Wellhead BOP Installation Method Based on Hydroacoustic Positioning

Abstract

The present invention discloses a method for installing a wellhead blowout preventer based on hydroacoustic positioning. The method comprises: fixing an underwater response node to each of the four corners of a rectangular blowout preventer base; fixing a blowout preventer installation position on the blowout preventer base; and then placing the blowout preventer base at a predetermined underwater position by a crane. A transmitting transducer device is fixed to the blowout preventer by a clamp; the transmitting transducer device comprises an underwater acoustic transmitter and a transducer; one end of a plurality of lifting ropes is fixed to the blowout preventer by a lifting ring, and the other end is fixed to the crane; the crane installs the blowout preventer at the blowout preventer installation position on the blowout preventer base; and a deck signal processing and display device is communicatively connected with the underwater response node, the underwater acoustic transmitter, and the transducer. The method comprises: establishing a coordinate system; calculating the coordinates of the blowout preventer in the coordinate system; and updating the coordinates of the blowout preventer in the coordinate system in real time at a certain time interval until the coordinate position T of the blowout preventer coincides with the blowout preventer installation position.

Description

Technical Field

[0001] This application belongs to the field of hydroacoustic measurement technology, and its technology belongs to the category of hydroacoustic positioning. It is suitable for high-precision positioning when an underwater blowout preventer is docked with a base port, and the relative position of the base port and the docking point of the blowout preventer can be displayed in real time through software. Background Art

[0002] When installing a wellhead blowout preventer (BOP), a crane first lowers the BOP base onto the bottom of the water. Divers or ROVs then level the base, and then, with the assistance of the crane and divers, dock the BOP and base underwater. Due to limited access (BOP installation requires a heavy crane), docking can only be performed at the shipyard's external dock, where the hydrological environment is complex. Visibility issues often prevent divers or ROVs from docking in time, resulting in wasted time and money. Currently, no company or research institute in China has addressed this technical issue. Summary of the Invention

[0003] The invention of this application aims to provide a method for installing a wellhead blowout preventer based on hydroacoustic positioning.

[0004] The present invention discloses a method for installing a wellhead blowout preventer based on underwater acoustic positioning. The method comprises the following steps: fixing an underwater response node on each of the four corners of a rectangular blowout preventer base, namely, underwater response nodes (6A), (6B), (6C), and (6D). The blowout preventer installation position is fixed on the blowout preventer base, and then the blowout preventer base is placed at a predetermined underwater position by a crane. A transmitting transducer device is fixed to the blowout preventer by a clamp, and the transmitting transducer device includes: an underwater acoustic transmitter and a transducer. One end of a plurality of lifting ropes is fixed to the blowout preventer by a lifting ring, and the other end is fixed to the crane. The crane installs the blowout preventer to the blowout preventer installation position of the blowout preventer base. A deck signal processing and display device is communicatively connected with the underwater response node, the underwater acoustic transmitter, and the transducer. The method comprises the following steps:

[0005] (1) Establishing a coordinate system

[0006] A side of the rectangular blowout preventer base is used as the X-axis of the coordinate system, a side perpendicular to it is used as the Y-axis of the coordinate system, an underwater response node (6A) of the blowout preventer base is used as the coordinate point O (0, 0), the coordinates of the underwater response node (6B) are (a, 0), the coordinates of the underwater response node (6C) are (a, b), the coordinates of the underwater response node (6D) are (0, b), the axis at the point O and perpendicular to the X-axis and the Y-axis is used as the Z-axis, and the coordinates of the transmitting transducer device are T (x, y, z), which are the coordinates of the blowout preventer;

[0007] (2) Find the coordinates of the blowout preventer in the coordinate system

[0008] The horizontal positioning spherical intersection equation of the plane triangle matrix is:

[0009] (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =c 2 ·t i 2 (i=1,2,3) (1) Where:

[0010] (x, y, z)——the target position, unit: m;

[0011] (x i 、y i 、z i )——the coordinates of the known underwater response node, unit: m;

[0012] t i ——The time it takes for the acoustic signal to reach each hydrophone, unit: s;

