KR102498333B1 - Method and System for Realizing Anti-Collision System of Offshore Drilling Machines - Google Patents

Abstract

The present invention provides a simulator that allows the modified anti-collision system to be directly connected to the original drilling control system and used without a separate setting change, thereby increasing the efficiency of design and development of the anti-collision system. It relates to a device and method for implementing a simulator for a prevention system, which receives and stores system specifications, creates a JSON (JavaScript object notation) file so that it can be called in the simulator, and sets basic settings for the emulator. ; GUI that supports interface with external input devices and enables monitoring of system operation status; setting unit that sets the GUI environment and designates the storage location of files related to collision inspection results; and verified with a simulator It is to operate immediately without any additional setting when connecting actual equipment to the modified collision avoidance system.

Description

Apparatus and method for realizing simulator for anti-collision system for offshore drilling equipment {Method and System for Realizing Anti-Collision System of Offshore Drilling Machines}

The present invention relates to an offshore drilling system, and more specifically, provides a simulator that enables a modified anti-collision system to be directly connected to an original drilling control system without a separate setting change, thereby increasing the efficiency of design and development of an anti-collision system. It relates to an apparatus and method for implementing a simulator for an anti-collision system for offshore drilling rigs.

The most basic work units in the operation of pipe-related equipment in drilling workshops are the stand building and the drilling process.

In order to save the time required for drilling work, generally three or four pipes are connected to make one long pipe, which is called a stand, and the process of making a stand is called stand building.

In general, a mouse hole is installed in a drilling workshop for stand building and is used to increase process efficiency such as stand building. Drilling-related processes require many types of equipment, especially for tripping operations to change drilling bits or install different types of pipe.

When performing these pipe-related processes, several pieces of equipment are operated together in a limited space, and in some cases, the equipment moves from place to place to work.

The operation of the equipment is carried out in the form of automatic, semi-automatic or manual, and in any case, there may be a conflict between the equipment. In addition, most of the equipment is large, and pipe connection, disassembly, raising and lowering work are often performed at high speed, so when a collision between equipment occurs, it may lead to a large-scale human accident.

In order to prevent this, an anti-collision system (ACS) is being used to prevent collisions based on location information of moving equipment.

The anti-collision system is connected to the network as a member of the drilling control system.

Among the control-related signals transmitted from each equipment, collision-related data is inspected, and when a risk of collision is detected, an emergency signal such as stop is sent to the equipment to prevent collision.

In Korea, a simulator related to equipment operation has been developed as part of efforts to localize drilling equipment.

However, this is an implementation of the human machine interface (HMI) system, which is part of the drilling system, and develops systems such as smart machine integrator (SMI), which absolutely require experience related to the operation of drilling equipment. The technical level is still insufficient to do so.

In the case of NOV, the world's leading offshore drilling system company, the anti-collision system is one of the components of the smart machine integration system, and is used in connection with the drilling control network (DCN).

Considering its importance, this anti-collision system is accessible only to the highest level of drilling-related work, so much is not known about its operation method or algorithm in Korea.

Recently, technology development related to visualization and operation of dangerous situations has been made through simulation, and it is also applied to development to secure drilling-based technology.

The structure and function of the anti-collision system are analyzed, and collision detection and prevention technology is implemented by connecting to a drilling simulator.

However, since the anti-collision system is connected as a part of the overall system, the entire system must be operated in order to verify the performance of the upgraded anti-collision system, which is a great inconvenience in development.

In this way, the collision avoidance system of the prior art is generally developed to be specific to the arrangement of given offshore drilling rigs. If a drilling site is planned to consist of several pieces of equipment, a collision avoidance system suitable for the arrangement must be designed.

This increases the amount of work and causes a lot of inconvenience in development because all the controllers of the equipment to implement this must be changed when the specification or detailed structure of a specific equipment is changed or the arrangement is changed.

Therefore, there is a demand for the development of a new technology that allows the development of a collision avoidance system to be unrestricted by freely changing the specifications or detailed structures and arrangements of the equipment.

Republic of Korea Patent No. 10-2159676 Republic of Korea Patent Publication No. 10-2015-0118340 Republic of Korea Patent Publication No. 10-2013-0125231

The present invention is to solve the problems of the prior art offshore drilling system, and provides a simulator that allows the changed anti-collision system to be directly connected to the original drilling control system without a separate setting change to design and use the anti-collision system. An object of the present invention is to provide a device and method for implementing a simulator for an anti-collision system for offshore drilling rigs that can increase the efficiency of development.

The present invention is for offshore drilling rigs that can be freely executed according to the arrangement of drilling workshops that design the arrangement of rigs, and even in the case of subsystems, they appear according to their characteristics according to the setting of the emulator for equipment in the previous step and can be freely arranged. Its purpose is to provide a device and method for implementing a simulator for an anti-collision system.

