A drill pipe sealing performance detection platform and its detection method

Abstract

A drill pipe sealing detection platform and detection method thereof of the present invention include a material preparation module, a working module and a control module, wherein the material preparation module is used to transport drill pipes in unspliced segments, the working module is used for the advancement, positioning, threaded connection between multi-segment drill pipes and radial support of the drill pipe, and finally the control module is used to perform a water pressure test inside the connected drill pipe assembly, thereby realizing the automatic detection function of the drill pipe sealing. During the detection process, all drill pipes only need to be placed in the material preparation module, and a tester operates the control module to complete the entire sealing test process such as drill pipe connection, pressurization, and pressure relief in a short time, saving more than 70% of human resources and more than 50% of time. Ensure the standardization and proceduralization of the test process to avoid technical and safety risks caused by human operating errors.

Description

Technical Field

[0001] The present invention relates to the technical field of sealing detection equipment, and specifically to a drill pipe sealing detection platform and a detection method thereof. Background Art

[0002] At present, the construction of mountain tunnels often faces the risk of high in-situ stress. It is imperative to measure and evaluate the in-situ stress within the buried depth of these tunnels. Currently, the internationally recognized method for measuring in-situ stress in deep-buried tunnels is the hydraulic fracturing method. Before the formal fracturing test, it is necessary to check the tightness of the geological drill pipes. The specific process is to connect each section of the drill pipe to the drill rig in sequence, then inject water at a certain pressure into it, and observe whether the pump pressure can remain stable, so as to determine whether the tightness of this section of the drill pipe is good. After testing one section of the drill pipe, continue to add drill pipes below it and repeat the above process until the tightness test of all drill pipes is completed. The entire tightness test process requires 3 - 4 drill rig workers to continuously connect and disassemble the drill pipes and cooperate with 2 test personnel for 3 - 4 days to complete, accounting for more than half of the entire test process of the hydraulic fracturing method. If there is a leakage of the drill pipe during the test, it is also necessary to check the leakage location, and the human and material resources required will be even greater. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a drill pipe sealing detection platform and a detection method thereof. The detection platform and the detection method can realize the automatic connection and positioning of multiple sections of drill pipes and the automatic hydraulic pressure detection function of the drill pipe assembly, effectively reducing the labor cost and safety risk, improving the detection accuracy and efficiency, and having extremely high economic value and social value.

[0004] A drill pipe sealing detection platform includes a stock preparation module, a working module and a control module.

[0005] The stock preparation module includes a drill pipe preparation area, a drill pipe propulsion area, a conveying unit and a fixing plate. The discharge end of the drill pipe preparation area is docked with the feed end of the drill pipe propulsion area. A conveying unit for slidingly supporting the drill pipe is arranged inside the drill pipe preparation area and the drill pipe propulsion area, and a fixing plate for positioning the drill pipe is fixedly arranged on the top surface of the drill pipe propulsion area.

[0006] The working module includes a water injection cover, an electric plugging device, a protective wall, an electric rotor and a test bench. The test bench is docked at the discharge end of the drill pipe propulsion area. An electric rotor for providing rotational power to the drill pipe is fixedly arranged at the feed end of the test bench, and a protective wall for circumferentially limiting and radially supporting the drill pipe sleeved outside the drill pipe is fixedly arranged at the discharge end of the test bench. The electric plugging device is plugged and connected in the inner hole of the drill pipe at the discharge end of the test bench, and a water pipe for pressure relief is connected to the electric plugging device. The water injection cover is plugged and connected in the inner hole of the drill pipe at the feed end of the test bench, and a water pipe for injecting water into the drill pipe is connected to the water injection cover.

[0007] The control module includes a central controller, a water pump, a cable, a water pipe and a pressure sensor; among them, the central controller is connected to the water pump, the electric rotor, the electric plugging device and the pressure sensor through the cable, and the central controller collects the signal of the pressure sensor and monitors the change of the water pressure in the drill pipe in real time; the water inlet end of the water pump is connected to a water source, and the water discharge end of the water pump is connected to the inner hole of the drill pipe through the pressure sensor and the injection cover.

[0008] Preferably, the conveying unit is a conveyor belt or a conveying roller, which is installed on the surfaces of the drill pipe preparation area and the drill pipe propulsion area, and the conveying unit is connected to the central controller through a cable.

