remote control minor workover mechanized workover control system;
FIG. 9 is a slave control system based on a master-slave mode visual remote control of a minor workover mechanized workover control system;
FIG. 10 is a layout diagram of a master-slave based visual remote control sub-workover mechanized workover operation control system;
in the upper diagram: the system comprises a turnover vertical catwalk 1, a catwalk length measuring mechanism 1.1, a catwalk length measuring mechanism oil cylinder 1.1.1, a catwalk length measuring mechanism displacement sensor 1.1.2, a catwalk length measuring mechanism positioning turnover plate 1.1.3, a catwalk length measuring mechanism position sensor 1.1.4, a catwalk manipulator 1.2, a turnover arm 1.3, an automatic elevator guide mechanism 2, a guide mechanism sliding guide rail 2.2, a guide mechanism upper positioning 2.3, a guide mechanism main body 2.4, an automatic elevator 3, an automatic elevator claw 3.1, an automatic elevator clamping mechanism 3.2, an automatic elevator rotating mechanism 3.3, a power clamp 4, a power clamp main clamp 4.1, a power clamp back clamp 4.2, a power slip guide rail 4.3, a power slip 5, a power slip working table surface 5.1, a power slip clamping block 5.2, a slave control system PLC6.1, a rotary stepping motor controller 6.2 and a radio frequency communication module 6.3.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Embodiment 1, referring to fig. 1, 2, and 3, the master-slave visual remote control minor repair mechanized workover operation control system provided by the present invention includes a master control system, a slave control system, a data acquisition system, a data real-time monitoring system, and an execution mechanism, where the slave control system is connected to the master control system through a wireless transmission device, the slave control systems may be multiple, the master and slave control system core control components are PLCs, and the master and slave control system PLCs are selected from different PLCs (the master control system PLC adopts a model of EX3G-100HA-48MT-4AD-8 DA; the slave control system PLC6.1 adopts a model of CX3G-24 MT), and the master control system PLC HAs a higher overall function/performance than the slave control system PLC 6.1; the master control system PLC is connected with a radio frequency communication module 6.3 which is a wireless transmission device, is positioned in the master control box, is directly connected with a power catwalk data acquisition module, a make-up and break-out power tong data acquisition module and a power slip 5 data acquisition module, and receives the information of the data acquisition modules (the model of the radio frequency communication module 6.3 is CM-RFM); the PLC control instruction of the main control system is directly sent to execution modules such as a power catwalk, a make-up and break-out power tong, a power slip 5 and the like to complete various control tasks; the slave control system PLC6.1 is connected with the radio frequency communication module 6.3, is positioned in the automatic elevator 3, is directly connected with the data acquisition of the automatic elevator 3 and the data acquisition of the automatic elevator guiding mechanism 2, and receives the information of the data acquisition module; a control instruction is directly sent to execution modules such as the automatic elevator 3 and the automatic elevator guiding mechanism 2 from a control system PLC6.1 to complete various control tasks; the master control system PLC and the slave control system PLC are connected through a radio frequency communication module 6.3, the slave control system PLC6.1 receives data acquisition information of the automatic elevator 3 and data acquisition information of the automatic elevator guiding mechanism 2, sends the data acquisition information to the master control system PLC, and receives a control instruction of the master control system PLC; the real-time data monitoring system is remotely connected with the main control system PLC through the radio frequency communication module 6.3, receives instructions and data information of the main control system, establishes a Cartesian coordinate system by taking the sucker rod as an operation object, and displays the position and the operation state of the sucker rod on a display screen in real time; and manual control instructions are integrated on a display screen of the data real-time monitoring system and are sent to the main control system PLC through the radio frequency communication module 6.3.
The control system is in a manual and semi-automatic double control mode, in the manual mode, an operator controls the remote controller to send a control command to the master control system according to the position and the operation state of the sucker rod on the display screen, and the master control system controls the execution mechanism according to the control command or controls the execution mechanism according to the control command of the slave control system; in the semi-automatic mode, part of control instructions are sent by a master control system PLC or a slave control system PLC or a single board computer to complete the control of the actuating mechanism.