The present invention is easy to operate and intuitive to create a crash avoidance system composed of external modules such as a communication module, a data processing module, a collision detection logic, and a bypass by constructing a simulator to facilitate the creation of scenarios for collision situations. An object of the present invention is to provide a device and method for implementing a simulator for an anti-collision system for offshore drilling rigs that can efficiently inspect the function of each module in the development and upgrade stages before interlocking with the system.

The present invention inputs the basic specifications of each device, implements a function to move each device using a joystick, sets UDP communication with the collision avoidance system core to be the same as the actual hardware connection, and prevents collisions verified with a simulator. An object of the present invention is to provide an apparatus and method for realizing a simulator for an anti-collision system for offshore drilling rigs that can be operated immediately without separate additional setting when the actual equipment is connected to the system.

The present invention is connected to the anti-collision system to inspect and upgrade collision-related modules and functions, while providing a simulator that allows the modified anti-collision system to be directly connected to the original drilling control system and used without a separate setting change An object of the present invention is to provide an apparatus and method for implementing a simulator for an anti-collision system for offshore drilling rigs.

The present invention can produce a collision situation by operating a plurality of devices simultaneously through a simulator, and the collision detection is normally performed for each situation, and the result is displayed on the viewer, so that the function check and upgrade of the collision avoidance system is efficiently performed. An object of the present invention is to provide a device and method for implementing a simulator for an anti-collision system for offshore drilling rigs.

The present invention analyzes the contents of communication between the drilling rig and the collision avoidance system and the original function of the equipment through a simulator, and sets the movement of the equipment based on this, so that the function of the collision avoidance system can be effectively verified. Its purpose is to provide a device and method for implementing a simulator for an anti-collision system.

Other objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned above will be clearly understood by those skilled in the art from the description below.

An apparatus for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention for achieving the above object is a JSON (JavaScript object notation) file to receive and store system specifications and to be called by the simulator. A pre-input unit that creates and configures basic settings for the emulator; A GUI that supports interfaces with external input devices and allows monitoring of system operation status; A GUI environment that is set and the storage location of files related to collision check results It includes a setting unit that designates; and is characterized in that it operates immediately without any additional setting when connecting the actual drilling equipment to the modified collision avoidance system verified by the simulator.

Here, the simulator and the anti-collision system core are implemented together in one workstation, and the simulator and the anti-collision system core are configured to have the same data format as the UDP method used for communication between the actual drilling equipment and the anti-collision system. It is characterized in that it can be used without additional setting changes when connected to equipment.

In addition, the simulator GUI is configured in the simulator, the ACS viewer is connected to the collision avoidance system core, the joystick for inputting the movement of the equipment on the simulator, and the viewer receives input with the keyboard and mouse for adjusting the screen, and the joystick is used. It is characterized in that it is used to check the command given to the equipment and to check the operation status of the drilling equipment on the screen.

And the pre-input unit receives the required equipment input (machine) for receiving the type of equipment used in the simulation for the equipment used, the maximum movement speed and acceleration of the subsystem, the maximum rotational speed and acceleration, initial position and rotation state Receiving input values is a step of inputting subsystem and specification, inputting communication/device designating individual port numbers for UDP communication assigned to each subsystem and allowable operation range. to be characterized

In addition, the GUI is a part that reflects changes in the external input device for equipment control in order to support the interface with the external input device. UDP control, which implements the function of starting and ending UDP communication, which is a communication method with ) It is characterized in that it performs a joystick control function to be visible.

In addition, the anti-collision system includes a collision avoidance system core module, an external module, and a visualization module, and the possibility of changing the bypass signal generating device and algorithm for handling unusual situations In the case of a collision check component that exists, it is configured in an external module, and collision is implemented by creating a bonding box enclosing the equipment and checking the overlapping part.

And the visualization module is characterized in that it does not affect the information processing speed of the entire network by receiving only updated signals from the collision avoidance system core without exchanging information with other modules.

And bypass control is characterized in that it is applied when the equipment stopped by the stop signal sent from the collision avoidance system needs to be moved without applying the collision avoidance logic.

In addition, data received through the communication module in the drilling control network, which is a basic communication network in which data generated by the drilling equipment and the system are mutually shared, is used to perform the deserialization process according to the rules set to perform the collision detection function. It is characterized in that it is sent to an external module through a preprocessor, and the result of the collision avoidance logic is serialized in a predetermined manner through a postprocessor and then sent to the drilling control network through a communication component.

And the drilling equipment verified by the simulator includes a top drive used as the main equipment for rotating the drilling pipe in the tripping process of lowering the pipe for excavation or lifting the pipe up again, and a vertically storing pipe. A racker that moves a pipe stand between a rack and a drilling hole or receives and stands a pipe from catwalk equipment, and an iron rough neck that is used to fasten a pipe using a tong It is characterized in that it includes an iron roughneck and a catwalk used when transporting the drilling pipe from a horizontally stored position to a work site.

