WO2022048397A1 - 钻修井管柱的处理系统 - Google Patents
钻修井管柱的处理系统 Download PDFInfo
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- WO2022048397A1 WO2022048397A1 PCT/CN2021/111135 CN2021111135W WO2022048397A1 WO 2022048397 A1 WO2022048397 A1 WO 2022048397A1 CN 2021111135 W CN2021111135 W CN 2021111135W WO 2022048397 A1 WO2022048397 A1 WO 2022048397A1
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- WIPO (PCT)
- Prior art keywords
- pipe string
- visual recognition
- machine vision
- vision system
- drilling
- Prior art date
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 143
- 230000000007 visual effect Effects 0.000 claims description 167
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 117
- 238000012545 processing Methods 0.000 claims description 60
- 229910052742 iron Inorganic materials 0.000 claims description 59
- 238000003032 molecular docking Methods 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 45
- 230000008569 process Effects 0.000 abstract description 42
- 238000012790 confirmation Methods 0.000 abstract description 9
- 230000032258 transport Effects 0.000 description 10
- 230000008602 contraction Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/02—Rod or cable suspensions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/02—Rod or cable suspensions
- E21B19/06—Elevators, i.e. rod- or tube-gripping devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
Definitions
- the invention relates to a processing system for a drilling and workover pipe string, belonging to the technical field of oil drilling and workover.
- drill pipe, drill collar, casing, tubing, drill pipe stand, drill collar stand, casing stand and tubing stand are generally referred to as pipe strings.
- Manipulators, iron drillers, pipe-arranging machines, etc. are collectively referred to as drilling floor equipment.
- the current drilling and workover string processing system is still in the mechanized stage, especially in tripping or tripping operations, which require at least three operators to operate, and when tripping or tripping In the process of drilling down, some links still need to manually confirm the process, so that the operator needs to manually operate the equipment in dangerous areas such as the wellhead, which will bring major safety hazards to the operator.
- the purpose of the present invention is: in view of the prior art, in the processing system of the drilling and workover pipe string, when the pipe string is handed over, it is necessary to manually confirm the handover process, which affects the processing efficiency of the pipe string, and gives the operator
- a processing system for drilling and workover pipe strings is provided, which can improve the processing efficiency of the pipe strings and reduce the potential safety hazards for operators.
- a processing system for drilling and workover pipe strings including a derrick, a surface pipe string conveying device, a drilling floor pipe string processing device and a second-floor pipe string discharge device, and is characterized in that: it also includes a machine vision system and a visual identification device;
- the derrick is used for Support and install drilling equipment, the derrick is provided with a drill floor and a second-floor platform, and a placement area for placing the pipe string is provided on the drilling floor;
- the ground pipe string conveying device is used to transport the pipe string between the ground and the drilling floor;
- the pipe string discharge device on the second-floor platform is arranged on the second-floor platform, and is used for the discharge and docking of the pipe string on the second-floor platform;
- Corresponding setting the drilling floor pipe string processing device is arranged on the drilling floor, and is used for the discharge and docking of the pipe string on the drilling floor;
- the machine vision system is electrically connected with the visual identification device and the drilling equipment respectively;
- the visual identification device is used to observe the pipe
- the derrick of the present invention is used to support and install drilling equipment, and is provided with a two-story platform and a drilling floor on the derrick, and the drilling floor pipe string processing device is arranged on the drilling floor, so that the drilling floor pipe string processing device is convenient for the drilling floor surface.
- the pipe string on the second-layer platform is connected and discharged; the second-layer platform pipe string discharge device is arranged on the second-layer platform, so as to facilitate the docking and discharge of the pipe string on the second-layer platform; in addition, in the treatment system provided by the present invention, also It includes a machine vision system and a visual recognition device.
- the position information of the pipe string, the position information of the drilling equipment or/and the status information of the drilling equipment are observed through the visual recognition device, and the observation signal is obtained, and then the visual recognition device feeds the observation signal to the machine.
- Vision system machine vision system adjusts the position of drilling equipment or/and controls the operation of drilling equipment according to the observation signal fed back by the visual recognition device, so as to avoid manual confirmation of the handover process of the pipe string.
- the processing system provided by the present invention uses machine vision technology to automatically identify and judge the state of the pipe string during handover, thereby avoiding manual confirmation of the handover process of the pipe string, thereby reducing potential safety hazards for operators, and can The automatic control is realized in the handover process of the string, thereby improving the processing efficiency of the drilling and workover string.
- a traveling car is arranged on the derrick, a top drive is fixed on the traveling car, and an elevator is installed at one end of the top drive; the traveling car can drive the top drive to move vertically along the derrick, and the top drive can drive the crane.
- the pipe string is transferred through the pipe arranging machine;
- the visual recognition device includes a first visual recognition module arranged above the second-floor platform, and the first visual recognition module is used to observe the relative position information between the clamp body and the elevator to obtain the first observation signal
- the first observation signal is fed back to the machine vision system;
- the machine vision system is used to control the relative position between the clamp body and the elevator of the pipe-arranging machine according to the first observation signal fed back by the first visual recognition module.
- the handover state of the pipe string can be automatically identified and judged during the process of pushing the pipe string into the elevator by the pipe arranging machine, or during the process of taking the pipe string out of the elevator by the pipe arranging machine, thereby avoiding Manually confirm the handover process of the pipe string, which can reduce the potential safety hazard to the operator, and can realize the automatic control of the pipe string handover process between the pipe arranging machine and the elevator, and improve the reliability of the drilling and workover pipe string. processing efficiency.
- a wellbore is arranged on the drilling floor, slips are installed inside the wellbore, the visual identification device includes a second visual identification module, and the second visual identification module is located on the side of the wellbore;
- the drilling floor pipe string processing device includes a manipulator and an iron. The driller, the manipulator and the iron driller are all located on the side of the wellbore. The manipulator is used to grab the lower part of the pipe string, and the manipulator transfers the pipe string between the wellbore and the placement area.
- the iron driller is used to make up the pipe string or Shackle;
- the second visual recognition module is used to observe whether the slips hold the pipe string and the position information of the pipe string in the slips, obtain the second observation signal and feed back the second observation signal to the machine vision system;
- the machine vision system uses According to the second observation signal fed back by the second visual recognition module, the slips are controlled to clamp the pipe string, and the machine vision system is used to control the iron driller to carry out the upward movement of the pipe string according to the second observation signal fed back by the second visual recognition module.
- Buckle or shackle is used to control the iron driller to carry out the upward movement of the pipe string according to the second observation signal fed back by the second visual recognition module.
- the second visual identification module and the iron driller are located on both sides of the center of the wellbore, respectively, and the second visual recognition module is arranged on the connecting line between the rotation center of the iron driller and the center of the wellbore.
- the surface pipe string conveying device includes a power catwalk; a buffer manipulator is installed on the derrick, and the buffer manipulator is used to push and support the pipe string transported by the power catwalk to the wellbore, or to transport the pipe string from the wellbore to the wellbore. Push to the power catwalk.
- the buffer manipulator pushes and supports the pipe string, which can improve the safety of the pipe string during handover.
- the visual recognition device includes a third visual recognition module arranged on the derrick, and the third visual recognition module is used to observe the distance information between the drilling equipment and the buffer manipulator, obtain a third observation signal and feed back the third observation signal to the derrick.
- Machine vision system The machine vision system is used to adjust the position of the drilling equipment or the buffer manipulator according to the minimum value of the third observation signal fed back by the third visual recognition module, so as to avoid interference between the drilling equipment and the buffer manipulator.
- the visual recognition device includes a fourth visual recognition module, the fourth visual recognition module is arranged on the drill floor pipe string processing device or on the drill floor, and the fourth visual recognition module is used to observe the position information of the pipe string in the placement area, The fourth observation signal is obtained and fed back to the machine vision system; the machine vision system is used to control the drilling equipment to grab or place the pipe string in the placement area according to the fourth observation signal fed back by the fourth visual recognition module.
- the visual recognition device includes a fifth visual recognition module, the fifth visual recognition module is arranged on the derrick, and the position of the fifth visual recognition module is close to the position of the second-floor platform; the fifth visual recognition module is used to observe the inner pipe of the finger beam.
- the position information of the column is obtained, the fifth observation signal is obtained and the fifth observation signal is fed back to the machine vision system; the machine vision system is used to control the drilling equipment to grab or Place the column.
- control system operating table is arranged below the drilling floor, and the machine vision system is arranged on the control system operating table, so that the operator can better cope with some emergencies.
- the thread oil smearing device is used to prevent the threads of the pipe string from being velcro or rusted, and the mud splash-proof box is used to block the mud spray inside the pipe string.
- the present invention can realize automatic control during the connection process of the pipe string for drilling and workover, thereby improving the processing efficiency of the pipe string for drilling and workover, and reducing the cost of drilling and workover.
- FIG. 1 is a front view of the present invention.
- Figure 2 is a left side view of the present invention.
- Figure 3 is a top view of the present invention.
- FIG. 4 is an H-H sectional view in FIG. 2 .
- FIG. 5 is a partial enlarged view of A in FIG. 1 .
- FIG. 6 is a partial enlarged view of B in FIG. 1 .
- FIG. 7 is a partial enlarged view of C in FIG. 1 .
- FIG. 8 is a partial enlarged view of D in FIG. 2 .
- FIG. 9 is a partial enlarged view of E in FIG. 2 .
- FIG. 10 is a partial enlarged view of F in FIG. 3 .
- FIG. 11 is a partial enlarged view of G in FIG. 3 .
- the present invention includes a derrick 1, a surface pipe string conveying device 3, a drill floor pipe string processing device and a second floor pipe string discharge device, as well as a machine vision system and a visual recognition device.
- the derrick 1 of the present invention is used for supporting and installing drilling equipment, and is provided with a drill floor 13 and a second-floor platform 11 on the derrick 1, and a placement area 131 for placing pipe strings is provided on the drilling floor 13, and a ground pipe string conveying device 3 It is used to transport the pipe string between the ground and the drill floor 13, and the second-floor pipe string discharge device is arranged on the second-floor platform 11, so as to facilitate the discharge and docking of the pipe string on the second-floor platform 11;
- the platform pipe string discharge device includes a finger beam 112 for storing the pipe string, and the finger beam 112 is arranged corresponding to the placement area 131, and the finger beam 112 is arranged corresponding to the placement area 131, which means that the placement area 131 is located directly below the finger beam 112
- the visual recognition device observes the position information of the pipe string, the position information of the drilling equipment or/and the status information of the drilling equipment, and obtains the observation signal, and then the visual recognition device feeds back the observation signal to the machine vision system.
