Underground visual electric fishing tool

Abstract

An underground visual electric fishing tool comprises a visual electronic control short section, a visual transmission control short section and a visual grabbing short section. The visual electronic control short section comprises a wide-angle camera and a clamping jaw connected with the wide-angle camera; the visual transmission control short section comprises a direct current motor used for being in linkage with opening and closing of the clamping jaw mechanism. The visual electronic control short section realizes control and information interaction with the ground; underground videos, mechanical parameters and tool states are transmitted in real time through a visual electronic control short section to construct a man-machine interaction closed loop, ground interaction and command and action real-time correction are supported, and a'perception-decision-execution-feedback 'closed loop is formed; tool poses are corrected in real time in combination with images in the cable lifting process; after clamping, slippage / overload is automatically prevented through a closed-loop algorithm, manual decision-making flexibility is reserved, the precise execution capacity of a machine is guaranteed, and the success rate of single operation is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of fish salvaging devices in industries such as oil, natural gas, coalbed methane, and underground resource exploration and development, and in particular to an underground visual electric salvaging tool. Technical Background

[0002] During drilling, workover, and well construction in the oil and gas industries, downhole fish accidents often occur due to well control anomalies, equipment failures, operational errors, or downhole construction accidents. These are foreign objects that form in the well and hinder production. These include dislodged tools (such as those caused by stuck drill, sand-buried tubing, or tool fractures due to acid attack), small metal parts (such as wrenches), or fragments of non-metallic materials (such as entangled cables, centralizer arms, wear blocks, nuts and screws, centralizer wheels, crawler wheels, or fragments of non-metallic centralizers). These fish can cause wellbore production to stop or even be scrapped, seriously impacting subsequent production of the oil and water well. Failure to effectively salvage these fish can result in permanent equipment loss, production interruption, and significant economic losses. Therefore, specialized salvage tools are essential to recover these fish from the well to restore wellbore patency and production capacity.

[0003] Currently, fish recovery in wells mainly relies on purely mechanical tools driven by cables or drilling tools, such as Figure 1 As shown, including strong magnetic salvage, reverse circulation salvage basket, salvage tube, variable form grabbing tool or slip salvage tube, the processes adopted include movable string method, shock method, cutting method, mechanical reverse buckling method, sleeve milling method, etc., which not only require the cooperation of the well repair team, resulting in large manpower input, high labor intensity, long operation cycle and high cost, but also have many inherent defects: the salvage operation lacks real-time monitoring and control capabilities throughout the process, the process is invisible and uncontrollable, and it is heavily dependent on the experience of the construction personnel. It is impossible to judge the fish landing status and adjustment plan in real time, and it is essentially dependent on blind Attempts were made to address these issues. Specifically, strong magnetic tools are limited to handling metallic fish and suffer from insufficient adsorption and easy detachment. While variable-form gripping tools can handle small objects, they are unstable and ineffective when gripping objects with irregular end faces or non-metallic sand surfaces due to uneven deformation. Their one-time design requires repeated drilling and tool replacement after failure, significantly reducing efficiency and increasing workload. While slip overshot tubes can securely capture conventional fish, they struggle to effectively handle short fish heads or hard objects due to the excessively long guide shoe and insufficient slip hardness, similarly leading to repeated work and increased costs. These technical limitations ultimately lead to low salvage efficiency, a low success rate, and the attendant duplication of work and high costs.

[0004] In the current underground fish salvage technology, the industry pain points can be summarized as follows:

[0005] 1. The tool’s versatility is defective. The design is usually targeted at a specific fish falling shape. A cylindrical expansion sleeve is set at the bottom of the tool to match the fish head with a round hole, or it relies on strong magnetic adsorption to handle only magnetic fish falling. However, the actual fish falling in the well are diverse in shape and mostly irregular. At the same time, a large number of non-magnetic objects cannot be effectively captured by existing tools. For example, the patent application number CN202422399630 discloses a "High-temperature resistant cylindrical strong magnetic salvage device for overhaul of casing damaged wells". This tool can only adsorb ferromagnetic metals (such as steel and iron) and is completely ineffective for non-magnetic metals (copper, aluminum) and non-metallic objects. Its fixed magnetic field design is only suitable for thin and small-sized objects (thickness <5mm), and it cannot capture tangled objects or large-volume special-shaped parts; the strong magnetic blocks are evenly distributed circumferentially, resulting in dispersed magnetic force, and the adsorption force drops sharply when long strips of falling objects cross multiple magnetic blocks. The tool has neither a mechanical clamping mechanism to separate entangled objects nor the adaptive ability to adjust the magnetic field or open and close the structure. It is not applicable in non-magnetic, complex or large-sized falling object scenarios.