And the data sent from the simulator to the anti-collision system consists of messages sent and received during actual equipment operation, and two bool data for each equipment are the 'Not Healthy' signal indicating a problem with the sensor system of the equipment and the Characterized in that it is configured to indicate a release bypass signal.

In addition, since only vertical movement is performed in the case of the top drive, it is expressed as a single height-related real number value, and the iron rough neck is configured based on the location data of three detailed devices, and the detailed device reflects that linear and rotational motions are performed. It is characterized in that the data is configured by.

And since the trolley, which is the basic moving device of the lacquer, performs only one axial linear motion, it is expressed as one position value, and each of the three arms includes three-dimensional position data, and for a column in which rotation occurs It includes a rotation value, and the catwalk is characterized in that the data is configured by considering only the horizontal movement to the mouse hole.

And the data sent from the equipment emulator to the anti-collision system creates a new value by moving the joystick in the neutral state, selecting equipment and subsystems using the buttons on the joystick, and moving the joystick in proportion to the corresponding displacement. ,Rotational speed is generated to calculate the new position and rotation angle, and the generated data is sent to the anti-collision system along with the device's IP and port number. It is characterized by setting the size of the bounding box and transmitting the position of the bounding box and inspection results to the viewer implemented in Unreal so that the state of the equipment can be checked.

In the collision detection component, if the size of the bounding box is set according to the size of the equipment and the equipment is placed, the arrangement situation according to the current input is displayed on the display so that the equipment can be controlled directly through the GUI screen. It is characterized in that the collision test result is performed based on the position of the bounding box in the state and the state of the equipment can be checked by transmitting it to the ACS viewer implemented in Unreal.

To achieve another object, a method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention includes the steps of pre-inputting the drilling rig to be used; saving the pre-input system specifications and then calling them in the simulator. Creating a file and setting basic settings for the emulator; Updating the device to reflect changes in the external input device for equipment control; Setting to directly perform equipment control through the GUI screen, Displaying the current input status of them on the screen; Setting the environment of the GUI and specifying the storage location of the collision inspection related files; Selecting equipment and subsystems using buttons on the joystick, and moving the stick to move the corresponding displacement Calculating a new position and rotation angle by moving and rotating speed in proportion to the amount; It is characterized by including; setting the size of the bounding box and transmitting the position of the bounding box and the inspection result to a viewer implemented in Unreal to check the state of the equipment.

As described above, the device and method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention have the following effects.

First, a simulator is provided so that the modified anti-collision system can be directly connected to the original drilling control system without changing the settings, thereby increasing the efficiency of design and development of the anti-collision system.

Second, it can be freely executed according to the layout of the drilling workshop where the arrangement of equipment is designed, and even in the case of subsystems, they appear according to their characteristics according to the settings of the emulator for equipment in the previous step, allowing them to be freely arranged.

Third, it is easy to operate and intuitive, so it is easy to create scenarios for collision situations by constructing a simulator so that the collision avoidance system composed of external modules such as communication module, data processing module, collision detection logic and bypass is an actual system. It enables efficient inspection of the functions of each module in the development and upgrade stages before interlocking.

Fourth, enter the basic specifications of each device, implement a function to move each device using a joystick, set the UDP communication with the collision avoidance system core to be the same as the actual hardware connection, and verify the collision avoidance system with a simulator When connecting an actual device to , it operates immediately without any additional setting.

Fifth, while checking and upgrading collision-related modules and functions connected to the anti-collision system, a simulator is provided so that the modified anti-collision system can be directly connected to the original drilling control system and used without a separate setting change.

Sixth, a plurality of equipment can be operated simultaneously through a simulator to produce a collision situation, and collision detection is normally performed for each situation, and the result is displayed on the viewer so that the function check and upgrade of the collision avoidance system can be efficiently performed. make it possible

Seventh, the contents of communication between the drilling rig and the collision avoidance system and the original function of the equipment are analyzed through the simulator, and based on this, the movement of the equipment is set so that the function of the collision avoidance system can be effectively verified.

1 is a configuration diagram showing an example of the configuration of a drilling control system including a network
Figure 2 is a configuration diagram showing the basic form of the collision avoidance system
3 is a configuration diagram showing the arrangement of equipment in a drilling ship
Figure 4 is a configuration diagram showing the interdependency of subsystems
Figure 5 is a simulator configuration diagram for an anti-collision system according to the present invention
6 is a configuration diagram of the entire system including a simulator according to the present invention
7A and 7B are configuration diagrams of a pre-input component of a simulator and a GUI component of a simulator.
8 is a configuration diagram showing an example of an equipment arrangement screen through a GUI of a simulator
9 is a flow chart showing a method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention.
10 is a configuration diagram showing an example of collision detection through a simulator for an anti-collision system for offshore drilling rigs according to the present invention.