The execution equipment is divided into five modules, including a turnover vertical catwalk module, an automatic elevator guiding mechanism module, an automatic elevator module, an upper shackle power tong module and a power slip module. The turnover vertical catwalk module is mainly responsible for actions such as clamping of the sucker rod, measurement of the sucker rod, turnover of the turnover arm 1.3 and the like; the automatic elevator guiding mechanism module is mainly responsible for accurately positioning the automatic elevator 3; the automatic elevator module is mainly responsible for accurately clamping the sucker rod; the upper and lower shackle power tong module is mainly responsible for the upper and lower shackle actions of the sucker rod; the power slip module is mainly responsible for guiding the sucker rod. The data acquisition system acquires data information of each device and accessory devices of the oil field workover operation and sends the acquired data information to the corresponding control module and the data real-time monitoring system; the master control system PLC and the slave control system PLC process the data information of the data acquisition system received by each control module and execute corresponding control instructions on the execution mechanism according to the relationship among the control modules; the data real-time monitoring system processes the data information of the data acquisition system and the control instruction of the master control system and the slave control system, and vividly presents the data information and the control instruction on the display screen; in the manual mode, an operator can control the remote controller to issue appropriate control instructions to the master control system and the slave control system through the picture information of the display screen; the execution mechanism receives and executes the control commands generated by the master control system and the slave control system.
Referring to fig. 1, fig. 3, fig. 4 and fig. 5, the following description takes a sucker rod lowering operation in an oilfield workover operation as an example, and the control method for master-slave type visual remote control minor maintenance mechanized workover operation provided by the invention comprises the following processes:
when the sucker rod is placed in the catwalk mechanical arm 1.2 and the catwalk mechanical arm 1.2 is in soft clamping, the catwalk length measuring mechanism positioning turnover plate 1.1.3 rotates to the position opposite to the sucker rod, the catwalk length measuring mechanism oil cylinder 1.1.1 extends out to act and contact the other end of the sucker rod, the sucker rod moves in the catwalk mechanical arm 1.2 along the horizontal direction to contact the catwalk length measuring mechanism position sensor 1.1.4 on the catwalk length measuring mechanism positioning turnover plate 1.1.3 to stop, the catwalk length measuring mechanism displacement sensor 1.1.2 is the extension displacement data M, the distance between the catwalk length measuring mechanism positioning turnover plate 1.1.3 and the catwalk length measuring mechanism oil cylinder 1.1.1 is the fixed value L, and the L3= L-M is the actual length of the sucker rod.
The sucker rod length measuring mechanism detects every sucker rod working length L1 in the vertical catwalk 1 of upset, indicates sucker rod both ends spanner square diameter central length, need subtract unnecessary length d3 in upper end and the unnecessary length d4 of lower extreme at sucker rod length measuring length L3, specifically subtracts both ends spanner square diameter central length half to and partial thread length, and express for as: l1= L3-d3-d 4.
Referring to fig. 1, 3, 4 and 5, taking a sucker rod in oilfield workover operation as an example, a cartesian coordinate system which takes the sucker rod as an operation object is established on a well site, the cartesian coordinate system is a visual coordinate system, the center of the upper edge of a flange of the sucker rod is clamped by a power slip 5 on a display screen to be used as an original point, the axis of a wellhead is used as a Y axis, and the horizontal direction of a turnover vertical catwalk 1 is used as an X axis. The catwalk length measuring mechanism 1.1 in the vertical catwalk module needs to be turned over to detect the length of each sucker rod, the automatic elevator guiding mechanism 2 detects the position of the automatic elevator 3 in real time, and the position data information of the power slip 5 and the like are determined together. In a visual coordinate system, the height of the upper limit position where the automatic elevator 3 stays in the automatic elevator guide mechanism 2 is set to be H, the operating length of the sucker rod is set to be L1, the distance from the positioning mechanism to the original point when the turnover arm 1.3 is in a vertical state is set to be L2, and the distance that the elevator needs to descend is set to be Hi. The relationship can be found: hi = H-L1-L2.
The automatic elevator guiding mechanism 2 is provided with an automatic elevator 3 motion track measuring mechanism, a guiding mechanism laser sensor is preferably selected, reverse installation is adopted, a ranging positioning target is specifically installed at the position of 2.3 height on the guiding mechanism of the automatic elevator guiding mechanism 2, a guiding mechanism laser sensor is installed on a guiding mechanism sliding guide rail 2.2, ranging information is transmitted to a slave control system PLC6.1 in a short distance, and the slave control system PLC6.1 is installed in the automatic elevator 3.