[0013] The deck signal processing and display device controls the underwater acoustic transmitter to emit a query sound signal of a certain frequency, period and pulse width through the transducer. After propagating through the water, the signal is received by the underwater response nodes (6A), (6B), (6C) and (6D) respectively. The underwater response nodes (6A), (6B), (6C) and (6D) transmit the response time of the signal and the transmission time of the signal by the transducer to the deck signal processing and display device respectively. The time when the transducer transmits the signal to the underwater response nodes (6A), (6B), (6C) and (6D) is t1, t2, t3 and t4 respectively. Assuming that the coordinates of the transmitting transducer are T(x, y, z) and the speed of sound is c, the distance from the coordinates of the transmitting transducer T(x, y, z) to the underwater response nodes (6A), (6B) and (6C) is substituted into the formula, and the result is:

[0014]

[0015] Get x1, y1 and z1;

[0016] Substitute the distances from the transmitting transducer's coordinates T(x, y, z) to the underwater response nodes (6A), (6B), and (6D) into the formula:

[0017] Get x2, y2 and z2;

[0018] Substitute the distances from the transmitting transducer's coordinates T(x, y, z) to the underwater response nodes (6B), (6C), and (6D) into the formula:

[0019] Get x3, y3 and z3;

[0020] Substitute the coordinates T(x, y, z) of the transmitting transducer to the underwater response nodes (6A), (6C), and (6D) into the formula to obtain x4, y4, and z4;

[0021] The coordinates of the transmitting transducer are T(x, y, z), where x = (x1 + x2 + x3 + x4) / 4; y = (y1 + y2 + y3 + y4) / 4; and z = (z1 + z2 + z3 + z4) / 4. The coordinates of the transmitting transducer are obtained by ignoring the horizontal position error between the transmitting transducer and the BOP. The Z-direction is corrected for the depth error between the BOP and the transmitting transducer installation position, which gives the coordinates of the BOP.

[0022] (3) Within a certain time interval, the deck signal processing and display equipment controls the underwater acoustic transmitter to emit a query sound signal of a certain frequency, period, and pulse width through the transducer, and repeats step (2) to calculate the coordinates of the blowout preventer in the coordinate system at this moment until the coordinate T of the blowout preventer is the installation position of the blowout preventer.

[0023] The present invention provides a method for installing a wellhead blowout preventer based on hydroacoustic positioning, wherein: the certain time interval is 1 second and an integer multiple of the working cycle, and the position information is continuously updated at the working cycle until the coordinates of the blowout preventer are consistent with the blowout preventer installation position. At this time, the blowout preventer is installed at the blowout preventer installation position on the blowout preventer base.

[0024] Beneficial effects

[0025] By installing and positioning the blowout preventer and its base, the docking problem between the blowout preventer and its base is converted into a hydroacoustic positioning problem, and the position of the base target relative to the blowout preventer coordinates can be calculated; the display and control software displays the relative position of the blowout preventer and the base in real time, clarifying and visualizing the complex docking process with low visibility, so that divers can dock quickly and in time, improving docking efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the positional relationship of various components in the wellhead blowout preventer installation method based on hydroacoustic positioning of the present invention;

[0027] Figure 2 For Figure 1 A coordinate system established by the positional relationship of each component in the image.

[0028] exist Figure 1 In the figure, number 1 is the blowout preventer base; number 2 is the blowout preventer; number 3 is the transmitting transducer equipment; number 4 is the deck signal processing and display equipment; number 5 is the lifting rope; number 6 is the underwater response node; number 7 is the clamp; number 8 is the blowout preventer installation position. DETAILED DESCRIPTION

[0029] like Figure 1 As shown, a method for installing a wellhead blowout preventer based on hydroacoustic positioning is provided. An underwater response node 6 is fixed to each of the four corners of a rectangular blowout preventer base 1, namely, underwater response nodes (6A), (6B), (6C), and (6D). A blowout preventer installation position 8 is fixed on the blowout preventer base 1, and then the blowout preventer base 1 is placed at a predetermined underwater position by a crane. A transmitting transducer device 3 is fixed to the blowout preventer 2 by a clamp 7. The transmitting transducer device 3 includes: an underwater acoustic transmitter and a transducer. One end of a plurality of lifting ropes 5 is fixed to the blowout preventer 2 by a lifting ring, and the other end is fixed to the crane. The crane installs the blowout preventer 2 to the blowout preventer installation position 8 of the blowout preventer base 1. A deck signal processing and display device 4 is communicatively connected with the underwater response node 6, the underwater acoustic transmitter, and the transducer. The method includes the following steps:

[0030] (1) Establishing a coordinate system

[0031] Take one side of the rectangular BOP base 1 as the X-axis of the coordinate system, its vertical adjacent side as the Y-axis of the coordinate system, an underwater response node (6A) of the BOP base 1 as the coordinate point O (0, 0), the coordinates of the underwater response node (6B) as (a, 0), the coordinates of the underwater response node (6C) as (a, b), and the coordinates of the underwater response node (6D) as (0, b), the axis at the point O and perpendicular to the X-axis and the Y-axis as the Z-axis, the coordinates of the transmitting transducer device 3 as T (x, y, z), the horizontal position error between the transmitting transducer 3 and the BOP 2 is ignored, and the Z-direction is corrected for the depth error of the installation position of the BOP 2 and the transmitting transducer 3, that is, the coordinates of the BOP 2;

[0032] (2) Find the coordinates of BOP 2 in the coordinate system

[0033] The horizontal positioning spherical intersection equation of the plane triangle matrix is:

[0034] (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =c 2 ·t i 2 (i=1,2,3) (1)

[0035] Where:

[0036] (x, y, z)——the target position, unit: m;

[0037] (x i 、yi 、z i )——the known coordinates of the underwater response node 6, unit: m;

[0038] t i ——The time it takes for the acoustic signal to reach each hydrophone, unit: s;

[0039] The deck signal processing and display device 4 controls the underwater acoustic transmitter to emit a query sound signal of a certain frequency, period and pulse width through the transducer. After propagating through the water, the signal is received by the underwater response nodes (6A), (6B), (6C) and (6D) respectively. The underwater response nodes (6A), (6B), (6C) and (6D) transmit the response time of the signal and the transmission time of the signal by the transducer to the deck signal processing and display device 4 respectively. The time when the transducer transmits the signal to the underwater response nodes (6A), (6B), (6C) and (6D) is t1, t2, t3 and t4 respectively. Assuming that the coordinates of the transmitting transducer 3 are T(x, y, z) and the speed of sound is c, the distance from the coordinates T(x, y, z) of the transmitting transducer 3 to the underwater response nodes (6A), (6B) and (6C) is substituted into formula (1), and the result is:

[0040]

[0041] Get x1, y1 and z1;

[0042] Substitute the distances from the coordinates T(x, y, z) of the transmitting transducer 3 to the underwater response nodes (6A), (6B), and (6D) into Formula 1:

[0043] Get x2, y2 and z2;

[0044] Substitute the coordinates T(x, y, z) of the transmitting transducer 3 to the distances of the underwater response nodes (6B), (6C) and (6D) into formula (1):

[0045] Get x3, y3 and z3;

[0046] Substitute the coordinates T(x, y, z) of the transmitting transducer 3 to the underwater response nodes (6A), (6C) and (6D) into formula 3:

[0047] Get x4, y4 and z4;

[0048] The coordinates of the transmitting transducer 3 are T(x, y, z), where x = (x1 + x2 + x3 + x4) / 4; y = (y1 + y2 + y3 + y4) / 4; and z = (z1 + z2 + z3 + z4) / 4. The coordinates of the transmitting transducer 3 are obtained, and the horizontal position error between the transmitting transducer 3 and the blowout preventer 2 is ignored. The Z direction is corrected for the depth error between the installation positions of the blowout preventer 3 and the transmitting transducer 2, which is the coordinates of the blowout preventer 2.

[0049] (3) Within the time interval of the working cycle, the deck signal processing and display device 4 controls the underwater acoustic transmitter to emit a query sound signal of a certain frequency, period, and pulse width through the transducer, and repeats step (2) to calculate the coordinates of the blowout preventer 2 in the coordinate system at this moment. The position information is continuously updated at intervals of the working cycle until the coordinates of the blowout preventer 2 are the same as the blowout preventer installation position 8. At this time, the blowout preventer 2 is installed at the blowout preventer installation position 8 of the blowout preventer base 1.