- the system adjusts the position of the drilling equipment or/and controls the operation of the drilling equipment according to the observation signal fed back by the visual recognition device.
- the processing system provided by the present invention uses machine vision technology to automatically identify and judge the state of the pipe string during handover, thereby avoiding manual confirmation of the handover process of the pipe string, thereby reducing potential safety hazards for operators, and can The automatic control is realized in the handover process of the string, thereby improving the processing efficiency of the drilling and workover string.
- the specific position of the visual recognition device is not limited, and is generally selected according to the actual situation:
- a traveling block 12 is provided on the derrick 1
- a top drive 121 is fixed on the traveling block 12
- an elevator 122 is installed at one end of the top drive 121, so that the elevator 122 can pass through the elevator during tripping or tripping.
- 122 can bear the weight of the pipe string, and the traveling block 12 can drive the top drive 121 to move vertically along the derrick 1, and the top drive 121 can drive the elevator 122 to pick and place and move the pipe string.
- the traveling block 12 drives the top drive 121 to move in the vertical direction of the derrick 1
- the top drive 121 can drive the elevator 122 to drive the pipe string to move vertically in the derrick 1
- the top drive 121 can The drive elevator 122 grabs or releases the string.
- the two-story pipe string discharging device of the present invention includes a pipe racking machine 111 for grabbing the upper part of the pipe string.
- the pipe racking machine 111 is provided with a clamp body for holding the upper part of the pipe string, and the finger between the beam 112 and the elevator 122 Transfer the pipe string through the pipe arrangement machine 111;
- the visual recognition device may include a first visual recognition module 2 arranged above the second-floor platform 11, and the first visual recognition module 2 is used to observe the relative position information between the clamp body and the elevator 122 , and obtain the first observation signal, where the first observation signal refers to the relative distance information between the clamp body of the pipe arranging machine 111 and the elevator 122, the position information of the pipe string in the elevator 122, and the position information of the pipe string in the pipe arrangement
- the position information in the clamp body of the machine 111, the first visual recognition module 2 then feeds back the first observation signal to the machine vision system; and the machine vision system is electrically connected with the drilling equipment and the visual recognition device, so that the
- the machine vision system stops adjusting the position of the clamp body or the position of the elevator 122, and then makes the pipe string be handed over between the pipe arranging machine 111 and the elevator 122, and then It can be ensured that the pipe string can smoothly enter the elevator 122 , or the pipe string can be smoothly taken out from the elevator 122 .
- the relative distance signal between the clamp body of the pipe arrangement machine 111 and the elevator 122 is defined as A1, and the first threshold is defined as L1.
- the machine vision system adjusts the pipe arrangement The relative position between the clamp body of the machine 111 and the elevator 122; when A1 is equal to or less than L1, the machine vision system stops adjusting the position of the clamp body or the elevator 122, and then makes the pipe string between the pipe arrangement machine 111 and the elevator 122.
- the elevators 122 are handed over to ensure that the pipe string can smoothly enter the elevator 122, or the pipe string can be smoothly taken out from the elevator 122.
- the specific value of the first threshold is selected according to the actual situation; and the pipe string can be selected according to the actual situation.
- the position information in the elevator 122 can determine whether the elevator 122 has firmly clamped the pipe string, and according to the position information of the pipe string in the clamp body of the pipe racking machine 111, it can be determined whether the clamp body of the pipe racking machine 111 has clamped the pipe string firmly, Therefore, in the handover process between the pipe arrangement machine 111 and the elevator 122, the handover state of the pipe string can be automatically identified and judged, thereby avoiding manual confirmation of the handover process of the pipe string, reducing the potential safety hazard to the operator, and The automatic control of the pipe string handover process between the pipe arrangement machine 111 and the elevator 122 can be realized, and the processing efficiency of the drilling and workover pipe string can be improved.
- a wellbore is provided on the drilling floor 13, and slips 14 are installed inside the wellbore, so that when the pipe string is placed in the wellhead, the slips 14 can be used to bear the pressure of the pipe string.
- the visual identification device can include a second visual identification module 17, which is located on the side of the wellbore;
- the drilling floor pipe string processing device includes a manipulator 15 and an iron driller 16 , the manipulator 15 and the iron driller 16 are both located on the side of the wellbore, the manipulator 15 is used to grab the lower part of the pipe string, the pipe string is transferred between the wellbore and the placement area 131 by the manipulator 15, and the iron driller 16 is used to align the pipe string Make or break;
- the second visual recognition module 17 is used to observe whether the slips 14 hold the pipe string and the position information of the pipe string in the slips 14, obtain the second observation signal and feed back the second observation signal to the machine Vision system;
- the machine vision system is used for controlling the slips 14 to clamp the pipe string according to the second observation signal fed back by the second visual recognition module 17 , and the machine vision system is used for the second observation signal fed back by the second visual recognition module 17 , and control the iron driller 16 to make
- the second observation signal includes the minimum distance signal between the slip 14 and the pipe string, and the position information of the pipe string in the slip 14.
- the minimum distance signal between the slip 14 and the pipe string is defined as A21, and set A second threshold value one, the second threshold value one is defined as L21, the position information of the pipe string in the slip 14 is defined as A22, and a second threshold value two is set, and the second threshold value two is defined as L22; the pipe string
- the machine vision recognition system controls the slip 14 to clamp the pipe string, until A21 is equal to or less than L21, the machine vision system judges that the slip 14 has clamped the pipe string; Then the machine vision system judges whether A22 has changed.
- the machine vision system controls the slip 14 to continue. Close until the change value of A22 is equal to or less than L22.
- the machine vision system adjusts the position of the tong body of the iron drill 16 according to A22, so that the tong body of the iron drill 16 is in contact with the pipe string, and then completes the alignment. The make-up or break-out operation of the pipe string.
- the second visual recognition module 17 can also observe the position information of other drilling equipment on the drilling floor 13, and feed back the observation signal to the machine vision system, and the machine vision system can determine whether there is a The iron driller 16 may interfere with other drilling equipment. If the iron driller 16 interferes with other drilling equipment, the machine vision system automatically adjusts the running track to avoid obstacles. If it cannot be avoided, the machine vision system Stop running and issue relevant prompts; when a person enters the range of the running track, the machine vision system also automatically stops running.
- the position of the second visual recognition module 17 and the position of the iron driller 16 can be located on both sides of the center of the wellbore, respectively, and the second visual recognition module 17 is arranged at the center of rotation of the iron driller 16 and the wellbore On the connecting line in the center, it is convenient for the second visual recognition module 17 to observe whether the slips 14 hold the pipe string and the position information of the pipe string in the slips 14 .
- the ground pipe string conveying device 3 of the present invention includes a power catwalk, which is used to transport the ground pipe string to the drilling floor 13; and, in the present invention, a buffer manipulator 18 is installed on the derrick 1, and the buffer manipulator 18 can The pipe string transported by the power catwalk is pushed to the wellhead, or used to push the pipe string from the wellhead to the power catwalk, so that the effectiveness and reliability of the pipe string in the processing system can be improved.
- the visual recognition device may include a third visual recognition module 19 arranged on the derrick 1, and the third visual recognition module 19 is used to observe the distance information between the drilling equipment and the buffer manipulator 18, obtain a third observation signal and use the third visual recognition module 19.
- the three observation signals are fed back to the machine vision system; the machine vision system is used to adjust the position of the drilling equipment or the position of the buffer manipulator 18 according to the minimum value of the third observation signal fed back by the third visual recognition module 19 to avoid the drilling equipment and the buffer manipulator 18 interference occurs.
- the third observation signal can be the distance information between the top drive 121 and the buffer manipulator 18
- the third observation signal is defined as A3, and a third threshold is set.
- the third threshold is generally selected according to the actual situation, and the third threshold is defined as L3.
- the machine vision system stops the traveling car 12, and adjusts the angle of the lifting ring of the top drive 121 or the buffer manipulator 18.
- A3 is greater than L3, let the The traveling block 12 continues to run, so that interference between the top drive 121 and the buffer manipulator 18 can be avoided during the running process of the traveling block 12 .
- the visual recognition device may include a fourth visual recognition module 4, the fourth visual recognition module 4 is arranged on the drill floor pipe string processing device or on the drill floor surface 13, and the fourth visual recognition module 4 is used to observe the placement area 131
- the position information of the inner pipe string, the fourth observation signal is obtained and the fourth observation signal is fed back to the machine vision system; the machine vision system is used to control the drilling equipment in the placement area according to the fourth observation signal fed back by the fourth visual recognition module 4 131 to grab or place the string. Therefore, when the drilling equipment grabs or places the pipe string in the placement area 131, it can avoid the process of manually confirming that the drilling equipment grabs or places the pipe string in the placement area 131, thereby reducing the potential safety hazard to the operator.
- the automatic control of the present invention can be further improved, and the processing efficiency of the drilling and workover string can be further improved.
- the lower end of the pipe string is located in the placement area 131, and the fourth visual recognition module 4 feeds back the position information of the lower end of the pipe string in the placement area 131, or the remaining vacancy information of the lower end of the pipe string in the placement area 131 to the machine vision system,
- the machine vision system adjusts the drilling equipment to grab or place the pipe string in the placement area 131 according to the fourth observation signal.
- the drilling equipment described here may be the manipulator 15 .
- the visual recognition device may include a fifth visual recognition module 5, the fifth visual recognition module 5 is arranged on the derrick 1, and the position of the fifth visual recognition module 5 is close to the position of the second-floor platform 11;
- the module 5 is used to observe the position information of the pipe string in the finger beam 112, obtain the fifth observation signal and feed back the fifth observation signal to the machine vision system;
- the machine vision system is used for the fifth observation signal fed back by the fifth visual recognition module 5 , control the drilling equipment to grab or place the pipe string in the finger beam 112 .