[0009] Preferably, the drill pipe propulsion area is set as a quadrilateral structure, and two adjacent straight sides of the drill pipe propulsion area are respectively butted against the drill pipe preparation area and the test bench, and a thruster for axially pushing the drill pipe towards the test bench is fixedly arranged on one side of the drill pipe propulsion area; the thruster is connected to the central controller through a cable.

[0010] Preferably, fixing claws that are radially fixed inside the protection wall and support against the outer wall of the drill pipe are provided.

[0011] Preferably, a rotating slideway is circumferentially formed inside the electric rotor, and a plurality of electric telescopic claws that support against the outer wall of the drill pipe are circumferentially and slidably connected inside the rotating slideway.

[0012] A detection method for a drill pipe sealing detection platform includes the following steps:

[0013] Step 1, drill pipe preparation, discharging the drill pipe to the drill pipe preparation area;

[0014] Step 2, drill pipe transportation, the conveying unit in the drill pipe preparation area sequentially transports the drill pipe onto the drill pipe propulsion area until it stops when it touches the fixed plate;

[0015] Step 3, drill pipe propulsion, the thruster installed on the drill pipe propulsion area axially pushes the drill pipe into a predetermined position inside the electric rotor and aligns it with the previously tested drill pipe in front;

[0016] Step 4, drill pipe connection, the electric rotor thread-connects the drill pipe to be tested to the previous section of the drill pipe through the electric telescopic claws and the rotating slideway; the thruster pushes the thread-connected drill pipe to be tested into the range of the protection wall;

[0017] Step 5, pressure test, covering the open end of the drill pipe with an injection cover embedded with a water pipe, that is, plugging the inner hole of the drill pipe at the end pushed by the thruster, filling the drill pipe with water and pressurizing it through the water pump via the water pipe and the pressure sensor, reading and observing the water pressure data collected by the pressure sensor through the central controller. When the pressure in the drill pipe reaches a predetermined value and remains unchanged for 10 seconds, the electric plugging device receives the instruction from the central controller to relieve the pressure, and then the injection cover is removed;

[0018] Step 6: Push out the drill pipe. The central controller controls the thruster to push the drill pipe out of the retaining wall. Repeat steps 2 to 5 until the sealing test of all drill pipes is completed.

[0019] The advantages and technical effects of the present invention are:

[0020] The present invention provides a drill pipe sealing detection platform and a detection method thereof, wherein a material preparation module is used to transport drill pipes in an unspliced segment state, a working module is used for the advancement and positioning of the drill pipe, threaded connection between multiple segments of the drill pipe, and radial support, and finally a control module is used to perform a water pressure test inside a connected drill pipe assembly, thereby realizing an automated detection function for the sealing of the drill pipe.

[0021] The drill pipe sealing test platform and the test method of the present invention only need to place all the drill pipes in the material preparation module during the test, and one tester can operate the control module to complete the whole sealing test process such as drill pipe connection, pressurization, and pressure relief in a short time, saving more than 70% of human resources and more than 50% of time. The test process is standardized and proceduralized to avoid technical and safety risks caused by human operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the drill pipe sealing detection platform in the present invention;

[0023] Figure 2 It is a schematic diagram of the top view of the drill pipe sealing detection platform in the present invention;

[0024] Figure 3 is a cross-sectional view of the protective wall in the present invention;

[0025] Figure 4 is a cross-sectional view of the electric rotor of the present invention;

[0026] Figure 5 It is a flow chart of the method for detecting the sealing property of the drill pipe in the present invention;

[0027] In the figure: 1-electric plugging device, 2-wall protection, 3-drill pipe, 4-electric rotor, 5-water source, 6-water pump, 7-central controller, 8-test bench, 9-drill pipe preparation area, 10-drill pipe propulsion area, 11-fixed plate, 12-transportation unit, 13-cable, 14-water pipe, 15-pressure sensor, 16-electric telescopic claw, 17-rotating slide, 18-thruster, 19-fixed claw. DETAILED DESCRIPTION

[0028] To further understand the content, features and effects of the present invention, the following embodiments are exemplified and described in detail with reference to the accompanying drawings. It should be noted that this embodiment is descriptive and not restrictive, and the protection scope of the present invention cannot be limited thereby.