[0006] 2. The working condition perception is lagging, the dynamic environment downhole is complex, and traditional tools lack the ability to provide real-time feedback. It is difficult to accurately locate the shape of fallen objects and the status inside the well, resulting in low efficiency. For example, rope-like fallen objects require repeated attempts. For example, the patent application number CN201420292512 discloses a "claw-type downhole rope scoop for oil wells". The tool lacks real-time perception capability and cannot dynamically adjust the timing and position of the opening and closing of the claws according to the displacement of the fallen objects, resulting in unstable barb hooking effects. At the same time, the operation requires repeated debugging of parameters (such as the inclination of the rope scoop column to adapt to different hardness of fallen objects) and the opening and closing amplitude of the claws, and it is difficult to detect residual fallen objects in time. The operation mode that relies on manual trial and error greatly increases the number of times the tool is lifted and lowered, significantly prolongs the salvage cycle and limits efficiency improvements.

[0007] 3. Lack of control closed loop. The existing tool control logic is single. The clamping force and angle adjustment rely on preset parameters and cannot adapt to sudden working conditions such as deformation of falling objects or interference with the well wall). For example, the patent application number CN201921286631 discloses a "Salvage Tool for Fish Falling Downhole". This salvage tool adopts a fixed structure with multiple windows in a spiral distribution and welded window tongues. The salvage operation relies on manual experience for lowering, rotating and lifting. It lacks the ability to perceive the state of the fallen fish in real time and to adjust it adaptively. The lack of a control closed loop results in the tool being able to only rigidly execute a single logic through a preset structure: if the size or shape of the fallen fish exceeds the design range, the tool cannot dynamically adjust the window tongue parameters or feedback the cause of the obstruction. It needs to rely on manual repeated attempts or even reverse unlocking, that is, it cannot adapt to sudden working conditions such as deformation of fallen objects or interference with the well wall.

[0008] 4. Human-machine collaboration is weak, and ground operations rely too much on manual experience. It is impossible to obtain multi-dimensional information such as the downhole gripper status, object displacement, and in-well images in real time. Emergency response is delayed and the risk of operational errors is high. Summary of the Invention

[0009] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to propose an underground visual electric salvage tool. The tool is based on a wide-angle camera and a motor-driven gripper actuator, as well as underground and surface interactive communication, to achieve dynamic adjustment to grasp small fallen objects of various shapes and materials, expand the coverage of salvage scenes, realize real-time video monitoring and closed-loop control of the underground operation process, and improve the salvage efficiency and success rate.

[0010] In order to achieve the above object, the technical solution of the present invention is:

[0011] A downhole visual electric fishing tool, comprising a visual electronic control sub, a visual transmission control sub, and a visual grabbing sub;

[0012] The visual grabbing sub detects the downhole scene through the wide-angle camera 2 and the imaging component 3, and transmits the visual information of the downhole scene to the surface through the telemetry main control module of the visual electronic control sub. The visual information is integrated with the mechanical information of the force sensor 16 to control the gripper 15 to grasp objects of various shapes.

[0013] The visual transmission control short section receives ground control instructions through the teletransmission main control module of the visual electronic control short section, and receives instructions through the motor main control module to control the action of the DC motor 10 driving the clamping jaw 15;

[0014] The visual electronic control subsection realizes information exchange between the underground and the surface, and controls the movement of the DC motor 10 and the supply of power through the motor main control module.

[0015] The visual grasping short section includes a wide-angle camera 2 located inside the front end of the imaging shell 4, and the wide-angle camera 2 is fixed on the base of the imaging component 3 behind it. The wide-angle camera 2 has at least three B pins 12 evenly distributed axially. The wide-angle camera 2 is connected to one end of the connecting rod 14 through the B pin 12, and the other end of the connecting rod 14 is connected to the clamp 15 through the A pin 11. One end of the clamp 15 is the clamping end 1, and the other end is the root connected to the imaging shell 4 through the C pin 13; the imaging component 3 is an integrated electronic board for receiving and processing the video image signal of the wide-angle camera 2; the outside of the imaging component 3 is the imaging shell 4; the base surface of the imaging component 3 is also fixed with a force sensor 16, and the detection surface of the force sensor 16 is aligned with the arm area of ​​the clamp 15.