- the upper end of the pipe string is placed in the finger beam 112, and the fifth visual recognition module 5 feeds back the position information of the upper end of the pipe string in the finger beam 112, or the remaining vacancy information of the upper end of the pipe string in the finger beam 112 to the machine vision
- the drilling equipment is adjusted by the machine vision system according to the fifth observation signal to grab or place the pipe string in the finger beam 112 .
- the drilling equipment described here may be the manipulator 15 .
- the present invention also includes a control system console 6, and the control system console 6 is arranged. Below the drill floor 13, the control system operating table 6 is arranged below the drill floor 13, which can further reduce potential safety hazards for the operator and improve the safety of pipe string operations.
- the present invention is provided with a thread oil coating device, so that when drilling down, the thread oil can be coated on the thread of the pipe string through the thread oil coating device. And then prevent the thread from sticking or rusting; the thread oil smearing device of the present invention can be installed on the iron drill 16, so that the structure of the whole system can be made more concise; of course, the thread oil smearing device of the present invention
- the device can also be integrated on other drilling equipment, such as the manipulator 15, etc.; further, after the shattering of the pipe string is completed, in order to be able to block the mud injection inside the pipe string, the present invention is also provided with a mud splash-proof box to prevent mud from splashing.
- the cassettes may be arranged on the drill floor 13 .
- the processing system provided by the present invention involves five visual recognition modules.
- these five visual recognition modules can be individually configured in the processing system of the drilling and workover string, or can be In the processing system for re-drilling and workover strings after combination, that is: in the processing system for drilling and workover strings, any one of the five visual recognition modules can be configured, or the five visual recognition modules can be configured.
- Several of the visual recognition modules, or all five visual recognition modules are configured in the processing system of the drilling and workover string.
- the operator can also increase the number of visual recognition devices according to actual needs, so that the automation degree of the drilling and workover string processing system can be further improved.
- Step 1 the power catwalk 3 transports the drill pipe on the ground to the drill floor 13;
- step 2 the machine vision system adjusts the position of the traveling block 12 and makes the elevator 122 stick to one end of the first drill pipe, then makes the traveling block 12 go up, and at the same time controls the buffer manipulator 18, so that the buffer manipulator 18 transports the power catwalk 3
- the first drill pipe that comes up is pushed and supported above the wellbore, and the power catwalk 3 is ready to transport the second drill pipe at the same time; in the process of adjusting the position of the traveling block 12, the observed The third observation signal is fed back to the machine vision system, and the machine vision system automatically controls the distance between the traveling block 12 and other drilling equipment to ensure the safe operation of the traveling block 12;
- Step 3 open the slips 14 on the drill floor 13, make the traveling block 12 go down and push the first drill pipe into the wellbore, and then close the slips 14.
- the power catwalk 3 has transported the second drill pipe to the wellbore. on the drill floor 13; then, the second visual recognition module 17 is used to observe whether the slips 14 hold the drill pipe and the position information of the drill pipe in the slips 14, and the second observation signal is fed back to the machine vision system, by the machine The vision system automatically judges whether the slip 14 has firmly clamped the drill pipe, and performs step 4 after the slip 14 is effectively closed;
- step 4 the machine vision system adjusts the position of the traveling block 12 again, so that the elevator 122 is stuck at one end of the second drill pipe, and then the traveling block 12 is moved upward, and at the same time, the buffer manipulator 18 is controlled so that the buffer manipulator 18 moves the power catwalk 3
- the transported second drill pipe is pushed to the top of the wellbore, and the power catwalk 3 is ready to transport the third drill pipe at the same time; then, the observed third observation signal is fed back to the machine through the third visual recognition module 19 Vision system, the distance between the traveling block 12 and other drilling equipment is automatically controlled by the machine vision system to ensure the safe operation of the traveling block 12;
- step 5 the traveling block 12 goes down, so that the bottom end of the second drill pipe is buckled on the top end of the first drill pipe, and then the iron drill 16 is extended to make up the first drill pipe and the second drill pipe;
- the second visual recognition module 17 feeds back the position information of the drill pipe in the slip to the machine vision system, and the machine vision system automatically adjusts the running track of the iron driller 16 and the height of the clamp body of the iron driller 16, and then the first drill pipe is adjusted.
- the second drill pipe is buckled; and during the expansion and contraction process of the iron driller 16, the second visual recognition module 17 feeds back the position information of other drilling equipment in the wellbore area of the drilling floor 13 to the machine vision system, which is judged by the machine vision system.
- the machine vision system In the running trajectory of the iron driller 16, is there any situation that the iron driller 16 will interfere with other drilling equipment, etc. If there is interference with other drilling equipment, etc., the machine vision system automatically adjusts the running trajectory to avoid obstacles. If there is no way to avoid it, the machine vision system will stop running and send out relevant prompts; when a person enters the range of the running track, the entire system will also automatically stop running;
- Step 6 open the slip 14, so that the traveling block 12 goes down with the first drill pipe and the second drill pipe after the make-up is completed. After the traveling block 12 descends to the set position, then close the slip 14. At this time, The power catwalk 3 has transported the third drill pipe to the drill floor 13; the observed third observation signal is fed back to the machine vision system through the third visual recognition module 19, thereby ensuring the safe operation of the traveling car 12;
- Step 7 The machine vision system adjusts the position of the traveling block 12 again, so that the elevator 122 is stuck at one end of the third drill pipe, and then the traveling block 12 is moved upward, and at the same time, the buffer manipulator 18 is controlled so that the buffer manipulator 18 can move the power catwalk 3
- the transported third drill pipe is pushed to the top of the wellbore, and the power catwalk 3 is ready to transport the drill pipe in the next stand at the same time; the observed third observation signal is fed back to the third visual recognition module 19.
- a machine vision system thereby ensuring the safe operation of the traveling car 12;
- Step 8 the traveling block 12 goes down, so that the bottom end of the third drill pipe is buckled on the top end of the second drill pipe, and then the iron drill 16 is extended, and the third drill pipe and the second drill pipe are buckled; in step In the eighth, the position information of the drill pipe in the slip is fed back to the machine vision system through the second visual recognition module 17, and the machine vision system automatically adjusts the running track of the iron driller 16 and the height of the pliers of the iron driller 16, and then further The first drill pipe and the second drill pipe are buckled; and during the telescopic process of the iron driller 16, the second visual recognition module 17 feeds back the position information of other drilling equipment in the wellbore area of the drill floor 13 to the machine vision system, The machine vision system determines whether the iron driller 16 interferes with other drilling equipment in the running trajectory of the iron driller 16. If there is interference with other drilling equipment, the machine vision system adjusts the running trajectory to avoid If the obstacle cannot be avoided, the machine vision system will stop running and send out relevant prompts; when a person enter
- Step 9 After the buckle is completed, open the slips 14, so that the traveling car 12 goes up with the vertical root, and then the pipe arranging machine 111 pushes the upper end of the vertical root to the finger beam 112 of the second floor platform 11, and places the upper end of the vertical root. Above the standing root placing area 131, the lower end of the standing root is pushed to the bottom of the standing root placing area 131 by the manipulator 15, and then the standing root is placed in the standing root placing area 131; in step 9,
- the observed third observation signal is fed back to the machine vision system through the third visual recognition module 19, thereby ensuring the safe operation of the traveling car 12; and the fifth visual recognition module 5 is used to feed back the observed fifth observation signal to the machine vision system.
- the machine vision system controls the pipe arranging machine 111 to accurately place the upper end of the vertical root at the corresponding position in the finger beam 112, and the fourth observation signal is fed back to the machine vision system through the fourth visual recognition module 4, which is controlled by the machine vision system.
- the manipulator 15 can accurately place the lower end of the stand in the corresponding position of the placement area 131 .
- Step 1 the machine vision system adjusts the position of the traveling car 12, so that the elevator 122 is in the waiting position of the second floor platform 11; the third observation signal is fed back to the machine vision system through the third visual recognition module 19, so as to ensure the traveling. safe operation of the vehicle 12;
- step 2 the pipe-arranging machine 111 grabs the upper end of the first vertical root from the vertical root placement area 131, and pushes the upper end of the first vertical root into the elevator 122; the fifth observation signal is fed back through the fifth visual recognition module 5.
- the machine vision system automatically calculates the number and position of the vertical roots in the finger beam 112, and controls the pipe arranging machine 111 to grab the first vertical root according to the calculation result; push the first vertical root into the elevator 122 in the pipe arranging machine 111
- the first visual recognition module 2 feeds back the observed second observation signal to the machine vision system, and the machine vision system automatically adjusts the position trajectory of the pipe arranging machine 111 to ensure that the first vertical root enters the elevator 122 smoothly;
- the first observation signal fed back by the first visual recognition module 2 it is determined that the elevator 122 has been firmly clamped and then proceed to the next step;
- Step 3 the manipulator 15 grabs the lower end of the first vertical root from the placement area 131, and moves the lower end of the first vertical root to the top of the wellbore;
- the fourth observation signal is fed back to the machine vision system through the fourth visual recognition module 4 , the machine vision system determines the position information that needs to grab the first stand, and controls the manipulator 15 to grab the lower end of the first stand; and the machine vision system adjusts the operation of the manipulator 15 according to the second observation signal fed back by the second visual recognition module 17 move the lower end of the first vertical root to the top of the wellbore;
- Step 4 open the slips 14 on the drill floor 13, the traveling block 12 goes down and pushes the stand into the wellbore, and then closes the slips 14; the third observation signal is fed back to the machine vision system through the third visual recognition module 19 , and then ensure the safe operation of the traveling car 12; and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the slip 14 has completed the clamping and standing;
- Step 5 Adjust the position of the traveling car 12 so that the elevator 122 is in the waiting position of the second-floor platform 11; the third observation signal is fed back to the machine vision system through the third visual recognition module 19, thereby ensuring the safe operation of the traveling car 12 ;
- step 6 the pipe-arranging machine 111 grabs the upper end of the second vertical root from the vertical root placement area 131, and pushes the upper end of the second vertical root into the elevator 122;
- the machine vision system automatically calculates the number and position of vertical roots in the finger beam 112, and controls the pipe arranging machine 111 to grab the second vertical root according to the calculation results;
- the first visual recognition module 2 feeds back the observed first observation signal to the machine vision system, and the machine vision system adjusts the position of the pipe arranging machine 111 to ensure that the second vertical root enters the elevator 122 smoothly;
- the second observation signal fed back by the visual recognition module 2 confirms that the elevator 122 has been firmly clamped and then proceeded to the next step;
- Step 7 the manipulator 15 grabs the lower end of the second vertical root from the vertical root placement area 131, and buckles the bottom end of the second vertical root on the top of the first vertical root; through the fourth visual recognition module 4, the observed fourth observation signal is fed back to
- the machine vision system determines the position information of the second stand by the machine vision system, and controls the manipulator 15 to grab the lower end of the second stand; and the machine vision system adjusts the manipulator 15 according to the second observation signal information fed back by the second visual recognition module 17
- the running track, the bottom end of the second vertical root is buckled on the top of the first vertical root;
- Step 8 extend the iron drill 16, and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system automatically adjusts the running track of the iron drill 16 and the pliers of the iron drill 16. height, and then the first stand and the second stand are buckled; and during the expansion and contraction process of the iron driller 16, the second visual recognition module 17 feeds back the position information of other drilling equipment in the wellbore area of the drilling floor 13 to the machine vision.