Hereinafter, a preferred embodiment of an apparatus and method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention will be described in detail.

Features and advantages of an apparatus and method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention will become clear through a detailed description of each embodiment below.

1 is a configuration diagram showing an example of the configuration of a drilling control system including a network.

An apparatus and method for realizing a simulator for an anti-collision system for offshore drilling equipment according to the present invention prevents collision by providing a simulator that allows a changed anti-collision system to be directly connected to an original drilling control system and used without a separate setting change. This is to increase the efficiency of system design and development.

An example of a configuration of a drilling control system including a network is shown in FIG. 1 .

The simulator for the anti-collision system must perform functions for parts other than the anti-collision system among the systems connected to the drilling control network.

Control of the drilling equipment including the network is performed through a programmable logic controller (PLC) and connected to the network through a communication module.

Programmable logic controllers for machine control are usually co-located for management efficiency. In relation to drilling control, communication between systems is performed through a drilling control network.

Profibus FDL and Profibus DP based on RS485 are mainly used between the equipment and the programmable logic controller, and Ethernet-based user datagram protocol (UDP) communication is mainly used for networks between other systems.

Cyberbase is a system that manages the operation of the entire drilling system and is based on a human-machine interface. The anti-collision system server plays a role in detecting and preventing collisions through information exchange between the mechanical system and cyberbase.

An example of the basic form of the collision avoidance system applied to the present invention will be described.

Figure 2 is a configuration diagram showing the basic form of the collision avoidance system.

The drilling control network is a basic communication network in which data generated by drilling-related equipment and systems is mutually shared. The data transmitted from each device is delivered to the system that needs the information through this network, and receives data sent from other systems.

The anti-collision system is mounted on a separate piece of hardware, and considering the importance of its role, it is installed in a place accessible only to the highest level of work.

For the efficiency of drilling-related system operation, the anti-collision system is largely composed of three modules: a core module of the anti-collision system, an external module, and a visualization module.

The collision avoidance system core module is composed mainly of communication elements to shorten the possible processing time so as not to affect the communication speed with other systems or equipment.

In the case of a bypass signal generation device that handles unusual situations and a collision check component with a possibility of algorithm change, it is better to implement it in an external module separate from the core so that only the relevant items can be modified if necessary. need. Collision is implemented by creating a bonding box that encloses the equipment and checking the overlapping part.

In addition, it is important not to affect the information processing speed of the entire network by allowing the visualization module to receive only updated signals from the collision avoidance system core without exchanging information with other modules.

The data received through the communication module in the drilling control network is sent to an external module through a preprocessor that performs a deserialization process according to the rules set to perform the collision detection function, and the result of the collision prevention logic is serialized in a predetermined way through a postprocessor and then sent to the network through a communication component.

Bypass control is applied when equipment stopped by a stop signal sent from a collision avoidance system needs to be moved without applying collision avoidance logic.

This includes moving to a specific area of a drilling rig for the purpose of maintenance or separating two pieces of equipment in a collision situation.

In relation to the collision avoidance system of drilling-related equipment, it can be largely divided into two cases: ignore and release. The ignore or release function is implemented in the form of a switch box in the smart machine integration system, and the function is activated when the switch is turned on in the standby state.

Ignoring signal is a function that allows certain equipment to continue to operate even in the state of 'sensor signal instability' at the drilling site.

The detailed description of the design of the simulator implementation method is as follows.

In order to implement a simulator for verifying the anti-collision system, elements that properly simulate the functions of the drilling control system are required.

Drilling equipment consists of a set of programmable logic controllers and is identified on the network through an IP address and port number.

In the simulator, an emulator that simulates the movement of each device is configured, and a port number is used for identification to run in the same computer.

In the drilling control network, communication between the equipment and the programmable logic control is performed within the emulator, so no separate configuration is required.

Also, considering running the systems together on the same computer, no separate hardware is required.

The cyber base where the interface with the user is made consists of a cyber chair and an attached touch screen to which various control devices are attached, but in the simulator according to the present invention, a joystick is used to test the function of the anti-collision system and touch screen.

The drilling rig motion analysis will be described as follows.

Table 1 summarizes the equipment considered in the present invention by applying Schlumberger's term standard.

A top drive is a drilling pipe rotation device that is widely used in modern drilling ships by replacing conventionally used rotary tables. It is also used as a main equipment in the tripping process to lower the pipe for excavation or to lift the pipe up again. It uses one or two electric or hydraulic motors and moves up and down connected to a traveling block for drilling work. It is also used for pipe fastening using a backup tong inside the equipment. Drawworks are used as winches that move the top drive up and down, including the traveling block. Since the top drive, traveling block, and drawwork work together in relation to collision, in the present invention, the top drive is used as a concept that includes two other equipment, and is based on vertical movement during movement.