The catwalk length measuring mechanism positioning turnover plate 1.1.3 and the catwalk length measuring mechanism oil cylinder 1.1.1 reset, after resetting, the catwalk mechanical arm 1.2 is clamped firmly, and the turnover arm 1.3 rotates 90 degrees to reach the designated position. In the process, the acquired length data of the sucker rod, the state data of the catwalk manipulator 1.2 and the state data of the turnover arm 1.3 are sent to a data real-time monitoring system in real time and are visually displayed on a display screen.
Referring to fig. 1, fig. 3, fig. 5 and fig. 6, taking the example of lowering a sucker rod in the oil field workover operation as an example, when the turnover arm 1.3 is in a vertical state, the automatic elevator guide mechanism 2 drives the automatic elevator 3 to move downwards, the guide mechanism laser sensor is installed on the automatic elevator guide mechanism 2, the measurement reference is installed on the upper limit position of the automatic elevator 3 staying on the automatic elevator guide mechanism 2, the height of the position from the coordinate center is H, the guide mechanism laser sensor moves along with the automatic elevator guide mechanism 2, real-time distance measurement of the automatic elevator guide mechanism 2 is realized, data is timely sent to the slave control system PLC6.1, and simultaneously the data is sent to the master control system through the slave control system radio frequency communication module and visually presented on the display.
Further, above-mentioned in visual coordinate system, the last positioning height who establishes automatic elevator guiding mechanism module is H, and sucker rod working length is L1, and the distance of sucker rod lower extreme to the original point of coordinates is L2 when upset arm 1.3 is in vertical state, and the elevator realizes centre gripping sucker rod spanner square diameter, and the distance that automatic elevator guiding mechanism 2 needs to descend is Hi, can obtain the relational expression: hi = H-L1-L2.
Further, in the visual coordinate system, the guide mechanism main body 2.4 is provided with a guide mechanism laser sensor, the guide mechanism upper positioning 2.3 is arranged at the upper end of the guide mechanism sliding guide rail 2.2, the distance between the guide mechanism main body 2.4 and the guide mechanism laser sensor is d1, and the distance between the guide mechanism laser sensor and the center of the automatic elevator claw 3.1 of the automatic elevator 3 is d 2. In actual operation, because guiding mechanism laser sensor measures the installation position and fixes a position 2.3 distance to guiding mechanism on, need automatic elevator jack catch 3.1 center to fix a position 2.3 distance to guiding mechanism in actual operation, consequently, need revise and go up the location height and be H, revise and be: h = H + d1+ d2, the revised data is processed by the control program.
When the automatic elevator 3 reaches the central position of the square diameter of the wrench on the sucker rod under the control of the visual coordinate, the automatic elevator 3 receives a command signal from a control system PLC6.1, a clamping servo motor controller drives a servo motor of an automatic elevator clamping mechanism 3.2, and drives the automatic elevator clamping mechanism 3.2 to advance, so that the clamping of the square diameter of the wrench by an automatic elevator clamping jaw 3.1 is realized; if the set size of the square diameter of the wrench of a certain sucker rod is reached, the set size is smaller than the maximum size of the square diameter of the wrench, namely the diagonal size of the square diameter of the wrench is smaller than the size of a right-angle side, and the sucker rod continues to advance until clamping is achieved; if the square diameter of the sucker rod wrench cannot be set, an instruction needs to be sent from the control system PLC6.1, the rotating stepping motor controller 6.2 drives the stepping motor of the automatic elevator rotating mechanism 3.3, the automatic elevator rotating mechanism 3.3 rotates, the rotation is adjusted by 45 degrees, the rotation alignment is realized, after the automatic elevator 3 clamps the square diameter of the sucker rod wrench, the catwalk manipulator 1.2 of the turning vertical catwalk 1 loosens the sucker rod, and the turning arm 1.3 returns to prepare the next action.
The automatic elevator 3 drives the sucker rod to move downwards, when the sucker rod reaches a specified position, the power tong 4 approaches towards the sucker rod, the power tong main tong 4.1 and the power tong back-up tong 4.2 respectively clamp the upper and lower wrench sides of the upper and lower sucker rods, the upper tripping operation is executed, the two sucker rods are connected together, the power tong main tong 4.1 and the power tong back-up tong 4.2 loosen the sucker rod and reset to an initial state, the power tong 4 returns along a guide rail, the automatic elevator 3 moves upwards to drive the sucker rod to move upwards, the power slip clamping block 5.2 of the power slip 5 is opened, the automatic elevator 3 moves downwards until the upper end face of the power slip 5, the upper end cover of the power slip 5 is closed, after the power slip 5 is closed, the automatic elevator clamping block 3.1 resets, the automatic elevator guiding mechanism 2 returns to the top of the well frame, and the operation of the lower sucker rod is finished.