- the machine vision system determines whether the iron driller 16 will interfere with other drilling equipment in the running track of the iron driller 16, then the machine vision system automatically adjusts the running track and avoids obstacles. If it cannot be avoided, Then the machine vision system stops running and sends out relevant prompts; when a person enters the running track range of the iron driller 16, the entire system also stops running automatically;
- Step 9 open the slip 14, and then make the traveling car 12 go down.
- the traveling car 12 goes down to the set position, close the slip 14;
- the third observation signal is fed back to the machine vision through the third visual recognition module 19. system, and then ensure the safe operation of the traveling car 12; and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the slip 14 has been firmly clamped;
- Step ten open the elevator 122 and make the traveling car 12 go up to the waiting position of the second floor platform 11, and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges the elevator 122.
- the traveling car 12 can go up; when the traveling car 12 is going up, the third observation signal of observation is fed back to the machine vision system through the third visual recognition module 19, thereby ensuring that the traveling car 12 safe operation.
- Step 1 the machine vision system adjusts the position of the traveling block 12, so that when the elevator 122 contacts the step surface of the stand, the elevator 122 is closed and the elevator 122 is stuck on the stand;
- the observation signal is fed back to the machine vision system, so as to ensure the safe operation of the traveling car 12, and the second observation signal is fed back to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the elevator 122 is firmly clamped , after ensuring that the elevator 122 is firmly clamped, the traveling car 12 can go up;
- Step 2 open the slip 14, make the traveling car 12 go up, and after the traveling car 12 goes up to the position of the target height, close the slip 14; the third observation signal is fed back to the machine vision system through the third visual recognition module 19, Then, the safe operation of the traveling car 12 is ensured, and the second observation signal is fed back to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the slip 14 has been opened;
- Step 3 extend the iron drill 16, and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system automatically adjusts the running track of the iron drill 16 and the pliers of the iron drill 16. height, and then shackle the two vertical roots at the wellbore, and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the shackle is successful; 16
- the second visual recognition module 17 feeds back the position information of other drilling equipment in the wellbore area of the drilling floor 13 to the machine vision system, and the machine vision system determines whether there is an iron driller in the running track of the iron driller 16.
- the machine vision system automatically adjusts the running track to avoid obstacles. If it cannot be avoided, the machine vision system stops running and sends out relevant prompts; when someone enters the iron driller 16 within the running trajectory range, the entire system will automatically stop running;
- Step 4 After the shackle is completed, the machine vision system controls the mud splash box to extend, and releases the two vertical roots after the shackle is successful; and feeds back the second observation signal to the machine vision through the second visual recognition module 17 system, the machine vision system judges whether the tripping is successful;
- Step 5 after the tripping is completed, the second observation signal is fed back to the machine vision system through the second visual recognition module 17, and the machine vision system automatically adjusts the running track of the manipulator 15, so that the manipulator 15 extends to the upper and lower vertical roots.
- the machine vision system judges the placement position of the standing root according to the fourth observation signal fed back by the fourth visual recognition module 4, and the machine vision system controls the manipulator 15 to automatically adjust the running track, and Push the lower end of the stand to the designated position of the placement area 131;
- step 6 the first observation signal is fed back to the machine vision system through the first visual recognition module 2, and the position of the pipe-arranging machine 111 is adjusted by the machine vision system to ensure that the pipe-arranging machine 111 can grasp the standing roots effectively and accurately;
- the elevator 122 is opened, and according to the first observation signal fed back by the first visual recognition module 2, the machine vision system automatically judges the open state of the elevator 122, and ensures that after the elevator 122 has been opened, the pipes are arranged.
- the machine 111 takes out the vertical root from the elevator 122; and the machine vision system automatically judges the placement position of the vertical root according to the fifth observation signal fed back by the fifth visual recognition module 5, and controls the pipe-arranging machine 111 to automatically adjust the running track, and The upper end of the stand is pushed to the designated position in the finger beam 112;
- Step 7 the traveling car 12 goes down to grab the next vertical root, and feeds back the third observation signal to the machine vision system through the third visual recognition module 19, thereby ensuring the safe operation of the traveling car 12;
- Step 1 the machine vision system adjusts the position of the traveling block 12, so that when the elevator 122 contacts the step surface of the stand, the elevator 122 is closed and the elevator 122 is stuck on the stand; Feedback to the machine vision system, thereby ensuring the safe operation of the traveling car 12, and feeding back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the elevator 122 is closed.
- the tour bus 12 can go up;
- Step 2 open the slip 14, make the traveling car 12 go up, and after the traveling car 12 goes up to the position of the target height, close the slip 14; pass the third visual recognition module 19 and feed back the third observation signal to the machine vision system , and then ensure the safe operation of the traveling car 12, and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the slip 14 has been opened;
- step 3 the iron drill 16 is extended, and the third observation signal is fed back to the machine vision system through the second visual recognition module 17, and the machine vision system automatically adjusts the running track of the iron drill 16 and the pliers of the iron drill 16. height, and then shackle the two vertical roots at the wellbore, and feed back the second observation signal to the machine vision system through the second visual recognition module 17, and the machine vision system judges whether the shackle is successful; 16
- the second visual recognition module 17 feeds back the position information of other drilling equipment in the wellbore area of the drilling floor 13 to the machine vision system, and the machine vision system determines whether there is an iron driller in the running track of the iron driller 16.
- the machine vision system automatically adjusts the running track to avoid obstacles. If it cannot be avoided, the machine vision system stops running and sends out relevant prompts; when someone enters the iron driller 16 within the running track range, the system will also automatically stop running;
- Step 4 After the shackle is completed, the machine vision system controls the mud splash box to extend, and releases the two vertical roots after the shackle is successful; and feeds back the second observation signal to the machine vision through the second visual recognition module 17 system, the machine vision system judges whether the tripping is successful;
- Step 5 after the tripping is completed, the machine vision system controls the buffer manipulator 18, so that the buffer manipulator 18 pushes the drill pipe into the power catwalk 3;
- step 6 the machine vision system controls the elevator 122 to separate from the stand, and feeds back the third observation signal to the machine vision system through the third visual recognition module 19, and the machine vision system judges whether the elevator 122 is open to ensure that the elevator 122 is open. After that, control the power catwalk 3 to transport the drill pipe to the ground drill pipe placement position.
