Coiled tubing on-board operation apparatus and control method thereof

Abstract

This invention provides a vehicle-mounted coiled tubing installation device and its control method. The device includes a transport vehicle, an injection mechanism, an adjustment structure, and a power assembly. The injection mechanism includes an injection head. The adjustment structure includes at least three telescopic arms, the first ends of which are hinged to the transport vehicle. The injection head is mounted on the side of the operating platform opposite to the telescopic arms. At least one first telescopic drive is also mounted on the transport vehicle, connected to at least one telescopic arm. The first telescopic drive can extend and retract to drive the connected telescopic arm to swing relative to the transport vehicle. This invention, through the cooperation of the first telescopic drive and the telescopic arms, achieves flexible height and angle adjustment of the operating platform, thereby allowing for a wide range of flexible adjustments to the height and angle of the injection head. This makes it easier to align with wellheads of various heights and inclination angles, improving the efficiency of injection head alignment and installation with the wellhead.

Description

Technical Field

[0001] This invention relates to the field of fracturing equipment technology, and in particular to a vehicle-mounted coiled tubing operation device and its control method. Background Technology

[0002] Coiled tubing workover equipment is widely used in oil and gas field workover, drilling, completion, and logging operations. The core components of coiled tubing workover equipment include the tubing roller and the injection head. The injection head is the coiled tubing injection device that pushes the tubing into the well. During operation, the injection head needs to be connected to the wellhead for installation.

[0003] There are two main methods for docking the injection head with the wellhead in existing technologies. One is to lift the injection head with external equipment and then align it with the wellhead. This method involves high equipment rental costs and a complicated installation process. The other method is to use the lifting structure of the coiled tubing installation equipment to lift the injection head. However, the lifting structure is usually a crane or hoist, which has limited adjustable angles. When facing an inclined wellhead, it is difficult to align the injection head with the wellhead, resulting in low installation efficiency. Summary of the Invention

[0004] The main objective of this invention is to provide a vehicle-mounted coiled tubing installation device and its control method, which aims to solve the problems of cumbersome and complex installation process, low installation efficiency, and difficulty in aligning the injection head with the inclined wellhead when aligning the injection head with the wellhead in existing coiled tubing installation devices.

[0005] To achieve the above objectives, the present invention provides a vehicle-mounted coiled tubing installation device, comprising:

[0006] Transport vehicle;

[0007] An injection mechanism, the injection mechanism including an injection head;

[0008] An adjustment structure is provided, comprising at least three telescopic arms. The first end of each telescopic arm is hinged to the transport vehicle, and the second end of each telescopic arm is connected to the operating platform. The at least three telescopic arms are connected to different positions on the operating platform. The injection head is mounted on the side of the operating platform away from the telescopic arms. At least one first telescopic drive is also mounted on the transport vehicle. The at least one first telescopic drive is connected to at least one telescopic arm in a one-to-one correspondence. The first telescopic drive can extend and retract to drive the telescopic arm connected to it to swing relative to the transport vehicle. Each telescopic arm can extend and retract along its length direction to adjust the angle and height of the operating platform through the at least three telescopic arms and the at least one first telescopic drive, thereby adjusting the angle and height of the injection head.

[0009] A powertrain, which is mounted on the transport vehicle and provides power to the telescopic boom and the first telescopic drive component.

[0010] Preferably, each telescopic arm includes a plurality of sub-arms arranged sequentially along its length direction. In any two adjacent sub-arms, the end of one sub-arm closer to the transport vehicle is slidably inserted into the end of the other sub-arm away from the transport vehicle, and a second telescopic drive member is connected between any two adjacent sub-arms. The power system provides power to each of the second telescopic drive members.

[0011] Preferably, the transport vehicle is further provided with a control console, and each of the first telescopic drive components and each of the second telescopic drive components is electrically connected to the control console. The operating platform is provided with a position detection sensor, which is used to detect the height and angle of the operating platform and send the height data and angle data of the operating platform to the control console. The control console is used to receive the height data and the angle data and control the extension and retraction of each of the first telescopic drive components and each of the second telescopic drive components according to the height data and the angle data.