[0050] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A method for installing a wellhead blowout preventer based on hydroacoustic positioning, wherein an underwater response node (6) is fixed to each of the four corners of a rectangular blowout preventer base (1), which are underwater response nodes (6A), (6B), (6C) and (6D), respectively; a blowout preventer installation position (8) is fixed on the blowout preventer base (1), and then the blowout preventer base (1) is placed at a predetermined position underwater by a crane; a transmitting transducer device (3) is fixed to the blowout preventer (2) by a clamp (7), and the transmitting transducer device (3) includes: An underwater acoustic transmitter and a transducer, one end of a plurality of lifting ropes (5) is fixed to a blowout preventer (2) through a lifting ring, and the other end is fixed to a crane, the crane installs the blowout preventer (2) to a blowout preventer installation position (8) of a blowout preventer base (1), a deck signal processing and display device (4) is connected to communicate with an underwater response node (6), the underwater acoustic transmitter and the transducer, and the method is characterized in that: the method comprises the following steps: (1) Establishing a coordinate system Take one side of the rectangular blowout preventer base (1) as the X-axis of the coordinate system, take its perpendicular adjacent side as the Y-axis of the coordinate system, take an underwater response node (6A) of the blowout preventer base (1) as the coordinate point O (0, 0), the coordinates of the underwater response node (6B) are (a, 0), the coordinates of the underwater response node (6C) are (a, b), the coordinates of the underwater response node (6D) are (0, b), take the axis at the point O and perpendicular to the X-axis and the Y-axis as the Z-axis, and the coordinates of the transmitting transducer device (3) are T (x, y, z), which are the coordinates of the blowout preventer (2); (2) Find the coordinates of the BOP (2) in the coordinate system The horizontal positioning spherical intersection equation of the plane triangle matrix is: (i=1,2,3) (1) Where: (x, y, z)——the target position, unit: m; ——the coordinates of the known underwater response node (6), in meters; t i ——The time it takes for the acoustic signal to reach each hydrophone, unit: s; The deck signal processing and display device (4) controls the underwater acoustic transmitter to send out a query sound signal of a certain frequency, period and pulse width through the transducer. After propagating through the water, the signal is received by the underwater response nodes (6A), (6B), (6C) and (6D) respectively. The underwater response nodes (6A), (6B), (6C) and (6D) transmit the response time of the signal and the transmission time of the signal by the transducer to the deck signal processing and display device (4) respectively. The time when the transducer transmits the signal to the underwater response nodes (6A), (6B), (6C) and (6D) is t1, t2, t3 and t4 respectively. Assuming that the coordinates of the transmitting transducer (3) are T (x, y, z) and the speed of sound is c, the distance from the coordinates T (x, y, z) of the transmitting transducer (3) to the underwater response nodes (6A), (6B) and (6C) is substituted into formula (1), and the result is: Obtain x1, y1, and z1; Substitute the distances from the coordinates T (x, y, z) of the transmitting transducer (3) to the underwater response nodes (6A), (6B), and (6D) into formula (1), Get x2, y2 and z2; Substitute the distances T(x, y, z) from the transmitting transducer (3) to the underwater response nodes (6B), (6C), and (6D) into formula (1): Get x3, y3 and z3; The distances from the coordinates T (x, y, z) of the transmitting transducer (3) to the underwater response nodes (6A), (6C) and (6D) are substituted into formula (1): Get x4, y4 and z4; The coordinates of the transmitting transducer (3) are x=(x1+x2+x3+x4) / 4; y=(y1+y2+y3+y4) / 4; z=(z1+z2+z3+z4) / 4 in T(x,y,z); the coordinates of the transmitting transducer (3) are obtained, the horizontal position error between the transmitting transducer (3) and the blowout preventer (2) is ignored, and the depth error of the installation position of the blowout preventer (2) and the transmitting transducer (3) is corrected in the Z direction, which is the coordinates of the blowout preventer (2); (III) Within a certain time interval of the working cycle, the deck signal processing and display device (4) controls the underwater acoustic transmitter to emit a query sound signal of a certain frequency, period, and pulse width through the transducer, and repeats step (II) to obtain the coordinates of the blowout preventer (2) at this moment in the coordinate system. The certain time interval of the working cycle is 1 second and an integer multiple thereof. The position information is continuously updated at the time interval of the working cycle until the coordinates of the blowout preventer (2) are the same as the blowout preventer installation position (8). At this time, the blowout preventer (2) is installed on the blowout preventer installation position (8) of the blowout preventer base (1).

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