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Abstract
一种钻修井管柱的处理系统，包括井架(1)、地面管柱输送装置(3)、钻台管柱处理装置和二层台管柱排放装置，还包括机器视觉系统和视觉识别装置；视觉识别装置用于观测管柱的位置信息、钻井设备的位置信息或/和钻井设备的状态信息，得到观测信号并将观测信号反馈给机器视觉系统；机器视觉系统用于根据视觉识别装置反馈的观测信号，调整钻井设备的位置或/和控制钻井设备运行。该系统自动识别判断管柱在交接时的状态，实现管柱在交接时的自动化控制，避免人工去确认管柱的交接过程，减少安全隐患，以及能够提高对管柱的处理效率。
Description
本发明涉及一种钻修井管柱的处理系统，属于石油钻修井技术领域。
在油气开发过程中，通常将钻杆、钻铤、套管、油管、钻杆立根、钻铤立根、套管立根以及油管立根等统称为管柱，通常将游车、顶驱、吊卡、机械手、铁钻工、排管机等统称为钻台设备。目前的钻修井管柱处理系统对钻修井管柱的处理方式仍停留在机械化的阶段，特别是在起钻或者下钻作业中，至少需要三名操作员进行作业，而且在起钻或者下钻的过程中，有些环节还需要人工去确认过程，从而使得操作员需要在井口等危险区域手动操作设备，进而会给操作员带来重大的安全隐患。同时，为了保证作业的安全性，在钻修井管柱的处理系统中一般是采用串行的操作方式，也就是在对钻修井的处理过程中，当前一个设备的动作完成，后一个设备才开始动作；而设备之间很少并行运行，即使有并行运行的情况，并行的程度也比较低。所以，目前对管柱的处理方式极大地降低了对管柱的处理效率，而且还会给操作员带来重大的安全隐患。
本发明的目的在于：针对现有技术中，在钻修井管柱的处理系统中，因进行管柱交接时，需要人工确认交接过程，而影响对管柱的处理效率，以及会给操作员带来安全隐患的问题，提供一种钻修井管柱的处理系统，能够提高对管柱的处理效率，降低给操作员带来的安全隐患。
为了实现上述发明目的，本发明提供了以下技术方案：
钻修井管柱的处理系统，包括井架、地面管柱输送装置、钻台管柱处理装置和二层台管柱排放装置，其特征在于：还包括机器视觉系统和视觉识别装置；井架用于支撑和安装钻井设备，井架上设置有钻台面和二层台，钻台面上设置有用于放置管柱的放置区；地面管柱输送装置用于将管柱在地面与钻台面之间进行输送；二层台管柱排放装置设置在二层台上，并用于二层台上管柱的排放和对接；二层台管柱排放装置包括用于管柱存靠的指梁，指梁与放置区对应设置；钻台管柱处理装置设置在钻台面上，并用于钻台面上管柱的排放和对接；机器视觉系统分别与视觉识别装置和钻井设备电性连接；视觉识别装置用于观测管柱的位置信息、钻井设备的位置信息或/和钻井设备的状态信息，得到观测信号并将观测信号反馈给机器视觉系统；机器视觉系统用于根据视觉识别装置反馈的观测信号，调整钻井设备的位置或/和控制钻井设备运行。
本发明的井架用于支撑和安装钻井设备，并在井架上设置有二层台和钻台面，而钻台管柱处理装置设置在钻台面上，从而便于钻台管柱处理装置对钻台面上的管柱进行对接和排放；二层台管柱排放装置设置在二层台上，从而便于对二层台上的管柱进行对接和排放；另外，在本发明所提供的处理系统中，还包括机器视觉系统和视觉识别装置，通过视觉识别装置观测管柱的位置信息、钻井设备的位置信息或/和钻井设备的状态信息，并得到观测信号，然后由视觉识别装置将观测信号反馈给机器视觉系统，机器视觉系统根据视觉识别装置反馈的观测信号，调整钻井设备的位置或/和控制钻井设备运行，从而可以避免人工去确认管柱的交接过程。本发明所提供的处理系统利用机器视觉技术，自动识别以及判断管柱在交接时的状态，从而可以避免人工去确认管柱的交接过程，进而可以减少给操作员带来安全隐患，能够在管柱的交接过程中实现自动化控制，进而能够提高对钻修井管柱的处理效率。
进一步的，井架上设置有游车，在游车上固设有顶驱，顶驱的一端安装有吊卡；所述游车能够驱动顶驱沿井架竖向移动，所述顶驱能够驱动吊卡抓放和移动管柱；二层台管柱排放装置包括用于抓取管柱上部的排管机，排管机上设置有用于夹持管柱上部的钳体，指梁和吊卡之间通过排管机转移管柱；视觉识别装置包括设置在二层台上方的第一视觉识别模块，第一视觉识别模块用于观测钳体与吊卡之间的相对位置信息，得到第一观测信号并将第一观测信号反馈给机器视觉系统；机器视觉系统用于根据第一视觉识别模块反馈的第一观测信号，控制排管机的钳体与吊卡之间的相对位置。通过上述结构，在排管机将管柱推入吊卡的过程中，或者在排管机将管柱从吊卡中取出的过程中，可以自动识别以及判断管柱的交接状态，从而可以避免人工去确认管柱的交接过程，进而可以减少给操作员带来的安全隐患，并且能够实现在排管机与吊卡之间进行管柱交接过程的自动化控制，提高对钻修井管柱的处理效率。
进一步的，钻台面上设置有井眼，井眼内部安装有卡瓦，视觉识别装置包括第二视觉识别模块，第二视觉识别模块位于井眼的侧面；钻台管柱处理装置包括机械手和铁钻工，机械手和铁钻工均位于井眼的侧面，机械手用于抓取管柱的下部，井眼和放置区之间通过机械手转移管柱，铁钻工用于对管柱进行上扣或者卸扣；第二视觉识别模块用于观测卡瓦是否夹持管柱以及管柱在卡瓦中的位置信息，得到第二观测信号并将第二观测信号反馈给机器视觉系统；机器视觉系统用于根据第二视觉识别模块反馈的第二观测信号，控制卡瓦夹稳管柱，以及机器视觉系统用于根据第二视觉识别模块反馈的第二观测信号，控制铁钻工对管柱进行上扣或者卸扣。通过上述结构，管柱放置在卡瓦的过程中，以及在铁钻工对管柱进行上扣或者卸扣的过程中，可以避免人工去确认管柱的交接过程，从而可以减少给操作员带来的安全隐患，并且还能够进一步提高本发明的自动化控制，能够进一步提高对钻修井管柱的处理效率。
进一步的，第二视觉识别模块与铁钻工分别位于井眼中心的两侧，第二视觉识别模块布置在铁钻工的回转中心与井眼中心的连接线上。通过上述结构，有利于第二视觉识别模块观测卡瓦是否夹持管柱以及管柱在卡瓦中位置信息。
进一步的，地面管柱输送装置包括动力猫道；在井架的上安装有缓冲机械手，缓冲机械手用于将动力猫道运输上来的管柱推扶到井眼，或者用于将管柱从井眼推扶到动力猫道上。管柱在钻台面与动力猫道之间交接时，通过缓冲机械手推扶管柱，可以提高管柱在交接时的安全性。
进一步的，视觉识别装置包括设置在井架上的第三视觉识别模块，第三视觉识别模块用于观测钻井设备与缓冲机械手之间的距离信息，得到第三观测信号并将第三观测信号反馈给机器视觉系统；机器视觉系统用于根据第三视觉识别模块反馈的第三观测信号最小值，调节钻井设备的位置或缓冲机械手的位置，避免钻井设备与缓冲机械手之间发生干涉。通过上述结构，在本处理系统运行的过程中，可以避免人工去确认钻井设备是否会与缓冲机械手发生碰撞，从而可以减少给操作员带来的安全隐患，提高对管柱的处理效率，并且能够进一步提高本发明的自动化控制，确保本处理系统的安全运行。
进一步的，视觉识别装置包括第四视觉识别模块，第四视觉识别模块设置在钻台管柱处理装置上或在钻台面上，第四视觉识别模块用于观测放置区内管柱的位置信息，得到第四观测信号并将第四观测信号反馈给机器视觉系统；机器视觉系统用于根据第四视觉识别模块反馈的第四观测信号，控制钻井设备在放置区内抓取或者放置管柱。通过上述结构，钻井设备在放置区内抓取或者放置管柱时，可以避免人工去确认钻井设备在放置区内抓取或者放置管柱的过程，从而可以减少给操作员带来的安全隐患，并且能够进一步提高本发明的自动化控制，进而能够进一步提高对钻修井管柱的处理效率。
进一步的，视觉识别装置包括第五视觉识别模块，第五视觉识别模块设置在井架上，并且第五视觉识别模块的位置靠近二层台的位置；第五视觉识别模块用于观测指梁内管柱的位置信息，得到第五观测信号并将第五观测信号反馈给机器视觉系统；机器视觉系统用于根据第五视觉识别模块反馈的第五观测信号，控制钻井设备在指梁内抓取或者放置管柱。通过上述结构，钻井设备在指梁内抓取或者放置管柱时，可以避免人工去确认钻井设备在指梁内抓取或者放置管柱的过程，从而可以减少给操作员带来的安全隐患，并且能够进一步提高本发明的自动化控制，进而能够进一步提高对钻修井管柱的处理效率。
进一步的，还包括控制系统操作台，控制系统操作台布置在钻台面的下方，机器视觉系统设置于控制系统操作台上从而在面临一些突发情况时，可以使操作员更好地应对。
进一步的，还包括丝扣油涂抹装置和泥浆防溅盒，丝扣油涂抹装置用于防止管柱的丝扣出现粘扣或者生锈，泥浆防溅盒用于阻挡管柱内部的泥浆喷射。
与现有技术相比，本发明的有益效果：
1、在钻修井的管柱对接过程中，本发明可以实现自动化控制，从而提高对钻修井管柱的处理效率，降低钻修井的成本。
2、可以避免人工频繁地去确认管柱的对接过程，减少给操作员带来的安全隐患，提高管柱操作的安全性。
3、可以减少在管柱操作过程中大量的工人辅助操作，降低操作员的劳动强度。
4、可以减少操作员的数量。
图1为本发明的主视图。
图2为本发明的左视图。
图3为本发明的俯视图。
图4为图2中的H-H剖视图。
图5为图1中A处的局部放大图。
图6为图1中B处的局部放大图。
图7为图1中C处的局部放大图。
图8为图2中D处的局部放大图。
图9为图2中E处的局部放大图。
图10为图3中F处的局部放大图。
图11为图3中G处的局部放大图。
图中标记：1-井架，11-二层台，111-排管机，112-指梁，12-游车，121-顶驱，122-吊卡，13-钻台面，131-放置区，14-卡瓦，15-机械手，16-铁钻工，17-第二视觉识别模块，18-缓冲机械手，19-第三视觉识别模块，2-第一视觉识别模块，3-地面管柱输送装置，4-第四视觉识别模块，5-第五视觉识别模块，6-控制系统操作台。
下面结合试验例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实现的技术均属于本发明的范围。