It should be noted that the automatic elevator 3 is provided with a 24V dc power supply, and the slave control system does not need strong electricity or hydraulic power, thereby ensuring safety.
Referring to fig. 10, the control system layout structure, the master-slave control system includes master control system PLC and slave control system PLC6.1, wherein the master control system PLC is located in the master control box, the slave control system PLC6.1 is located in the automatic elevator 3, the master-slave control system PLC communicates with the master-slave control system PLC through the radio frequency communication module, the touch screen controller is a real-time data monitoring system, communicates with the master-slave control system PLC through the radio frequency communication module, the slave control system PLC6.1 information is sent to the master control system PLC through the radio frequency communication module 6.3, and then is transmitted to the sucker rod touch screen controller, displays the operation information including the status information in real time, the operator control instruction is sent by the direct touch screen controller and is transmitted to the master control system PLC through the radio frequency communication module, the master control system PLC is sent to each execution element, and part relates to the control instruction information of the automatic elevator 3 or the automatic elevator guiding mechanism 2, firstly, the information is transmitted to a slave control system PLC6.1 and then is transmitted to an actuating mechanism such as an automatic elevator 3 or an automatic elevator guiding mechanism 2; the data acquisition system acquires information and comprises: the position information and length measurement information of the automatic elevator guide mechanism 2, the position information relative to the square diameter of the sucker rod wrench in the clamping process of the automatic elevator 3 and the like are transmitted to a slave control system PLC6.1 and then transmitted to a master control system PLC; information such as the position information of a turnover arm 1.3 of the turnover vertical catwalk 1, the length measurement information of a pull rod type sensor, the position information of a power slip 5 and the like is directly sent to a master control system PLC; the actuating mechanism includes: the vertical catwalk module of upset, automatic elevator guiding mechanism module, automatic elevator module, go up the power tong module of breaking out, power slips module, wherein automatic elevator guiding mechanism module, automatic elevator module mainly receive from control system PLC6.1 send command and control, or receive main control system PLC instruction to and operating personnel passes through main control system PLC and send the instruction, main control system PLC instruction passes through radio frequency communication module and sends to from control system PLC 6.1.
The sucker rod lifting process is opposite to the sucker rod lowering process, so the detailed description is omitted.
Above the sucker rod process of going down, every data acquisition all can all transmit to touch display screen in real time to the direct-viewing observation of workman and modification.
The invention mainly aims at the mechanical operation of the sucker rod, is suitable for the oil pipe operation, and has relatively simple technological process compared with the mechanical operation of the sucker rod.
It needs to be further explained that: the invention optimizes and combines the prior integrated guide type vertical operation workover catwalk with well mouth positioning and a using method (ZL202010998186. X), a double-valve jacking type sucker rod workover power slip and an operation process (ZL 202011093257.8), an automatic elevator of an oil field workover sucker rod and a using method (ZL202011073476. X) with an automatic elevator of the sucker rod capable of realizing the automatic alignment function and a using method (ZL 202011573843.2) to form an oil field workover rig for realizing the mechanization of the sucker rod;
and aiming at the advantages of the original oil field well workover treatment process (patent number: ZL 202011048977.2) for realizing the automation of the sucker rod, a master-slave type visual remote control minor repair mechanized workover treatment control system and a control method thereof are provided, a visual coordinate system is established on a well site, the master control system can carry out unified control according to the master-slave logic relationship of each device, the joint action of field devices of the oil drilling and repairing machine is realized, the purpose of mechanized operation is achieved, and meanwhile, a user can remotely control the field devices through an intelligent terminal, and the safe operation and the construction quality of each device are guaranteed to the maximum extent.
The above description is only a few of the preferred embodiments of the present invention, and any person skilled in the art may modify the above-described embodiments or modify them into equivalent ones. Therefore, the technical solution according to the present invention is subject to corresponding simple modifications or equivalent changes, as far as the scope of the present invention is claimed.