[0029] A drill pipe sealing detection platform includes a stock preparation module, a working module and a control module.

[0030] The stock preparation module includes a drill pipe preparation area 9, a drill pipe propulsion area 10, a conveying unit 12 and a fixing plate 11. The discharge end of the drill pipe preparation area 9 is butted against the feed end of the drill pipe propulsion area 10. The conveying unit 12 for slidingly supporting the drill pipe 3 is arranged inside the drill pipe preparation area 9 and the drill pipe propulsion area 10, and the fixing plate 11 for positioning the drill pipe is fixedly arranged on the top surface of the drill pipe propulsion area 10.

[0031] The working module includes a water injection cover, an electric plugging device 1, a retaining wall 2, an electric rotor 4 and a test bench 8. The test bench 8 is butted against the discharge end of the drill pipe propulsion area 10. The electric rotor 4 for providing rotational power to the drill pipe is fixedly arranged at the feed end of the test bench, and the retaining wall 2 for circumferentially limiting and radially supporting the drill pipe sleeved outside the drill pipe is fixedly arranged at the discharge end of the test bench. The electric plugging device 1 is plugged and connected in the inner hole of the drill pipe at the discharge end of the test bench, and the electric plugging device 1 is connected with a water pipe for pressure relief. The water injection cover is plugged and connected in the inner hole of the drill pipe at the feed end of the test bench, and the water injection cover is connected with a water pipe for injecting water into the drill pipe.

[0032] Preferably, the control module includes a central controller 7, a water pump 6, a cable 13, a water pipe 14 and a pressure sensor 15. The central controller is connected to the water pump 6, the electric rotor 4, the electric plugging device 1 and the pressure sensor 15 through the cable 13. The central controller 7 collects the signals of the pressure sensor 15 and monitors the change of the water pressure inside the drill pipe in real time. The water inlet end of the water pump 6 is communicated with a water source 5, and the water discharge end of the water pump is communicated with the inner hole of the drill pipe through the pressure sensor 15 and the water injection cover.

[0033] Preferably, the conveying unit 12 is a conveyor belt or a conveying roller. The conveying unit 12 is installed on the surfaces of the drill pipe preparation area 9 and the drill pipe propulsion area 10, and the conveying unit 12 is connected to the central controller 7 through the cable 13.

[0034] Preferably, the drill pipe propulsion area 10 is arranged in a quadrilateral structure. The two adjacent straight sides of the drill pipe propulsion area are respectively butted against the drill pipe preparation area 9 and the test bench 8, and a pusher 18 for axially pushing the drill pipe towards the test bench is fixedly arranged on one side of the drill pipe propulsion area 10. The pusher 18 is connected to the central controller 7 through the cable 13.

[0035] Preferably, fixed claws 19 radially fixed inside the retaining wall 2 are propped against the outer wall of the drill pipe circumference.

[0036] Preferably, a rotary slideway is circumferentially formed inside the electric rotor 4, and a plurality of electric telescopic claws that support against the outer wall of the drill pipe are circumferentially and slidably connected inside the rotary slideway.

[0037] A detection method for a drill pipe sealing detection platform includes the following steps:

[0038] Step 1, drill pipe preparation: Place the drill pipes in the drill pipe preparation area 9.

[0039] Step 2, drill pipe transportation: The conveying unit 12 in the drill pipe preparation area 9 sequentially transports the drill pipes onto the drill pipe propulsion area 10 until they stop when they touch the fixing plate 11.

[0040] Step 3, drill pipe propulsion: The propeller 18 installed on the drill pipe propulsion area 10 axially pushes the drill pipe into a predetermined position inside the electric rotor 4 and aligns it with the previously tested drill pipe in front.

[0041] Step 4, drill pipe connection: The electric rotor 4 thread-connects the drill pipe to be tested to the previous section of the drill pipe through the electric telescopic claws 16 and the rotary slideway 17; the propeller 18 pushes the thread-connected drill pipe to be tested into the range of the retaining wall 2.

[0042] Step 5, pressure test: Cover the open end of the drill pipe with a water injection sealing cover embedded with a water pipe, that is, block the inner hole of the drill pipe at the end pushed by the propeller 18, fill water into the drill pipe through the water pump via the water pipe and the pressure sensor to apply pressure, read and observe the water pressure data collected by the pressure sensor through the central controller 7. When the pressure in the drill pipe reaches a predetermined value and remains unchanged for 10 seconds, the electric sealing device 1 receives an instruction from the central controller 7 to relieve the pressure, and then the water injection sealing cover is removed.