如图1至图11所示，本发明包括井架1、地面管柱输送装置3、钻台管柱处理装置和二层台管柱排放装置，还包括机器视觉系统和视觉识别装置。本发明的井架1用于支撑和安装钻井设备，并在井架1上设置有钻台面13和二层台11，钻台面13上设置有用于放置管柱的放置区131，地面管柱输送装置3用于将管柱在地面与钻台面13之间进行输送，而二层台管柱排放装置设置在二层台11上，从而便于对二层台11上的管柱进行排放和对接；二层台管柱排放装置包括用于管柱存靠的指梁112，并且指梁112与放置区131对应设置，指梁112与放置区131对应设置是指放置区131位于指梁112的正下方；钻台管柱处理装置设置在钻台面13上，从而便于对钻台面13上的管柱进行排放和对接；在本发明所提供的处理系统中，机器视觉系统分别与视觉识别装置和钻井设备电性连接，并通过视觉识别装置观测管柱的位置信息、钻井设备的位置信息或/和钻井设备的状态信息，并得到观测信号，然后由视觉识别装置将观测信号反馈给机器视觉系统，机器视觉系统根据视觉识别装置反馈的观测信号，调整钻井设备的位置或/和控制钻井设备运行。
本发明所提供的处理系统利用机器视觉技术，自动识别以及判断管柱在交接时的状态，从而可以避免人工去确认管柱的交接过程，进而可以减少给操作员带来安全隐患，能够在管柱的交接过程中实现自动化控制，进而能够提高对钻修井管柱的处理效率。
在本发明所提供的处理系统中，视觉识别装置的具体位置不限，一般根据实际情况进行选择：
具体的，本发明在井架1上设置有游车12，在游车12上固设有顶驱121，顶驱121的一端安装有吊卡122，从而在起钻或者下钻时，通过吊卡122可以承受管柱的重量，并且所述游车12能够驱动顶驱121沿井架1竖向移动，所述顶驱121能够驱动吊卡122抓放和移动管柱。当吊卡122夹持管柱后，游车12驱动顶驱121沿井架1的竖向移动时，顶驱121能够驱动吊卡122带动管柱在井架1的竖向移动，并且顶驱121能够驱动吊卡122抓取或者放开管柱。
本发明的二层台管柱排放装置包括用于抓取管柱上部的排管机111，排管机111上设置有用于夹持管柱上部的钳体，指梁112和吊卡122之间通过排管机111转移管柱；视觉识别装置可以包括设置在二层台11上方的第一视觉识别模块2，第一视觉识别模块2用于观测钳体与吊卡122之间的相对位置信息，并得到第一观测信号，这里的第一观测信号是指排管机111的钳体与吊卡122之间的相对距离信息、管柱在吊卡122中的位置信息以及管柱在排管机111的钳体中的位置信息，第一视觉识别模块2再将第一观测信号反馈给机器视觉系统；而机器视觉系统分别与钻井设备和视觉识别装置电性连接，从而机器视觉系统可以根据第一视觉识别模块2反馈的第一观测信号，控制排管机111的钳体与吊卡122之间的相对位置，并设定一个第一阈值，当排管机111的钳体与吊卡122之间的距离达到设定的第一阈值后，机器视觉系统停止对钳体位置或者吊卡122位置的调节，并再使管柱在排管机111与吊卡122之间进行交接，进而可以确保管柱能够顺利进入吊卡122中，或者使管柱能够顺利从吊卡122中取出。
将排管机111的钳体与吊卡122之间的相对距离信号定义为A1，将第一阈值定义为L1，当第一视觉识别模块2观测的A1大于L1时，机器视觉系统调整排管机111的钳体与吊卡122之间的相对位置；当A1等于或者小于L1时，机器视觉系统停止对钳体位置或者吊卡122位置的调节，并再使管柱在排管机111与吊卡122之间进行交接，进而可以确保管柱能够顺利进入吊卡122中，或者使管柱能够顺利从吊卡122中取出，第一阈值的具体数值根据实际情况进行选择；并且根据管柱在吊卡122中的位置信息可以判断吊卡122是否已经夹稳管柱，以及根据管柱在排管机111钳体中的位置信息可以判断排管机111钳体是否已经夹稳管柱，从而在排管机111与吊卡122之间的交接过程，可以自动识别以及判断管柱的交接状态，进而可以避免人工去确认管柱的交接过程，减少给操作员带来的安全隐患，并且能够实现在排管机111与吊卡122之间进行管柱交接过程的自动化控制，提高对钻修井管柱的处理效率。
另外，在本发明所提供的处理系统中，钻台面13上设置有井眼，井眼内部安装有卡瓦14，从而当管柱放置在井口内时，可以通过卡瓦14来承受管柱的重量，进而可以防止管柱在井口内下滑；视觉识别装置可以包括第二视觉识别模块17，第二视觉识别模块17位于井眼的侧面；钻台管柱处理装置包括机械手15和铁钻工16，机械手15和铁钻工16均位于井眼的侧面，机械手15用于抓取管柱的下部，井眼和放置区131之间通过机械手15转移管柱，铁钻工16用于对管柱进行上扣或者卸扣；第二视觉识别模块17用于观测卡瓦14是否夹持管柱以及管柱在卡瓦14中的位置信息，得到第二观测信号并将第二观测信号反馈给机器视觉系统；机器视觉系统用于根据第二视觉识别模块17反馈的第二观测信号，控制卡瓦14夹稳管柱，以及机器视觉系统用于根据第二视觉识别模块17反馈的第二观测信号，控制铁钻工16对管柱进行上扣或者卸扣。从而，管柱放置在卡瓦14的过程中，以及在铁钻工16对管柱进行上扣或者卸扣的过程中，可以避免人工去确认管柱的交接过程，从而可以减少给操作员带来的安全隐患，并且还能够进一步提高本发明的自动化控制，能够进一步提高对钻修井管柱的处理效率。
第二观测信号包括卡瓦14与管柱之间最小的距离信号，以及管柱在卡瓦14中的位置信息，将卡瓦14与管柱之间最小的距离信号定义为A21，并设定一个第二阈值一，将第二阈值一定义为L21，将管柱在卡瓦14中的位置信息定义为A22，并设定一个第二阈值二，将第二阈值二定义为L22；管柱放置在卡瓦14的过程中，当A21大于L21时，机器视觉识别系统控制卡瓦14夹持管柱，直到A21等于或者小于L21时，机器视觉系统判断卡瓦14已经夹持住管柱；然后机器视觉系统判断A22是否发生变化，如果A22的变化值大于L22，则判断管柱在卡瓦14中出现下滑，进而判断卡瓦14没有夹稳管柱，则机器视觉系统控制卡瓦14继续闭合，直到A22的变化值等于或者小于L22。在铁钻工16对管柱进行上扣或者卸扣的过程中，机器视觉系统根据A22，调整铁钻工16的钳体位置，使铁钻工16的钳体与管柱接触，进而完成对管柱的上扣或者卸扣操作。同时，第二视觉识别模块17还可以观测钻台面13上其它钻井设备的位置信息，并将该观测信号反馈给机器视觉系统，由机器视觉系统判断在铁钻工16的运行轨迹中，是否存在铁钻工16会与其它钻井设备发生干涉等情况，若铁钻工16与其它钻井设备有干涉等情况，则机器视觉系统自动调整运行轨迹，避开障碍物，若无法避让，则机器视觉系统停止运行，并发出相关的提示；当有人员进入运行轨迹范围内，则机器视觉系统也自动停止运行。
在本发明中，可以使第二视觉识别模块17的位置与铁钻工16的位置分别位于井眼中心的两侧，并且第二视觉识别模块17布置在铁钻工16的回转中心与井眼中心的连接线上，从而有利于第二视觉识别模块17观测卡瓦14是否夹持管柱以及管柱在卡瓦14中位置信息。
本发明的地面管柱输送装置3包括动力猫道，动力猫道用于将地面的管柱输送至钻台面13；并且，本发明在井架1上安装有缓冲机械手18，通过缓冲机械手18可以将动力猫道运输上来的管柱推扶到井口，或者用于将管柱从井口推扶到动力猫道上，从而可以提高管柱在本处理系统中运行的有效性和可靠性。
进一步的，视觉识别装置可以包括设置在井架1上的第三视觉识别模块19，第三视觉识别模块19用于观测钻井设备与缓冲机械手18之间的距离信息，得到第三观测信号并将第三观测信号反馈给机器视觉系统；机器视觉系统用于根据第三视觉识别模块19反馈的第三观测信号最小值，调节钻井设备的位置或缓冲机械手18的位置，避免钻井设备与缓冲机械手18之间发生干涉。从而在本处理系统运行的过程中，可以避免人工去确认钻井设备是否会与缓冲机械手18发生碰撞，从而可以减少给操作员带来的安全隐患，提高对管柱的处理效率，并且能够进一步提高本发明的自动化控制，确保本处理系统的安全运行。
具体地，以游车12带动顶驱121在井架中上下运行为例，为避免顶驱121与缓冲机械手之间发生干涉，第三观测信号可以为顶驱121与缓冲机械手18之间的距离信息，将第三观测信号定义为A3，并设定一个第三阈值，第三阈值一般根据实际情况进行选择，将第三阈值定义为L3，在游车12的运行的过程中，当A3大于L3时，机器视觉识别系统控制继续运行，直到A3等于或者小于L3时，机器视觉系统使游车12停止运行，并调节顶驱121的吊环或缓冲机械手18的角度，在A3大于L3后，再让游车12继续运行，从而在游车12的运行过程中，可以避免顶驱121与缓冲机械手18之间发生干涉。
在本发明中，视觉识别装置可以包括第四视觉识别模块4，第四视觉识别模块4设置在钻台管柱处理装置上或在钻台面13上，第四视觉识别模块4用于观测放置区131内管柱的位置信息，得到第四观测信号并将第四观测信号反馈给机器视觉系统；机器视觉系统用于根据第四视觉识别模块4反馈的第四观测信号，控制钻井设备在放置区131内抓取或者放置管柱。从而当钻井设备在放置区131内抓取或者放置管柱时，可以避免人工去确认钻井设备在放置区131内抓取或者放置管柱的过程，从而可以减少给操作员带来的安全隐患，并且能够进一步提高本发明的自动化控制，进一步提高对钻修井管柱的处理效率。具体地，管柱的下端位于放置区131内，第四视觉识别模块4将管柱下端在放置区131的位置信息，或者管柱下端在放置区131内剩余的空位信息反馈给机器视觉系统，由机器视觉系统根据第四观测信号调整钻井设备去放置区131抓取或者放置管柱，此处所述的钻井设备可以为机械手15。
在本发明中，视觉识别装置可以包括第五视觉识别模块5，第五视觉识别模块5设置在井架1上，并且第五视觉识别模块5的位置靠近二层台11的位置；第五视觉识别模块5用于观测指梁112内管柱的位置信息，得到第五观测信号并将第五观测信号反馈给机器视觉系统；机器视觉系统用于根据第五视觉识别模块5反馈的第五观测信号，控制钻井设备在指梁112内抓取或者放置管柱。具体地，管柱的上端放置在指梁112内，第五视觉识别模块5将管柱上端在指梁112内的位置信息，或者管柱上端在指梁112内剩余的空位信息反馈给机器视觉系统，由机器视觉系统根据第五观测信号调整钻井设备去指梁112内抓取或者放置管柱，此处所述的钻井设备可以为机械手15。
进一步的，在钻修井的过程中，如果出现一些突发情况时，为了可以使操作员更好地应对这些突发情况，本发明还包括控制系统操作台6，并且控制系统操作台6布置在钻台面13的下方，将控制系统操作台6布置在钻台面13的下方，还可以进一步减少给操作员带来的安全隐患，提高管柱操作的安全性。