[0016] The visual transmission control short section includes a DC motor 10 arranged on a motor mounting seat 9 in the shell. The power output end of the DC motor 10 is coaxially connected to the transmission screw 7 through a thrust bearing 8. The transmission screw 7 is connected to the drive rod 5 through a thread. A guide column 6 is provided on the motor mounting seat 9 to synchronously constrain the linear motion trajectory of the drive rod 5 and limit its maximum stroke; the drive rod 5 is rigidly connected to the imaging component 3 through a thread.

[0017] The visual electronic control subsection includes a power conversion module, a motor main control module and a telemetry main control module; the power conversion module converts the surface power supply into a power supply suitable for the downhole equipment; the motor main control module performs the fusion processing of the force sensor 16 data according to the control instructions issued by the telemetry main control module, drives and controls the DC motor 10; the telemetry main control module completes the video stream data processing of the imaging component 3, uploads it to the ground over a long distance via a cable, and realizes the communication interaction between the ground and the downhole.

[0018] The wide-angle camera 2 is surrounded by fill light beads.

[0019] The surface of the clamping jaw 15 is nitrided to enhance hardness; the contraction slope on the outside of the clamping end 1 is inclined along the tail end toward the axis, and the inner surface of the clamping end 1 is provided with a serrated pattern; and the front end opening diameter of the clamping end 1 is smaller than the middle section to form a self-locking slope.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention has at least three jaws 15, thus adopting a three-petal or multi-petal design. Combined with a conical self-locking and serrated anti-slip structure, the contact mode is dynamically adjusted through mechanical feedback. It is compatible with cylindrical, rod-shaped, non-magnetic, and irregular small fallen objects, expanding the scope of application of the tool to achieve efficient and reliable salvage functions. The structure has sufficient strength to ensure stability during salvage operations and the process of removing objects from the well, and the structure is both flexible and adjustable.

[0022] 2. The wide-angle camera 2 of the present invention is centrally arranged with an ultra-wide-angle field of view, which can cover more scenes inside the cylinder wall, clearly observe the contact status between the front end of the clamping claw and the fallen fish, determine whether the fallen fish is effectively clamped, and monitor the contact status of the front end of the clamping claw throughout the lifting process.

[0023] 3. The imaging component 3 of the present invention, the low-light enhancement technology of the fill light beads, and the visual electronic control short section transmit the video stream in real time and identify the outline of the fallen object and the status of the well wall, converting the image data into spatial positioning instructions, solving the positioning deviation problem of traditional salvage relying on experience and judgment, reducing human misjudgment and realizing accurate salvage operations of internal fallen objects. It has the characteristics of real-time working condition perception and reducing blind operation defects.

[0024] 4. The present invention realizes closed-loop control of the gripper: by embedding a force sensor and integrating visual and mechanical data, the gripping force / angle of the salvage gripper is dynamically adjusted according to the material (metal / non-metal) and deformation characteristics of the fallen object, supporting both internal and external gripping modes, and preventing secondary jamming caused by the fallen object slipping or excessive squeezing.

[0025] In summary, the present invention constructs a human-machine interaction closed loop through real-time transmission of downhole video, mechanical parameters and tool status by a visualized electronic control short section, supports ground interaction and real-time correction of instructions and actions, and forms a "perception-decision-execution-feedback" closed loop: ground personnel start and stop the clamping jaw action based on the video stream; the tool posture is corrected in real time during the cable pulling process in combination with the image; after clamping, a closed-loop algorithm is used to automatically prevent slippage / overload, which not only retains the flexibility of human decision-making but also ensures the precise execution capability of the machine, improves the success rate of single operations, and realizes "single trip down the well, full controllable" of salvage operations in the human-machine interaction mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of different salvage tools in the prior art; wherein, Figure 1 (a) is a schematic diagram of a male cone. Figure 1 (b) is a schematic diagram of the mother cone. Figure 1 (c) is a schematic diagram of another form of mother cone. Figure 1 (d) is a schematic diagram of spear fishing. Figure 1 (e) in the figure is a schematic diagram of a bailing tube.

[0027] Figure 2 This is a schematic diagram of the structure of the present invention being lowered into the well.

[0028] Figure 3 A front view schematic diagram of the wide-angle camera of the present invention.