A racker performs tasks such as moving a pipe stand between a rack that stores pipes vertically and a drilling hole, or standing up after receiving a pipe from catwalk equipment. Therefore, a vertical movement function for converting a horizontal pipe into a vertical state and a vertical pipe into a horizontal state, a forward/backward/leftward movement function during work, and a function of rotating from front to back are required.

Iron roughneck equipment is used to fasten pipe using a tong. Tong equipment includes a makeup tong and a breakout tong, and the hydra tong used in modern drilling facilities can perform both functions. In the ready state, wait at the designated location so as not to interfere with the operation of other equipment, and move to the work location if necessary. Since the working position where the equipment stops is located at a certain distance from the drilling hole where the fastening is performed for the safety of equipment operation, a function to extend the fastening device from the working position to the fastening position is required. In addition, since the height at which the actual fastening is performed at the fastening position may vary from time to time, a function to adjust the height is also required.

A catwalk is equipment used when transporting drilling pipes from a position where they are stored horizontally to a work site in order to carry out drilling work in earnest.

Using the tail-in arm device installed in the equipment, the pipe erection work is carried out together with the lacquer. Basically, you need a horizontal movement function.

The collision avoidance system simulator design according to the present invention is described as follows.

3 is a configuration diagram showing the arrangement of equipment in a drilling ship.

In order to configure the device emulator, it is necessary to analyze and reflect how the device moves.

In general, in a drilling workplace, the direction of looking at the drilling workplace from the offices of drillers mainly responsible for the operation of drilling-related equipment is set in the y-axis direction, and pipes enter the workplace along the x-axis direction.

Figure 3 shows a general arrangement in a drilling ship, where there is a space for storing pipes in the bow direction. Based on this, the direction of movement of the equipment placed in the workplace was set.

The interdependencies of the subsystems are summarized as shown in FIG. 4 .

4 is a configuration diagram showing interdependency of subsystems.

The subsystems are based on the basic moving equipment, and the lower equipment moves along the upper equipment. In the case of the top drive, auxiliary equipment such as a traveling block or a pick-up elevator is integrated and recognized as a single device.

This is because most of these accessories move integrally with the top drive. In the case of barrel equipment, it is basically composed of three subsystems: a base frame, a tool frame, and a spinner that transmits rotational force.

In the case of actual equipment, since the subsystem operates differently depending on the model, in the embodiment of the present invention, the tool frame and the spinner are set to independently move in the vertical direction.

During pipe fastening and disassembly, the rough neck moves from standby to working position, and the direction in the coordinate system becomes the y-axis direction. In roughneck equipment, the base frame is the basic moving device, and the tool frame and spinner are moved together, and when the tool frame is moved, the spinner moves together.

In the case of lacquer, a trolley is used as a basic moving device, and a column and three arms are installed on it.

The column can rotate on the trolley and the arms rotate with the column. Each of the three arms can be extended and contracted independently, and this work is done in a column reference frame. The catwalk is a single piece of equipment that moves in the x-axis direction as skates transport the pipe from the pipe storage location to the work area.

The moving directions of the equipment are summarized in Table 2.

5 is a configuration diagram of a simulator for an anti-collision system according to the present invention.

As shown in FIG. 5, the simulator for an anti-collision system according to the present invention has a graphical user interface (GUI) that receives input from a presetting unit 100 that receives system specifications and an external input device and outputs the value. ) 200 and a setting unit 300 capable of performing other settings.

Specifically, the pre-input unit 100 is a part that inputs and stores system specifications, generates a JSON (JavaScript object notation) file so that it can be called in the simulator, and sets basic settings for the emulator.

Jason is widely used because it makes data light and information processing speed is fast, and it is independent of language and platform. For the equipment used, input values are received in the steps of required equipment input (machine)-subsystem input (subsystem)-subsystem specification-communication/available range (device).

In the required equipment input, it is possible to input the type of equipment used for the simulation.

In the embodiment of the present invention, it is based on the drilling equipment presented in Table 2, but it is natural that it is not limited thereto and can be added and changed.

The subsystem input allows input of the maximum movement speed and acceleration, maximum rotational speed and acceleration, initial position and rotation state of the subsystem.

In the communication and available range, individual port numbers and allowable operation ranges for UDP communication assigned to each subsystem can be specified.

Specifically, the GUI 200 is a function of managing matters related to an interface with an external input device and monitoring a system operating state.

Device update is a part that reflects changes in the external input device for device control, and is used when a device other than the existing device is replaced.

UDP control implements the function of starting and ending UDP communication, which is a communication method with the collision avoidance system.

In the joystick control, when an error occurs in the joystick, it is set to directly perform equipment control through the GUI screen, and the current input status of other equipment is displayed on the screen.

Specifically, the setting unit 300 sets the basic GUI environment, allows the storage location of related files to be designated, and the configuration of the entire system including the simulator is the same as in FIG. 6 .

6 is a configuration diagram of the entire system including a simulator according to the present invention.