为了用于防止丝扣出现粘扣或者生锈的情况发生，本发明设置有丝扣油涂抹装置，从而在下钻时，可以通过丝扣油涂抹装置将丝扣油涂抹在管柱的螺纹上，进而防止丝扣出现粘扣或者生锈的情况发生；本发明的丝扣油涂抹装置可以安装在铁钻工16上，从而可以使整个系统的结构更加简洁；当然，本发明的丝扣油涂抹装置也可以集成在其它钻井设备上，如机械手15上等；进一步的，在管柱卸扣完成后，为了能够阻挡管柱内部的泥浆喷射，本发明还设置有泥浆防溅盒，泥浆防溅盒可以布置在钻台面13上。
在上述所述的实施例中，本发明所提供的处理系统中涉及了五个视觉识别模块，当然，这五个视觉识别模块均可以单独配置在钻修井管柱的处理系统中，也可以进行组合后再配置再钻修井管柱的处理系统中，也即是：在钻修井管柱的处理系统中，可以配置这五个视觉识别模块中的任何一个，也可以配置这五个视觉识别模块中的几个，或者将这五个视觉识别模块全部配置再钻修井管柱的处理系统中。另外，在实际工作中 ，操作员也可以根据实际需求增加视觉识别装置的数量，从而可以进一步提高钻修井管柱处理系统的自动化程度。
具体地，以包括三根钻杆的立根为例，在建立根时，本系统的操作流程为：
步骤一，动力猫道3将地面上的钻杆运输至钻台面13上；
步骤二，机器视觉系统调整游车12的位置，并使吊卡122卡住第一钻杆的一端，然后使游车12上行，同时控制缓冲机械手18，使缓冲机械手18将动力猫道3运输上来的第一钻杆推扶到井眼的上方，并且，动力猫道3同时准备对第二钻杆进行运输；在调整游车12位置的过程中，通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，由机器视觉系统自动控制游车12与其它钻井设备之间的间距，确保游车12安全运行；
步骤三，打开钻台面13上的卡瓦14，使游车12下行并将第一钻杆推进井眼内，然后关闭卡瓦14，此时，动力猫道3已将第二钻杆运输至钻台面13上；然后，通过第二视觉识别模块17观测卡瓦14是否夹持钻杆以及钻杆在卡瓦14中的位置信息，并将该第二观测信号反馈给机器视觉系统，由机器视觉系统自动判断卡瓦14是否已经夹稳钻杆，并在卡瓦14有效关闭后进行步骤四；
步骤四，机器视觉系统再次调整游车12的位置，使吊卡122卡住第二钻杆的一端，然后使游车12上行，并同时控制缓冲机械手18，使缓冲机械手18将动力猫道3运输上来的第二钻杆推扶到井眼的上方，并且，动力猫道3同时准备对第三钻杆进行运输；然后，通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，由机器视觉系统自动控制游车12与其它钻井设备之间的间距，确保游车12安全运行；
步骤五，游车12下行，使第二钻杆的底端对扣在第一钻杆的顶端，接着伸出铁钻工16，对第一钻杆和第二钻杆进行上扣；通过第二视觉识别模块17将卡瓦中钻杆的位置信息反馈给机器视觉系统，由机器视觉系统自动调节铁钻工16的运行轨迹和铁钻工16的钳体高度，进而再对第一钻杆和第二钻杆进行上扣；并且在铁钻工16伸缩过程中，第二视觉识别模块17将钻台面13井眼区域的其它钻井设备的位置信息反馈给机器视觉系统，由机器视觉系统判断在铁钻工16运行轨迹中，是否存在铁钻工16会与其它钻井设备发生干涉等情况，若与其它钻井设备有干涉等情况，则机器视觉系统自动调整运行轨迹，避开障碍物，若无法避让，则机器视觉系统停止运行，并发出相关的提示；当有人员进入运行轨迹范围内，则整个系统也自动停止运行；
步骤六，打开卡瓦14，使游车12带着上扣完成后的第一钻杆和第二钻杆下行，在游车12下行到设定位置后，然后关闭卡瓦14，此时，动力猫道3已将第三钻杆运输至钻台面13上；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；
步骤七，机器视觉系统再次调整游车12的位置，使吊卡122卡住第三钻杆的一端，然后使游车12上行，并同时控制缓冲机械手18，使缓冲机械手18将动力猫道3运输上来的第三钻杆推扶到井眼的上方，并且，动力猫道3同时准备对下一立根中的钻杆进行运输；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；
步骤八，游车12下行，使第三钻杆的底端对扣在第二钻杆的顶端，接着伸出铁钻工16，对第三钻杆和第二钻杆进行上扣；在步骤八中，通过第二视觉识别模块17将卡瓦中钻杆的位置信息反馈给机器视觉系统，由机器视觉系统自动调节铁钻工16的运行轨迹和铁钻工16的钳体高度，进而再对第一钻杆和第二钻杆进行上扣；并且在铁钻工16伸缩过程中，第二视觉识别模块17将钻台面13井眼区域的其它钻井设备的位置信息反馈给机器视觉系统，由机器视觉系统判断在铁钻工16运行轨迹中，是否存在铁钻工16会与其它钻井设备发生干涉等情况，若与其它钻井设备有干涉等情况，则机器视觉系统调整运行轨迹，避开障碍物，若无法避让，则机器视觉系统停止运行，并发出相关的提示；当有人员进入运行轨迹范围内，则整个系统也自动停止运行；
步骤九，上扣完成后，打开卡瓦14，使游车12带着立根上行，然后由排管机111将立根的上端推送至二层台11的指梁112中，并将立根的上端放置在立根放置区131的上方，由机械手15将立根的下端推送至立根放置区131的下方，进而将立根放置在立根放置区131中；在步骤九中，
通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；并且通过第五视觉识别模块5将观测第五观测信号反馈给机器视觉系统，由机器视觉系统控制排管机111可以将立根的上端准确地放置在指梁112内相应的位置，通过第四视觉识别模块4将观测的第四观测信号反馈给机器视觉系统，由机器视觉系统控制机械手15可以将立根的下端准确地放置在放置区131相应的位置。
在下钻时，本系统的操作流程为：
步骤一，机器视觉系统调整游车12的位置，使吊卡122处于二层台11的等待位置；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而可以确保游车12的安全运行；
步骤二，排管机111从立根放置区131抓取第一立根的上端，并将第一立根的上端推入吊卡122内；通过第五视觉识别模块5将观测到的第五观测信号反馈给机器视觉系统，由机器视觉系统自动计算指梁112内立根的数量以及位置，并根据计算结果控制排管机111抓取第一立根；在排管机111将第一立根推入吊卡122的过程中，第一视觉识别模块2将观测的第二观测信号反馈给机器视觉系统，由机器视觉系统自动调节排管机111的位置轨迹，确保第一立根顺利进入吊卡122中；然后再通过第一视觉识别模块2反馈的第一观测信号，确定吊卡122已经夹稳立根后再进行下一步；
步骤三，机械手15从放置区131抓取第一立根的下端，并将第一立根的下端移动到井眼的上方；通过第四视觉识别模块4将观测的第四观测信号反馈给机器视觉系统，由机器视觉系统确定需要抓取第一立根的位置信息，并控制机械手15抓取第一立根的下端；并且机器视觉系统根据第二视觉识别模块17反馈的第二观测信号，调节机械手15运行的轨迹，将第一立根下端移动到井眼的上方；
步骤四，打开钻台面13上的卡瓦14，游车12下行并将立根推进井眼内，然后关闭卡瓦14；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断卡瓦14是否已完成夹稳立根；
步骤五，调整游车12位置，使吊卡122处于二层台11的等待位置；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；
步骤六，排管机111从立根放置区131抓取第二立根上端，并将第二立根的上端推入吊卡122内；通过第五视觉识别模块5将观测到的第五观测信号反馈给机器视觉系统，由机器视觉系统自动计算指梁112内立根的数量以及位置，并根据计算结果控制排管机111抓取第二立根；在排管机111将第二立根推入吊卡122的过程中，第一视觉识别模块2将观测的第一观察信号反馈给机器视觉系统，由机器视觉系统调节排管机111的位置，确保第二立根顺利进入吊卡122中；然后再通过第一视觉识别模块2反馈的第二观测信号，确定吊卡122已经夹稳立根后再进行下一步；
步骤七，机械手15从立根放置区131抓取第二立根下端，并将第二立根的底端对扣在第一立根的顶端；通过第四视觉识别模块4将观测的第四观测信号反馈给机器视觉系统，由机器视觉系统确定第二立根的位置信息，并控制机械手15抓取第二立根的下端；并且机器视觉系统根据第二视觉识别模块17反馈的第二观测信号信息，调节机械手15运行的轨迹，将第二立根的底端对扣在第一立根的顶端；
步骤八，伸出铁钻工16，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统自动调节铁钻工16的运行轨迹和铁钻工16的钳体高度，进而再对第一立根和第二立根进行上扣；并且在铁钻工16伸缩过程中，第二视觉识别模块17将钻台面13井眼区域的其它钻井设备的位置信息反馈给机器视觉系统，由机器视觉系统判断在铁钻工16运行轨迹中，是否存在铁钻工16会与其它钻井设备发生干涉等情况，则机器视觉系统自动调整运行轨迹，避开障碍物，若无法避让，则机器视觉系统停止运行，并发出相关的提示；当有人员进入铁钻工16的运行轨迹范围内，则整个系统也自动停止运行；
步骤九，打开卡瓦14，然后再使游车12下行，在游车12下行到设定位置后，关闭卡瓦14；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断卡瓦14是否已夹稳立根；
步骤十，打开吊卡122并使游车12上行至二层台11的等待位置，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断吊卡122的打开状态，确保吊卡122完全打开后，游车12方可上行；在游车12上行中，通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行。
在起钻时，本系统的操作流程为：
步骤一，机器视觉系统调整游车12的位置，使吊卡122在接触立根的台阶面时，关闭吊卡122并使吊卡122卡住立根；通过第三视觉识别模块19将观测的第三观测信号反馈给机器视觉系统，进而可以确保游车12的安全运行，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断吊卡122的是否夹稳立根，确保吊卡122夹稳立根后，游车12方可上行；