[0029] Figure 4 It is a structural schematic diagram of the present invention.

[0030] Figure 5 Structural diagram for visual capture of short sections

[0031] Figure 6 Schematic diagram of the external gripping of the clamping jaw 15.

[0032] Figure 7 Schematic diagram of the inner gripping of the clamping jaw 15.

[0033] Figure 8 This is a schematic diagram of the system framework of the visual electronic control pup joint of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be described in detail below with reference to the accompanying drawings.

[0035] like Figure 3 、 Figure 4 、 Figure 5 As shown, a downhole visual electric fishing tool includes a visual electronic control short section, a visual transmission control short section and a visual grabbing short section;

[0036] The visual grabbing sub detects the downhole scene through the wide-angle camera 2 and the imaging component 3, and transmits the visual information of the downhole scene to the surface through the telemetry main control module of the visual electronic control sub. The visual information is integrated with the mechanical information of the force sensor 16 to control the gripper 15 to grasp objects of various shapes.

[0037] The visual transmission control short section receives ground control instructions through the teletransmission main control module of the visual electronic control short section, and receives instructions through the motor main control module to control the action of the DC motor 10 driving the clamping jaw 15;

[0038] The visual electronic control sub realizes information exchange between the underground and surface areas, and controls the operation of the DC motor 10 and the supply of power.

[0039] The visualization grabbing sub is located at the front section of the salvage tool, including a wide-angle camera 2 located inside the front end of the imaging shell 4. The wide-angle camera 2 has at least three B pins 12 evenly distributed axially. The wide-angle camera 2 is connected to one end of the connecting rod 14 through the B pin 12. The other end of the connecting rod 14 is connected to the clamping claw 15 through the A pin 11. One end of the clamping claw 15 is the clamping end 1, and the other end is the root connected to the imaging shell 4 through the C pin 13. The wide-angle camera 2 is surrounded by fill light beads. Figure 8 The six light beads distributed in the figure provide sufficient brightness. Combined with the sapphire optical window and pressure-resistant packaging design, they overcome optical interference such as temperature change fogging and high-pressure transmission in the well, maintaining clear imaging capabilities in high-temperature and high-pressure environments. The wide-angle camera 2 is fixed to the base of the imaging component 3 behind it. The imaging component 3 is an integrated electronic board used to receive and process the video image signal of the wide-angle camera 2; the imaging component 3 is external to the imaging shell 4, and the imaging component 3 and the imaging shell 4 are linked to the clamping claw 15 to achieve opening and closing. A force sensor 16 is fixed to the base surface of the imaging component 3, and the detection surface of the force sensor 16 is aligned with the arm area of ​​the clamping claw 15; the force sensor 16, through the remote transmission main control module, constructs a displacement-force dual closed-loop feedback system to achieve the dynamic control requirements of stepless adjustment of the opening and closing of the salvage claw.

[0040] Figure 3As shown, the wide-angle camera 2 of the present invention has a centrally arranged lens with an ultra-wide-angle field of view, which can cover more scenes inside the barrel wall, clearly observe the contact status between the front end of the clamping claw and the fallen fish, determine whether the fallen fish is effectively clamped, and monitor the contact status of the front end of the clamping claw throughout the lifting process. Therefore, the design of the wide-angle camera 2 + fill light lamp adopts an ultra-micro integrated module design. Through the coaxial packaging of the aspheric lens group and the lens sensor, an optical module with a miniaturized outer diameter + a low-light fill light device + a dynamic zoom mechanism is realized. Under the space limitation of the downhole casing, a compact structure with a miniaturized outer diameter is realized, and it has high resolution, wide-angle field of view and low distortion characteristics, breaking through the bottleneck of optical imaging in the downhole environment under extreme conditions. The optimized video stream transmission has a low latency characteristic, which ensures the real-time nature of ground decision-making and control.

[0041] The visual transmission control short section is located in the middle section of the salvage tool, and includes a DC motor 10 arranged on a motor mounting seat 9 in the shell. The output end of the DC motor 10 is coaxially connected to the transmission screw 7 through a thrust bearing 8. The transmission screw 7 is connected to the drive rod 5 through a thread. A guide column 6 is provided on the motor mounting seat 9 to synchronously constrain the linear motion trajectory of the drive rod 5 and limit its maximum stroke; the drive rod 5 and the imaging assembly 3 are rigidly connected by threads to ensure the synchronous axial displacement of the two, thereby linking the opening and closing of the clamping mechanism.