Claims (9)

1. A master-slave type visual remote control minor repair mechanized workover operation control system comprises an actuating mechanism, wherein the actuating mechanism is divided into five modules, and comprises a turnover vertical catwalk module, an automatic elevator guide mechanism module, an automatic elevator module, a make-up and break-out power tong module and a power slip module, wherein the turnover vertical catwalk module is mainly responsible for clamping a sucker rod, measuring the sucker rod and turning the sucker rod; the automatic elevator guiding mechanism module is mainly responsible for accurately positioning the automatic elevator; the automatic elevator module is mainly responsible for accurately clamping the sucker rod; the upper and lower shackle power tong module is mainly responsible for the upper and lower shackle actions of the sucker rod; the power slip module is mainly responsible for the direction to the sucker rod, characterized by: the system comprises a master control system, a plurality of slave control systems, a data acquisition system and a data real-time monitoring system, wherein the slave control systems are connected with the master control system through wireless transmission equipment; the master control system and the slave control system are connected with the data acquisition system and the execution mechanism, and the data acquisition system respectively provides corresponding data information for the master control system and the slave control system according to the requirement and the installation position; the data real-time monitoring system establishes a Cartesian coordinate system by taking the sucker rod as an operation object according to the instructions and the data information of the main control system, and displays the position and the operation state of the sucker rod on a display screen in real time; the control system is in a manual and semi-automatic double control mode, in the manual mode, an operator controls the wireless transmission equipment to send a control instruction to the master control system according to the position and the operation state of the sucker rod on the display screen, and the master control system controls the execution mechanism according to the control instruction or controls the execution mechanism according to the control instruction of the slave control system; in the semi-automatic mode, part of control instructions are sent by a master control system PLC and a slave control system PLC or a single board computer to complete the control of an actuating mechanism;
the master control system comprises at least one master control system PLC or single board computer, wireless transmission equipment and an artificial instruction module, and is connected with the artificial instruction module and the slave control system through the wireless transmission equipment;
the slave control system comprises at least one slave control system PLC or single board computer and wireless transmission equipment, is arranged on the automatic elevator module, receives the data information of the automatic elevator and the data information of the automatic elevator guide mechanism, controls the movement of the automatic elevator guide mechanism and drives the automatic elevator to move up and down along the guide mechanism;
the data acquisition system is used for acquiring the working operation condition of an actuating mechanism of the oil field well repairing operation and sending the acquired data to the master control system, the slave control system and the data real-time monitoring system.
2. The master-slave visualization remote control minor repair mechanized workover operation control system of claim 1, wherein: the method comprises the steps that a Cartesian coordinate system established by taking a sucker rod as an operation object is a visual coordinate system, the center of the upper edge of a flange of the sucker rod is clamped by a power slip on a display screen to serve as an original point, the axis of a wellhead serves as a Y axis, the horizontal direction of a turnover vertical catwalk serves as an X axis to establish the coordinate system, and the operation state of the sucker rod is displayed in real time in an image and character mode; in addition, a sucker rod length measuring mechanism in the turnover vertical catwalk module is required to detect the length of each sucker rod, the position of the automatic elevator guiding mechanism module detects elevator position information in real time, and the position data information of the power slip is determined together.
3. The master-slave visualization remote control minor repair mechanized workover operation control system of claim 1, wherein: the turnover vertical catwalk module adopts a pull rod type sensor to realize the measurement of each sucker rod and transmit the measurement to the main control system.
4. The master-slave visual remote control minor repair mechanized workover operation control system of claim 1, 2 or 3, wherein: in visual coordinate system, the location height of establishing automatic elevator guiding mechanism module is H, and sucker rod working length is L1, and the distance of sucker rod lower part to the original point of coordinates is L2 when the vertical catwalk upset arm of upset is in vertical state, and the elevator realizes centre gripping sucker rod spanner square diameter, and the distance that automatic elevator guiding mechanism module needs to descend is Hi, can obtain the relational expression: hi = H-L1-L2.
5. The master-slave visualization remote control minor repair mechanized workover operation control system of claim 1, wherein: the information acquired by the data acquisition system is respectively transmitted to the control centers of the master control system and the slave control system according to the information source position and the operation requirement, the acquired information of the data acquisition system comprises a turnover vertical catwalk data acquisition module, and the turnover vertical catwalk data acquisition module acquires turnover arm state data, sucker rod length data measured by a length measuring mechanism sensor, manipulator state data and distance data from a sucker rod positioning end to the origin of a coordinate system; power slip position information; information of the position and the working state of the upper shackle power tongs; the position information and the position length measurement information of the automatic elevator guide mechanism; the relative position information with the square diameter of the sucker rod wrench in the clamping process of the automatic elevator; in the operation information, the position information and the position length measurement information of the automatic elevator guide mechanism are transmitted to the slave control system, then transmitted to the master control system and then transmitted to the data real-time monitoring system by the master control system in the clamping process of the automatic elevator and the square diameter of the sucker rod wrench; and other collected operation information is directly sent to the main control system PLC.