[0043] Step 6, drill pipe ejection: The central controller 7 controls the propeller 18 to eject the drill pipe from the retaining wall 2, and repeat the process of Step 2 to Step 5 until all the drill pipes have completed the sealing test.

[0044] In addition, preferably in the present invention, the electric sealing device, the propeller, the central controller and the electric telescopic claws all adopt mature products in the prior art.

[0045] In order to more clearly describe the specific implementation manners of the present invention, the following provides an embodiment:

[0046] Based on the specific working process of the in-situ stress drill pipe sealing test, the present invention makes the entire drill pipe sealing test process automated and programmed through technical means such as hardware research and development, system integration, and structural design, forming a drill pipe sealing detection platform and detection method with material preparation, working, and control modules, which can effectively reduce labor costs and safety risks, improve the test accuracy and efficiency, and has extremely high economic value and social value.

[0047] The technical solution of the embodiment of the present invention is mainly aimed at the drill pipe sealing detection in the ground stress test, and works in combination with the drill pipe of the drilling rig. By using the detection platform and detection method of the present invention, the complete drill pipe sealing test process can be automatically completed.

[0048] 1. Detection platform implementation example:

[0049] According to an embodiment of the present invention, a drill pipe sealing detection platform is provided. Figures 1 to 4 As shown, the overall detection platform includes a material preparation module, a working module and a control module.

[0050] The main body of the material preparation module includes two large areas, namely the drill rod preparation area 9 and the drill rod propulsion area 10. The two large areas are connected by two steel plates. There is a depression in the middle of the drill rod propulsion area 10. The drill rod preparation area 9 is embedded with a conveying unit 12. The conveying unit 12 is equipped with a motor. The motor is connected to the external control module through a cable 13, which is used to drive the conveying unit 12 to roll and drive the drill rod in the material preparation module to move forward. A propeller 18 and a fixed plate 11 are installed on the drill rod propulsion area 10. The propeller 18 has a built-in motor that can be extended back and forth to push the drill rod forward. The fixed plate 11 is a rectangular steel plate used to fix the position of the drill rod. When the drill rod to be tested is transported to the drill rod propulsion area 10, it will be restricted to a predetermined position by the fixed plate 11 and the depression in the middle of the drill rod propulsion area to ensure that the drill rod to be tested can be docked with the drill rod that has been tested in the previous section.

[0051] The working module includes a test bench 8, a protective wall 2, an electric rotor 4, an electric plugging device 1 and other equipment. The protective wall 2 and the electric rotor 4 are connected to the test bench 8. The protective wall 2 is built with a fixing claw 19 for fixing the drill pipe. The electric plugging device 1 is plugged at the end of the last section of the borehole to close the borehole cavity.

[0052] The control module includes central controller 7, cable 13, water pump 6, water pipe 14 and other equipment. Central controller 7 controls the normal operation of other hardware equipment according to fixed logic. It is connected to water pump 6 through cable 13 and pressure sensor 15, and can monitor the change of water pressure in real time. Water pump 6 is connected to water source 5 and drill pipe through water pipe 14 to complete the application of water pressure inside the drill pipe. Electric plugging device 1 is connected to central controller 7 through cable 13, receives the latter's signal to implement the switch operation, and completes the two actions of plugging and pressure relief.

[0053] 2. Detection method embodiment:

[0054] According to an embodiment of the present invention, a drill pipe sealing detection method is provided, which is used for the above-mentioned drill pipe sealing detection platform, and the steps include: step 1, drill pipe preparation S1; step 2, drill pipe transportation S2; step 3, drill pipe advancement S3; step 4, drill pipe connection S4; step 5, pressurization test S5. Step 6, drill pipe push-out S6.Figure 5 As shown in Figure 5 , the drill pipe sealing detection method according to the embodiments of the present invention specifically includes:

[0055] Step 1: Drill pipe preparation. The drill pipes are discharged to the drill pipe preparation area 9. The system is started, and the central control module transmits instructions to the drill pipe preparation area 9 through the cable 13. The embedded conveying unit 12 in the latter operates under the drive of the motor, and the drill pipes are transported one by one to the drill pipe propulsion area 10.