A simulator and an anti-collision system core are implemented together in one workstation 62, a simulator GUI 61 is configured in the simulator, and an ACS viewer is configured in the anti-collision system core.

Between the simulator and the anti-collision system core, it is configured to have the same data format as the UDP method used for communication between the actual equipment and the anti-collision system, so that it can be used without additional setting changes when connecting to the actual equipment.

The joystick to input the movement of the equipment on the simulator and the keyboard and mouse to adjust the screen in the viewer receive input.

You can use the joystick to check the commands given to the equipment and see the operation status of the equipment on the right screen.

Among the collision avoidance system core and external modules, the bypass control component is implemented in C#, and the simulator is coded using Visual Studio 2019 community.

7A and 7B are configuration diagrams of a dictionary input component of the simulator and a GUI component of the simulator.

The form of data compatible with the simulator and the collision avoidance system core is shown in Table 3.

The data sent from the simulator to the anti-collision system consists of messages sent and received during actual equipment operation.

Two bool-type data for each device are configured to indicate a 'Not Healthy' signal indicating that there is a problem with the sensor system of the device and a release bypass signal of the device.

The location and attitude related information of the basic data related to the collision is processed as a real number type.

The other boolean indicates whether the device is bypassed or not. In the case of the top drive, only vertical movement is performed, so it is expressed as a single height-related real number value, and the rough neck is configured based on the location data of three detailed devices.

Since detailed devices perform linear motion and some detailed devices perform rotational motion, configure data reflecting this.

Since the trolley performs only one axial linear motion, it is expressed as one position value, each of the three arms includes 3-dimensional position data, and a rotation value is included for a column in which rotation occurs.

In the case of the catwalk, it reflects the fact that only horizontal movement to the mouse hole is considered.

The data sent from the equipment emulator to the anti-collision system creates new values by moving the joystick in neutral.

The buttons on the joystick are used to select equipment and subsystems, and moving the stick produces a travel/rotation speed proportional to the corresponding displacement to calculate the new position and rotation angle.

The data generated in this way is sent to the anti-collision system along with the device's IP and port number, and a collision test is performed.

In the collision detection component, the size of the bounding box is set according to the size of the equipment, and the position of the bounding box and the inspection result are transmitted to the viewer implemented in Unreal, so that the state of the equipment can be checked.

8 is a configuration diagram showing an example of an equipment arrangement screen through a GUI of a simulator.

As shown in FIG. 7B, when the size of the bounding box is set according to the size of the equipment in the collision detection component and the equipment is placed, the arrangement situation according to the current input is as in Fig. 8 so that the equipment can be controlled directly through the GUI screen. as displayed on the display.

In this state, if a collision test result is performed based on the location of the bounding box and transmitted to the ACS viewer implemented in Unreal, the state of the equipment can be checked as shown in FIG. 10.

A method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention will be described in detail as follows.

9 is a flow chart illustrating a method for implementing a simulator for an anti-collision system for offshore drilling rigs according to the present invention.

First, for the equipment to be used, pre-input is performed in the steps of inputting necessary equipment (machine)-subsystem input (subsystem)-subsystem specification-communication/available range (device). (S901)

Then, after saving the pre-input system specifications, a JSON (JavaScript object notation) file is created so that it can be called in the simulator, and basic settings for the emulator are made. (S902)

Then, by monitoring the operating state of the system, device update is performed to reflect changes in the external input device for equipment control (S903).

Then, when an error occurs in the joystick, it is set to directly perform equipment control through the GUI screen, and the current input situation of other equipment is displayed on the screen (S904).

Then, the basic GUI environment is set, and the storage location of related files is designated (S905).

Subsequently, equipment and subsystems are selected using the buttons on the joystick, and a new position and rotation angle are calculated by moving the stick so that the movement/rotational speed is generated in proportion to the corresponding displacement (S906).

Then, the generated data is sent to the anti-collision system along with the device's IP and port number, and a collision test is performed (S907).

Then, in the collision detection component, the size of the bounding box is set according to the size of the equipment, and the position of the bounding box and the inspection result are transmitted to the viewer implemented in Unreal to check the state of the equipment (S908).

The function check of the simulator for an anti-collision system for marine drilling rigs according to the present invention will be described as follows.

10 is a configuration diagram showing an example of collision detection through a simulator for an anti-collision system for offshore drilling rigs according to the present invention.

Table 4 summarizes the working scenarios for checking the function of the simulator according to the present invention.

The setting value created as a result of preliminary input for emulator setting is read from the emulator.

Through the joystick connection, the operation equipment connection was checked, and the communication connection was checked to confirm that the core of the anti-collision system and the user datagram protocol were operating normally.

For the collision test, two devices (M1 and M2) were randomly selected to create a collision situation, and it was confirmed that they stopped when overlapping bounding boxes occurred.