6. The master-slave visualization remote control minor repair mechanized workover operation control system of claim 1, wherein: the main control system PLC or the single board computer controls the execution module directly or through the slave control system according to the operation position and the control requirement of the execution module, wherein the automatic elevator module and the automatic elevator guide mechanism module are directly controlled by the slave control system.
7. The master-slave visualization remote control minor repair mechanized workover operation control system of claim 1, wherein: in the manual mode, an operator controls the data real-time monitoring system to send a control instruction to the main control system through the remote controller according to the position and the operation state of the sucker rod on the display screen of the data real-time monitoring system, and the main control system controls the executing mechanism through the control instruction or controls the executing mechanism through the control instruction of the slave control system.
8. A master-slave type visual remote control minor repair mechanized well repair operation control method is characterized by comprising the following steps: the method comprises the following steps:
the data acquisition system acquires data information of each device and accessory devices of the oil field workover operation and sends the acquired data information to the corresponding control module and the data real-time monitoring system;
the master control system PLC or the slave control system PLC or the single board computer processes the data information of each control module received data acquisition system, and executes corresponding control instructions to the execution mechanism according to the relation between the control modules;
the data real-time monitoring system processes the data information of the data acquisition system and the control instructions of the master control system and the slave control system, and displays the data information and the control instructions on a display screen of the data real-time monitoring system in real time according to the operation state of the sucker rod;
in the manual mode, an operator can control the remote controller to issue appropriate control instructions to the master control system and the slave control system through the visual information of the operating state of the sucker rod on the display screen;
the execution mechanism receives and executes the control commands generated by the master control system and the slave control system;
by the system, system data acquisition, real-time display of operation states, automatic/manual control and the like are realized, and small repair mechanized operation is realized.
9. The master-slave type visual remote control minor repair mechanized workover treatment control method according to claim 8, characterized in that: the method comprises the following steps:
for a Cartesian coordinate system which is established on site in a well field and takes a sucker rod as an operation object, a sucker rod length measuring mechanism in a turnover vertical catwalk module is required to detect the length of each sucker rod and the position information of a length measuring and positioning mechanism relative to a coordinate center, the position of an elevator guide mechanism is used for detecting the position information of an automatic elevator in real time, and the position data information of a power slip is determined together;
the length measuring mechanism of the sucker rod in the turning vertical catwalk module detects the length L3 of each sucker rod, the power catwalk collects and integrates sucker rod length measuring equipment and a data collecting module, and a pull rod type sensor is specifically adopted to realize the length measurement of each sucker rod by matching a sucker rod positioning device and a soft clamping bending-proof manipulator and transmits the length measurement to a main control system;
every sucker rod length L3 is detected to sucker rod length measuring mechanism in the vertical catwalk module of upset, and concrete operation is: the length measuring mechanism is provided with a displacement sensor, the sensor is arranged on a hydraulic cylinder, the installation distance between the initial position of the displacement sensor and the positioning turning plate of the catwalk length measuring mechanism is L, the hydraulic cylinder drives the displacement sensor to extend out, the displacement sensor contacts one end of the sucker rod and continues to advance until the other end of the sucker rod contacts the positioning turning plate of the catwalk length measuring mechanism, the advancing displacement is M, and the length of the sucker rod is L3= L-M;
the length measuring mechanism of the sucker rod in the turnover vertical catwalk module detects the operation length L1 of each sucker rod, which means the length of the center of the square diameter of the wrench at the two ends of the sucker rod, and the length of the excess length at the two ends needs to be subtracted from the length measuring length L3 of the sucker rod, specifically, the length of the center of the square diameter of the wrench at the two ends is subtracted by one half, and the length of a part;
the automatic elevator guiding mechanism is provided with an automatic elevator motion track measuring mechanism, a laser ranging sensor is adopted, a ranging positioning target is installed at the upper positioning height position of the automatic elevator guiding mechanism through reverse installation, the laser ranging sensor is installed on a sliding guide rail of the automatic elevator guiding mechanism, ranging information is transmitted to a slave control system in a short distance, and the slave control system is installed in the automatic elevator.
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