[0056] Step 2: Drill pipe transportation. The drill pipe propulsion area 10 has a depression in the middle. When the drill pipes enter this area, they can slide into the middle depression. The fixing plate 11 at the edge of the depression will stop the drill pipes, and the drill pipes close to the fixing plate 11 enter the predetermined position.

[0057] Step 3: Drill pipe propulsion. The pusher 18 connected to the drill pipe propulsion area 10 pushes the drill pipes at the predetermined position forward to align with the previously tested drill pipes in front.

[0058] Step 4: Drill pipe connection. The electric rotor 4 installed on the test bench 8 connects the drill pipe to be tested and the previous section of the drill pipe together through the electric telescopic claws 16 and the rotating slideway 17 by means of threads. After the pressure sensor 15 on the electric rotor 4 senses that the two sections of the drill pipes are tightly connected, the pusher 18 pushes the test section of the drill pipes into the range of the retaining wall 2.

[0059] Step 5: Pressurization test. The fixed claw 19 in the retaining wall 2 presses down on the drill pipe to be tested to ensure its fixation. The tester covers the open end of the drill pipe with a water injection cover embedded with a water pipe, fills the water pipe 14 with water through the water pump 6 to pressurize it to 5 Mpa, and observes through the central controller 7. When the pressure in the drill pipe remains stable for more than 10 seconds, it indicates that the airtightness of the drill pipe to be tested is intact, and the electric plugging device 1 receives the instruction to relieve the pressure.

[0060] Step 6: Drill pipe ejection. The central controller 7 controls the pusher 18 to eject the drill pipes from the retaining wall 2, and repeats the process of Step 2 - Step 5 until all the drill pipes have completed the airtightness test.

[0061] 3. Principle description:

[0062] Preferably, the central controller 7 is the core of the whole set of devices and systems, and controls the normal operation of other devices through the cable 13 and the water pipe 14. During the detection, first, the conveying unit 12 on the drill pipe preparation area 9 receives the instruction from the central controller 7 and starts to operate, transporting the drill pipe to the side of the fixing plate 11. Subsequently, the electric rotor 4 receives the instruction from the central controller 7, starts to grasp the drill pipe to be tested, and rotates until it is tightly thread-connected to the drill pipe in front. Among them, the electric rotor 4 includes an electric telescopic claw 16, a pressure sensor 15, and a rotating slideway 17 for automatically connecting the drill pipes. After the drill pipes are connected, the tester connects the water pipe to the drill pipe, and the water pump 6 injects water into the drill pipe through the water pipe 14 to pressurize it. The central controller 7 controls the water pressure through the pressure sensor 15. When the water pressure reaches a certain value and remains unchanged for 10 seconds, it indicates that the sealing performance of the test drill pipe is intact. The electric plugging device 1 receives the instruction through the cable 13 to open the plugging and release the water pressure, thereby completing the sealing detection of this section of the drill pipe. Then, repeat the above detection steps until the sealing detection of the whole drill pipe is completed.