It was confirmed that the equipment moved despite the stop signal of the anti-collision system in the bypass control situation (ignoring, canceling), and this process was performed for a combination of equipment with a possibility of collision.

A joystick was operated to move the equipment, and a test was conducted on a situation in which a collision may occur in a work scenario.

It was confirmed through a self-test that the signal received from the joystick, processed internally, and re-exported took less than 10 ms, and since the required communication speed of the entire system was 100 ms, no time delay problem occurred.

Whether or not there is a collision can be confirmed by changing the color of the bounding box enclosing the outside of each detailed device.

Since it is for the purpose of examining the function of the simulator for the anti-collision system, set the bounding boxes AABB (axis aligned bounding box) and OBB (object oriented bounding box) types.

Set rotation motion to OBB for the column and three arms of the lacquer, and assign AABB type bounding boxes to the rest of the devices.

The left joystick controls 3 pieces of equipment on the left, including top drive, 1 roughneck, and 1 lacquer, and the right joystick controls 3 pieces of equipment on the right, including 1 lacquer, 1 roughneck, and catwalk. It was selected and made operable, considering the way the actual system works.

Collision tests are conducted for lacquer-lacquer collisions, lacquer-cask collisions, and top drive-lacquer collisions, as well as barrel-lacquer-catwalk collision situations for simultaneous contact of three pieces of equipment.

Simulation results are the same as in FIG. 10 .

It can be seen that the operation of the anti-collision system, which changes the color when a collision is detected by manipulating the equipment through the simulator with all the bounding boxes initially set to green, and stops the equipment, works normally.

The device and method for realizing a simulator for an anti-collision system for marine drilling equipment according to the present invention described above enable the changed anti-collision system to be directly connected to the original drilling control system and used without a separate setting change, and the operation is easy. It is easy and intuitive to create scenarios for collision situations by configuring a simulator to link the collision avoidance system, which consists of external modules such as communication module, data processing module, collision detection logic and bypass, to the actual system. This is so that the function of each module can be efficiently inspected in the development and upgrade stages.

As described above, it will be understood that the present invention is implemented in a modified form without departing from the essential characteristics of the present invention.

Therefore, the specified embodiments should be considered from a descriptive point of view rather than a limiting point of view, and the scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent range are considered to be included in the present invention. will have to be interpreted

100. Advance input unit
200. GUI (graphical user interface)
300. Setting part

Claims (16)