步骤二，打开卡瓦14，使游车12上行，并且在游车12上行至目标高度的位置后，关闭卡瓦14；通过第三视觉识别模块19将第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断卡瓦14是否已经打开；
步骤三，伸出铁钻工16，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统自动调节铁钻工16的运行轨迹和铁钻工16的钳体高度，进而再对井眼处的两根立根进行卸扣，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断是否卸扣成功；并且在铁钻工16伸缩过程中，第二视觉识别模块17将钻台面13井眼区域的其它钻井设备的位置信息反馈给机器视觉系统，由机器视觉系统判断在铁钻工16运行轨迹中，是否存在铁钻工16会与其它钻井设备发生干涉等情况，则机器视觉系统自动调整运行轨迹，避开障碍物，若无法避让，则机器视觉系统停止运行，并发出相关的提示；当有人员进入铁钻工16的运行轨迹范围内，则整个系统也自动停止运行；
步骤四，卸扣完成后，机器视觉系统控制泥浆防溅盒伸出，并对卸扣成功后的两根立根进行脱扣；并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断是否脱扣成功；
步骤五，在脱扣完成后，通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统自动调节机械手15的运行轨迹，使机械手15伸至上、下两根立根的连接位置处，并抓取上方的立根，然后机器视觉系统根据第四视觉识别模块4反馈的第四观测信号，判断该立根的放置位置，并由机器视觉系统控制机械手15自动调节运行轨迹，并将立根的下端推送至放置区131的指定位置；
步骤六，通过第一视觉识别模块2将第一观测信号反馈给机器视觉系统，并由机器视觉系统调节排管机111的位置，确保排管机111能干准确地抓取立根；同时，在排管机111抓取立根后，打开吊卡122，并根据第一视觉识别模块2反馈的第一观察信号，机器视觉系统自动判断吊卡122的打开状态，确保吊卡122已经打开后，排管机111把立根从吊卡122中取出；并且，机器视觉系统根据第五视觉识别模块5反馈的第五观测信号，自动判断立根的摆放位置，并控制排管机111自动调节运行轨迹，将立根的上端推送至指梁112内的指定位置；
步骤七，游车12下行，用以抓取下一立根，并通过第三视觉识别模块19将第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行；
在甩钻时，本系统的操作流程为：
步骤一，机器视觉系统调整游车12的位置，使吊卡122在接触立根的台阶面时，关闭吊卡122并使吊卡122卡住立根；通过第三视觉识别模块19将第三观测信号反馈给机器视觉系统，进而可以确保游车12的安全运行，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断吊卡122的是否关闭，确保吊卡122关闭后，游车12方可上行；
步骤二，打开卡瓦14，使游车12上行，并且在游车12上行至目标高度的位置后，关闭卡瓦14；通过第三视觉识别模块19和将第三观测信号反馈给机器视觉系统，进而确保游车12的安全运行，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断卡瓦14是否已打开；
步骤三，伸出铁钻工16，并通过第二视觉识别模块17将第三观测信号反馈给机器视觉系统，由机器视觉系统自动调节铁钻工16的运行轨迹和铁钻工16的钳体高度，进而再对井眼处的两根立根进行卸扣，并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断是否卸扣成功；并且在铁钻工16伸缩过程中，第二视觉识别模块17将钻台面13井眼区域的其它钻井设备的位置信息反馈给机器视觉系统，由机器视觉系统判断在铁钻工16运行轨迹中，是否存在铁钻工16会与其它钻井设备发生干涉等情况，则机器视觉系统自动调整运行轨迹，避开障碍物，若无法避让，则机器视觉系统停止运行，并发出相关的提示；当有人员进入铁钻工16的运行轨迹范围内，则系统也自动停止运行；
步骤四，卸扣完成后，机器视觉系统控制泥浆防溅盒伸出，并对卸扣成功后的两根立根进行脱扣；并通过第二视觉识别模块17将第二观测信号反馈给机器视觉系统，由机器视觉系统判断是否脱扣成功；
步骤五，在脱扣完成后，机器视觉系统控制缓冲机械手18，使缓冲机械手18将钻杆推扶至动力猫道3内；
步骤六，机器视觉系统控制吊卡122与立根脱离，并通过第三视觉识别模块19将第三观测信号反馈给机器视觉系统，由机器视觉系统判断吊卡122的是否打开，确保吊卡122打开后，再控制动力猫道3将钻杆输送到地面钻杆放置位。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
Claims (10)
- 钻修井管柱的处理系统，包括井架（1）、地面管柱输送装置（3）、钻台管柱处理装置和二层台管柱排放装置，其特征在于：还包括机器视觉系统和视觉识别装置；井架（1）用于支撑和安装钻井设备，井架（1）上设置有钻台面（13）和二层台（11），钻台面（13）上设置有用于放置管柱的放置区（131）；地面管柱输送装置（3）用于将管柱在地面与钻台面（13）之间进行输送；二层台管柱排放装置设置在二层台（11）上，并用于二层台（11）上管柱的排放和对接；二层台管柱排放装置包括用于管柱存靠的指梁（112），指梁（112）与放置区（131）对应设置；钻台管柱处理装置设置在钻台面（13）上，并用于钻台面（13）上管柱的排放和对接；机器视觉系统分别与视觉识别装置和钻井设备电性连接；视觉识别装置用于观测管柱的位置信息、钻井设备的位置信息或/和钻井设备的状态信息，得到观测信号并将观测信号反馈给机器视觉系统；机器视觉系统用于根据视觉识别装置反馈的观测信号，调整钻井设备的位置或/和控制钻井设备运行。
- 如权利要求1所述的钻修井管柱的处理系统，其特征在于：井架（1）上设置有游车（12），在游车（12）上固设有顶驱（121），顶驱（121）的一端安装有吊卡（122）；所述游车（12）能够驱动顶驱（121）沿井架（1）竖向移动，所述顶驱（121）能够驱动吊卡（122）抓放和移动管柱；二层台管柱排放装置包括用于抓取管柱上部的排管机（111），排管机（111）上设置有用于夹持管柱上部的钳体，指梁（112）和吊卡（122）之间通过排管机（111）转移管柱；视觉识别装置包括设置在二层台（11）上方的第一视觉识别模块（2），第一视觉识别模块（2）用于观测钳体与吊卡（122）之间的相对位置信息，得到第一观测信号并将第一观测信号反馈给机器视觉系统；机器视觉系统用于根据第一视觉识别模块（2）反馈的第一观测信号，控制排管机（111）的钳体与吊卡（122）之间的相对位置。
- 如权利要求1所述的钻修井管柱的处理系统，其特征在于：钻台面（13）上设置有井眼，井眼内部安装有卡瓦（14），视觉识别装置包括第二视觉识别模块（17），第二视觉识别模块（17）位于井眼的侧面；钻台管柱处理装置包括机械手（15）和铁钻工（16），机械手（15）和铁钻工（16）均位于井眼的侧面，机械手（15）用于抓取管柱的下部，井眼和放置区（131）之间通过机械手（15）转移管柱，铁钻工（16）用于对管柱进行上扣或者卸扣；第二视觉识别模块（17）用于观测卡瓦（14）是否夹持管柱以及管柱在卡瓦（14）中的位置信息，得到第二观测信号并将第二观测信号反馈给机器视觉系统；机器视觉系统用于根据第二视觉识别模块（17）反馈的第二观测信号，控制卡瓦（14）夹稳管柱，以及机器视觉系统用于根据第二视觉识别模块（17）反馈的第二观测信号，控制铁钻工（16）对管柱进行上扣或者卸扣。
- 如权利要求3所述的钻修井管柱的处理系统，其特征在于：第二视觉识别模块（17）与铁钻工（16）分别位于井眼中心的两侧，第二视觉识别模块（17）布置在铁钻工（16）的回转中心与井眼中心的连接线上。
- 如权利要求1所述的钻修井管柱的处理系统，其特征在于：地面管柱输送装置（3）包括动力猫道；在井架（1）的上安装有缓冲机械手（18），缓冲机械手（18）用于将动力猫道运输上来的管柱推扶到井眼，或者用于将管柱从井眼推扶到动力猫道上。
- 如权利要求5所述的钻修井管柱的处理系统，其特征在于：视觉识别装置包括设置在井架（1）上的第三视觉识别模块（19），第三视觉识别模块（19）用于观测钻井设备与缓冲机械手（18）之间的距离信息，得到第三观测信号并将第三观测信号反馈给机器视觉系统；机器视觉系统用于根据第三视觉识别模块（19）反馈的第三观测信号最小值，调节钻井设备的位置或缓冲机械手（18）的位置，避免钻井设备与缓冲机械手（18）之间发生干涉。
- 如权利要求1所述的钻修井管柱的处理系统，其特征在于：视觉识别装置包括第四视觉识别模块（4），第四视觉识别模块（4）设置在钻台管柱处理装置上或在钻台面（13）上，第四视觉识别模块（4）用于观测放置区（131）内管柱的位置信息，得到第四观测信号并将第四观测信号反馈给机器视觉系统；机器视觉系统用于根据第四视觉识别模块（4）反馈的第四观测信号，控制钻井设备在放置区（131）内抓取或者放置管柱。
- 如权利要求1所述的钻修井管柱的处理系统，其特征在于：视觉识别装置包括第五视觉识别模块（5），第五视觉识别模块（5）设置在井架（1）上，并且第五视觉识别模块（5）的位置靠近二层台（11）的位置；第五视觉识别模块（5）用于观测指梁（112）内管柱的位置信息，得到第五观测信号并将第五观测信号反馈给机器视觉系统；机器视觉系统用于根据第五视觉识别模块（5）反馈的第五观测信号，控制钻井设备在指梁（112）内抓取或者放置管柱。
- 如权利要求1至8中任意一项所述的钻修井管柱的处理系统，其特征在于：还包括控制系统操作台（6），控制系统操作台（6）布置在钻台面（13）的下方，机器视觉系统设置于控制系统操作台（6）上。
- 如权利要求1至8中任意一项所述的钻修井管柱的处理系统，其特征在于：还包括丝扣油涂抹装置和泥浆防溅盒，丝扣油涂抹装置用于防止管柱的丝扣出现粘扣或者生锈，泥浆防溅盒用于阻挡管柱内部的泥浆喷射。
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