[0063] Finally, for the method disclosed and proposed in the present invention, those skilled in the art can achieve it by referring to the content of this article and appropriately changing conditions, routes and other links. Although the method and preparation technology of the present invention have been described through preferred embodiments, it is obvious that relevant technicians can make changes or re-combinations to the method and technical route in this article without departing from the content, spirit and scope of the present invention to achieve the final preparation technology. It should be particularly noted that all similar substitutions and changes are obvious to those skilled in the art, and they are all regarded as included in the spirit, scope and content of the present invention. And it should be understood that those skilled in the art can make improvements or transformations according to the above description, and all these improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A drill pipe sealing detection platform, characterized in that: It includes a stock preparation module, a working module and a control module. The stock preparation module includes a drill pipe preparation area (9), a drill pipe propulsion area (10), a conveying unit (12) and a fixing plate (11). The discharge end of the drill pipe preparation area (9) is docked with the feed end of the drill pipe propulsion area (10). A conveying unit (12) for slidingly supporting the drill pipe is arranged inside the drill pipe preparation area (9) and the drill pipe propulsion area (10), and a fixing plate (11) for positioning the drill pipe is fixedly arranged on the top surface of the drill pipe propulsion area (10). The working module includes a water injection seal cover, an electric plugging device (1), a shaft protection wall (2), an electric rotor (4) and a test bench (8). The test bench (8) is docked at the discharge end of the drill pipe propulsion area (10). An electric rotor (4) for providing rotational power to the drill pipe is fixedly arranged at the feed end of the test bench. A shaft protection wall (2) for circumferentially limiting and radially supporting the drill pipe sleeved outside the drill pipe is fixedly arranged at the discharge end of the test bench. The electric plugging device (1) is plugged and connected in the inner hole of the drill pipe at the discharge end of the test bench, and the electric plugging device (1) is connected with a water pipe for pressure relief. The water injection seal cover is plugged and connected in the inner hole of the drill pipe at the feed end of the test bench, and a water pipe for injecting water into the drill pipe is connected to the water injection seal cover. The control module includes a central controller (7), a water pump (6), a cable (13), a water pipe (14) and a pressure sensor (15). The central controller is connected to the water pump (6), the electric rotor (4), the electric plugging device (1) and the pressure sensor (15) through the cable (13). The central controller (7) collects the signals of the pressure sensor (15) and monitors the change of the water pressure in the drill pipe in real time. The water inlet end of the water pump (6) is communicated with a water source (5), and the water discharge end of the water pump is communicated with the inner hole of the drill pipe through the pressure sensor (15) and the water injection seal cover. A rotary slideway is circumferentially formed inside the electric rotor (4), and a plurality of electric telescopic claws that abut against the outer wall of the drill pipe are circumferentially and slidably connected in the rotary slideway.

2. The drill pipe sealing detection platform according to claim 1, characterized in that: The conveying unit (12) is a conveyor belt or a conveyor roller. The conveying unit (12) is installed on the surfaces of the drill pipe preparation area (9) and the drill pipe propulsion area (10), and the conveying unit (12) is connected to the central controller (7) through the cable (13).

3. The drill pipe sealing performance detection platform according to claim 1, characterized in that: The drill pipe propulsion area (10) is arranged in a quadrilateral structure. The two adjacent straight sides of the drill pipe propulsion area are respectively docked with the drill pipe preparation area (9) and the test bench (8). A propeller (18) for axially pushing the drill pipe towards the test bench is fixedly arranged on one side of the drill pipe propulsion area (10). The propeller (18) is connected to the central controller (7) through the cable (13).

4. The drill pipe sealing detection platform according to claim 1, characterized in that: Fixing claws (19) that abut against the outer wall of the drill pipe are radially fixedly arranged inside the shaft protection wall (2).

5. A detection method for the detection platform of the drill pipe sealing performance as described in claim 1, characterized in that, It includes the following steps: Step 1, drill pipe preparation: Place the drill pipe in the drill pipe preparation area (9). Step 2, drill pipe transportation: The conveying unit (12) in the drill pipe preparation area (9) sequentially transports the drill pipe onto the drill pipe propulsion area (10) until it stops when it touches the fixing plate (11). Step 3: Drill pipe propulsion. The thruster (18) installed in the drill pipe propulsion area (10) axially pushes the drill pipe into a predetermined position within the electric rotor (4) and aligns it with the previously tested drill pipe in front. Step 4: Drill pipe connection. The electric rotor (4) thread-connects the drill pipe to be tested to the previous section of the drill pipe through the electric telescopic claws (16) and the rotary slideway (17); the thruster (18) pushes the thread-connected drill pipe to be tested into the range of the retaining wall (2). Step 5: Pressure test. Cover the open end of the drill pipe with a water injection sealing cover embedded with a water pipe, that is, block the inner hole of the drill pipe at the end pushed by the thruster (18). Fill the drill pipe with water and pressurize it through the water pipe and the pressure sensor by a water pump. Read and observe the water pressure data collected by the pressure sensor through the central controller (7). When the pressure in the drill pipe reaches the predetermined value and remains unchanged for 10 seconds, the electric plugging device (1) relieves the pressure according to the instruction of the central controller (7), and then the water injection sealing cover is removed. Step 6: Drill pipe ejection. The central controller (7) controls the thruster (18) to eject the drill pipe from the retaining wall (2), and repeat the process of Step 2 to Step 5 until the sealing test of all drill pipes is completed.

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