Required equipment input (machine) to receive the type of equipment used in the simulation for the equipment used, subsystem input (subsystem input) to receive the maximum movement speed and acceleration of the subsystem, maximum rotational speed and acceleration, initial position and rotation state ) and subsystem specifications (specification) input, communication/available range (device) input to designate individual port numbers and allowable operation ranges for UDP communication assigned to each subsystem, the system specifications are input and stored, and used A dictionary input unit that creates basic settings for the emulator by generating a JSON (JavaScript object notation) file so that the simulator can call it during simulation of the equipment;
A GUI that supports an interface with an external input device and enables monitoring of a system operating state;
A setting unit for setting the environment of the GUI and specifying the storage location of the file related to the collision check result;
The simulator and the anti-collision system core are implemented together in one workstation, and the simulator and the anti-collision system core are configured to have the same data format as the UDP method used for communication between the actual drilling equipment and the anti-collision system, and verified with the simulator. When connecting the actual drilling equipment to the modified collision avoidance system, it operates immediately without additional setting,
The data sent from the equipment emulator to the anti-collision system generates new values by moving the joystick in a neutral state, selecting equipment and subsystems using the buttons on the joystick, and moving the joystick in proportion to the corresponding displacement, The rotational speed is generated to calculate the new position and angle of rotation, and the generated data is sent to the anti-collision system along with the device's IP and port number. A device for realizing a simulator for an anti-collision system for offshore drilling rigs, characterized in that it sets the size of the box and transmits the location and inspection results of the bounding box to a viewer implemented in Unreal to check the state of the equipment. delete The method of claim 1, wherein a simulator GUI is configured in the simulator, and an ACS viewer is configured to be connected to the collision avoidance system core,
Receive input with a joystick for inputting equipment movement on the simulator and a keyboard and mouse for adjusting the screen in the viewer,
A device for realizing a simulator for a collision avoidance system for marine drilling rigs, characterized in that it checks commands given to the rig using a joystick and checks the operation status of the drilling rig on the screen. delete The method of claim 1, wherein the GUI supports an interface with an external input device,
A part that reflects changes in the external input device for equipment control, and is a device update used when replacing equipment other than the existing equipment.
UDP control that implements the function of starting and ending UDP communication, which is a communication method with the collision avoidance system;
Offshore drilling equipment characterized in that it performs a joystick control function that sets equipment control directly through the GUI screen when an error occurs in the joystick and shows the current input situation of the equipment on the screen A device for realizing a simulator for an anti-collision system for people. The method of claim 1, wherein the collision avoidance system includes a collision avoidance system core module, an external module, and a visualization module,
In the case of a collision check component with a possibility of changing the bypass signal generation device and algorithm that handles unusual situations, it is configured in an external module,
An apparatus for implementing a simulator for an anti-collision system for offshore drilling rigs, characterized in that the collision is implemented by creating a bonding box surrounding the rig and checking the overlapping portion. The method of claim 6, wherein the visualization module receives only updated signals from the collision avoidance system core without exchanging information with other modules, so that the information processing speed of the entire network is not affected. A device for the implementation of simulators for prevention systems. 7. The method of claim 6, wherein the bypass control is applied when equipment stopped by a stop signal sent from the collision avoidance system needs to be moved without applying collision avoidance logic. A device for the implementation of simulators for anti-collision systems. The method of claim 6, wherein the data received through the communication module in the drilling control network, which is a basic communication network in which data generated by the drilling equipment and the system are mutually shared,
It is sent to an external module through a preprocessor that performs the deserialization process according to the rules set to perform the collision detection function.
An apparatus for implementing a simulator for an anti-collision system for marine drilling rigs, characterized in that the result of the anti-collision logic is serialized in a predetermined manner through a postprocessor and then sent to the drilling control network through a communication component. . The method of claim 1, wherein the drilling equipment verified by the simulator,
A top drive used as the main equipment for rotating the drilling pipe in the tripping process of lowering the pipe for excavation or lifting the pipe up again;
A racker that moves a pipe stand between a rack that stores pipes vertically and drilling holes, or that stands up by receiving pipes from catwalk equipment;
An iron roughneck used to fasten pipes using a tong;
An apparatus for implementing a simulator for an anti-collision system for offshore drilling rigs, comprising a catwalk used when transporting drilling pipes from a horizontally stored position to a work site. The method of claim 10, wherein the data sent from the simulator to the anti-collision system is composed of messages transmitted and received during actual equipment operation,
Two bool-type data for each equipment are configured to indicate a 'Not Healthy' signal indicating a problem with the sensor system of the equipment and a release bypass signal of the equipment. A device for realizing a dragon simulator. 12. The method of claim 11, since only vertical movement is performed in the case of the top drive, it is expressed as a single height-related real value, and the iron rough neck is configured based on the location data of three detailed devices,
A device for realizing a simulator for an anti-collision system for marine drilling rigs, characterized in that the detailed device configures data by reflecting linear motion and rotational motion. The method of claim 11, since the trolley, which is the basic moving device of the lacquer, performs only one axial linear motion, it is expressed as one position value, each of the three arms includes three-dimensional position data, and the column in which rotation occurs Include rotation values for (column),
A device for implementing a simulator for an anti-collision system for offshore drilling rigs, characterized in that the catwalk constitutes data by considering only the horizontal movement to the mouse hole. delete The method of claim 1, when the collision detection component sets the size of the bounding box according to the size of the equipment and arranges the equipment, the arrangement situation according to the current input is displayed so that the equipment can be controlled directly through the GUI screen. displayed on
In this state, a device for realizing a simulator for a collision avoidance system for offshore drilling rigs, characterized in that the collision inspection result is performed based on the position of the bounding box and transmitted to an ACS viewer implemented in Unreal so that the state of the equipment can be checked. . Required equipment input (machine) to receive the type of equipment used in the simulation for the equipment used, subsystem input (subsystem input) to receive the maximum movement speed and acceleration of the subsystem, maximum rotational speed and acceleration, initial position and rotation state ) and subsystem specification input, individual port numbers for UDP communication assigned to each subsystem, and communication/device input that specifies the allowable operating range. step;
Storing pre-input system specifications and then creating a file so that the simulator can call it when simulating the used equipment to set basic settings for the emulator;
Updating the device to reflect the change of the external input device for controlling the device;
Setting equipment control to be performed directly through the GUI screen, and displaying the current input situation of the equipment on the screen;
Setting the GUI environment and designating a storage location for collision detection related files;
The data sent from the equipment emulator to the anti-collision system generates new values by moving the joystick in a neutral state, selecting equipment and subsystems using the buttons on the joystick, and moving the joystick in proportion to the corresponding displacement, The rotational speed is generated to calculate the new position and rotation angle, and the generated data is sent to the anti-collision system along with the device's IP and port number, and collision inspection is performed. Setting the size of the box and transmitting the position of the bounding box and inspection results to a viewer implemented in Unreal so that the state of the equipment can be checked; includes,
The simulator and the anti-collision system core are implemented together in one workstation, and the simulator and the anti-collision system core are configured to have the same data format as the UDP method used for communication between the actual drilling equipment and the anti-collision system, and verified with the simulator. A method for implementing a simulator for a collision avoidance system for marine drilling equipment, characterized in that it operates immediately without additional setting when the actual drilling equipment is connected to the modified collision avoidance system.

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