[0042] like Figure 8 The visual electronic control sub is located at the rear end of the salvage tool, and includes a power conversion module for power supply, and a motor main control module connected to the front-end DC motor 10 through a dedicated control line interface, directly driving its forward and reverse movements to realize the opening or closing of the clamp; the power conversion module converts the surface power supply into power suitable for downhole equipment, and the motor main control module completes the fusion processing of the force sensor 16 data according to the control instructions issued by the remote transmission main control module, drives and controls the DC motor 10; the remote transmission main control module completes the video stream data processing of the imaging component 3, uploads it to the ground over a long distance through a cable, and realizes communication interaction between the ground and the underground.

[0043] The DC motor 10 is designed to meet the specific requirements of the underground environment, including power, torque, speed, and resistance to high temperatures and high pressures. The control algorithm utilizes advanced motor control strategies, such as Field-Oriented Control (FOC), to achieve smooth motor startup, precise speed regulation, and rapid response. It also includes motor fault diagnosis and protection mechanisms, enabling timely shutdown in abnormal situations to prevent equipment damage.

[0044] The telemetry master control module transmits video stream information and motor control commands from the imaging component 3 synchronously via a cable. Cable-powered power management technology and a compact drive circuit with surge suppression and harmonic cancellation ensure stable high-power output despite cable transmission losses. Finally, a bus protocol enables millisecond-level command exchange between the surface instrument and the downhole actuator.

[0045] Figure 5 As shown, the surface of the clamping jaw 15 is nitrided to enhance its hardness. The outer contraction slope of the clamping end 1 is inclined along the tail end toward the axis, which facilitates the insertion of tubular fish during external grasping. The inner surface of the clamping end 1 is provided with serrated patterns to increase the engagement depth and friction area with the outer wall of the fish during internal grasping. The front opening diameter of the clamping end 1 is smaller than the middle cross section, thus forming a self-locking slope. The force of gravity forces the fish and the jaw body to self-lock and tighten when lifting. The design of the structure of the clamping jaw 15 not only ensures the premise of clamping the fish, but also prevents the top of the fish from colliding with the lens cover in the center. The final system forms a visual focal length of about 30 cm, which can determine the shape and material of the fish and clearly monitor the contact surface between the clamping jaw and the fish. The light shining on the fish and the clamping jaw does not produce ghosting, which does not affect the visual judgment of the fish.

[0046] The working principle of the present invention is:

[0047] Reference Figure 2 After the present invention is lowered to the target well through ground instruments, ground power supply, cables, and bridles, the operator can achieve communication connection and power supply through the ground instruments. After effective connection and communication, the image of the working surface in front can be obtained in real time. When the fish target is identified (close to 30 cm in front), the ground control end manually starts the deployment of the clamping jaws, and adjusts the lifting and lowering of the cable on the ground to approach the fallen object. Combined with the video feedback data, a position closed-loop correction is formed to ensure the precise positioning of the multi-claw clamping. After completing the internal / external grasping of the fallen object, the transmission mechanism is automatically locked, and the firmly clamped fallen object is safely lifted to the ground through the cable traction system. The entire process realizes efficient salvage operations in the underground environment through the human-machine collaborative mode of "visual perception-manual decision-making-motion control".

[0048] Specifically, when the DC motor 10 rotates forward and pushes the driving rod 5 forward: the imaging component 3 moves forward, driving the pin shaft 12 forward; the pin shaft 12 pushes the connecting rod 14 to rotate around the pin shaft 13; the connecting rod 14 drives the clamping claw 15 to extend outward around the fixed pin shaft 13; the length of the movable side (movement of the imaging component 3) increases; under the constraints of the connecting rod 14 (fixed side) and the clamping claw 15 arm (fixed long side), the clamping claw 15 is driven to expand radially to form a grasping space.

[0049] When DC motor 10 rotates in reverse, drive rod 5 moves backward, shortening the movable edge. Connecting rod 14 pulls jaw 15 inwardly around pin 13, achieving synchronous tightening of the three jaws. This design converts the axial displacement of drive rod 5 into radial opening and closing of the jaws. The triangular geometric constraints (fixed points 11 / 13 / 12) ensure precise and controllable movement.

[0050] Because force sensor 16 is fixed to the base surface of imaging assembly 3, when DC motor 10 drives jaw 15 to retract, jaw 15 rotates inward around pin 13, pushing pin 11 toward imaging assembly 3. The arm compresses the sensor, causing the output value to increase. During expansion, pin 11 moves away from imaging assembly 3, reducing pressure and causing the output value to decrease. Combined with current monitoring data from the motor driver board, this system uses a dual-parameter collaborative analysis of clamping current and force changes to control the brushless DC motor in real time through mechanical feedback, achieving stepless speed regulation and rapid response. This system provides full-time closed-loop feedback on the jaw opening and closing status and contact force, dynamically converting mechanical deformation into quantifiable electrical signals. This provides precise mechanical control that addresses the "clamp overload / slip" issues that plague traditional tools.

[0051] Reference Figure 6 、 Figure 7 The gripper 15 of the present invention dynamically switches the gripper contact mode according to the result of the object shape recognition (regular / irregular), adopts external grasping or internal grasping form, breaks through the general grasping logic limited by magnetic adsorption, adopts non-magnetic falling object adaptive grasping strategy, and realizes low-latency communication to ensure the real-time performance of the "vision-control" closed loop.

Claims

1. A downhole visual electric fishing tool, characterized in that: Including visual electronic control short section, visual transmission control short section and visual grabbing short section; The visual grabbing subsection judges the downhole scene through a wide-angle camera (2) and an imaging component (3), and transmits the visual information of the downhole scene to the surface of the well through the telemetry main control module of the visual electronic control subsection. The visual information is integrated with the mechanical information of the force sensor (16) to control the gripper (15) to achieve the grabbing of objects of various shapes. The visual transmission control short section receives ground control instructions through the teletransmission main control module of the visual electronic control short section, and receives instructions through the motor main control module to control the action of the DC motor (10) driving the clamping claw (15); The visual electronic control subsection realizes information interaction between the underground and the surface wells, and controls the action of the DC motor (10) and the supply of power.

2. The downhole visual electric fishing tool according to claim 1, characterized in that: The visualization grasping short section includes a wide-angle camera (2) located inside the front end of the imaging shell (4), the wide-angle camera (2) is fixed on the base of the imaging component (3) behind it, the wide-angle camera (2) has at least three B pins (12) evenly distributed axially, the wide-angle camera (2) is connected to one end of the connecting rod (14) through the B pin (12), the other end of the connecting rod (14) is connected to the clamping claw (15) through the A pin (11), one end of the clamping claw (15) is the clamping end (1), and the other end is the root connected to the imaging shell (4) through the C pin (13); the imaging component (3) is an integrated electronic board card for receiving and processing the video image signal of the wide-angle camera (2); the outside of the imaging component (3) is the imaging shell (4); the base surface of the imaging component (3) is also fixed with a force sensor (16), and the detection surface of the force sensor (16) is aligned with the arm area of ​​the clamping claw (15).

3. The downhole visual electric fishing tool according to claim 1, characterized in that: The visualization grabbing short section includes a DC motor (10) arranged on a motor mounting seat (9) in a housing, the output end of the DC motor (10) is coaxially connected to a transmission screw (7) through a thrust bearing (8), the transmission screw (7) is connected to a drive rod (5) through a thread, and a guide column (6) is provided on the motor mounting seat (9) to synchronously constrain the linear motion trajectory of the drive rod (5) and limit its maximum stroke; the drive rod (5) is rigidly connected to the imaging component (3) through a thread.

4. The downhole visual electric fishing tool according to claim 1, characterized in that: The visual electronic control subsection includes a power conversion module, a motor main control module and a telemetry main control module; the power conversion module converts the surface power supply into a power supply suitable for underground equipment; the motor main control module completes the fusion processing of the force sensor (16) data according to the control instructions issued by the telemetry main control module, and drives and controls the DC motor (10); the telemetry main control module completes the video stream data processing of the imaging component (3), uploads it to the ground over a long distance through a cable, and realizes the communication interaction between the ground and the underground.

5. A downhole visual electric fishing tool according to claim 3 or 4, characterized in that: The wide-angle camera (2) is surrounded by fill light beads.

6. A downhole visual electric fishing tool according to claim 3 or 4, characterized in that: The surface of the clamping jaw (15) is nitrided to enhance its hardness; the contraction slope on the outside of the clamping end (1) is inclined along the tail end toward the axis, and the inner surface of the clamping end (1) is provided with a serrated pattern; and the front end opening diameter of the clamping end (1) is smaller than the middle section to form a self-locking slope.

Images