[0012] Preferably, the number of telescopic arms is four, the operating platform is rectangular, and the second ends of the four telescopic arms are respectively connected to the four corners of the operating platform.

[0013] Preferably, the number of the first telescopic drive components is the same as the number of the telescopic arms, and they are connected in a one-to-one correspondence.

[0014] Preferably, the injection mechanism further includes an oil pipe roller and a continuous oil pipe, one end of which is wound around the oil pipe roller and the other end is connected to the inlet of the injection head, and the oil pipe roller is rotatably mounted on the transport vehicle.

[0015] Preferably, the transport vehicle is also equipped with a hydraulic hose roller, the hydraulic hose roller is covered with a hydraulic hose, and the hydraulic hose is connected to the injection head.

[0016] Preferably, each of the telescopic arms is further provided with an angle sensor, which is used to detect the angle between the corresponding telescopic arm and the horizontal plane.

[0017] The present invention also provides a control method for a vehicle-mounted coiled tubing installation device, applied to the aforementioned vehicle-mounted coiled tubing installation device, comprising the following steps:

[0018] Obtain the vertical height of the wellhead to be injected and the horizontal distance between each telescopic arm and the wellhead to be injected;

[0019] The target tilt angle and target telescopic length of each telescopic arm are calculated using the vertical height and the horizontal distance.

[0020] The first telescopic drive component is controlled to extend and retract according to the target tilt angle, so as to adjust the current tilt angle of each telescopic arm to achieve the target tilt angle corresponding to it.

[0021] Control each of the telescopic arms to extend and retract until it reaches the corresponding target extension length;

[0022] The target angle is obtained, and the telescopic arms are controlled to extend and retract to adjust the current angle of the operating platform to achieve the target angle.

[0023] Preferably, the step of controlling the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform to be the same as the tilt angle of the wellhead to be injected includes:

[0024] The target angle is obtained based on the inclination angle of the wellhead to be injected;

[0025] Control the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform;

[0026] Determine whether the current angle of the operating platform after adjustment is the same as the target angle;

[0027] If the current angle of the operating platform is different from the target angle, then return to the step of controlling the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform, until the adjusted current angle of the operating platform is the same as the target angle.

[0028] In the technical solution of this invention, the injection head is installed on one side of the operating platform, and the other side of the operating platform is connected to at least three telescopic arms. At least one first telescopic drive is also provided on the transport vehicle. The first telescopic drive drives the telescopic arms to swing relative to the transport vehicle to adjust the height and angle of the operating platform. Each telescopic arm further adjusts the height and angle of the operating platform through its own extension and retraction. Through the cooperation of the first telescopic drive and the telescopic arms, the height and angle of the operating platform can be flexibly adjusted, thereby moving the injection head via the operating platform. This allows for flexible and wide-range adjustment of the injection head's height and angle, making it easier to align with wellheads of various heights and inclination angles, thus improving the efficiency of the injection head's alignment and installation. Simultaneously, the injection head is fixed on the operating platform. When not in use, the first telescopic drive drives the telescopic arms, operating platform, and injection head to swing towards the transport vehicle and store them on the transport vehicle, eliminating the need to remove the injection head. Furthermore, it eliminates the need to reinstall the injection head when reused, simplifying the installation process and improving installation efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the working state of a vehicle-mounted continuous tubing installation device according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of a vehicle-mounted continuous tubing operation device in its stowed state according to an embodiment of the present invention;

[0032] Figure 3 This is a flowchart of a control method for a vehicle-mounted coiled tubing installation device according to an embodiment of the present invention;

[0033] Figure 4 This is a detailed flowchart of step S500 of the control method for a vehicle-mounted continuous tubing operation device according to an embodiment of the present invention.

[0034] Explanation of icon numbers:

[0035]

[0036] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0037] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicator will also change accordingly.

[0039] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible to those skilled in the art. If a combination of technical solutions contradicts each other or cannot be implemented, such a combination should be considered non-existent and not within the scope of protection claimed by the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] This invention proposes a vehicle-mounted continuous tubing operation device 1.

[0043] Please combine Figure 1 and Figure 2 The vehicle-mounted continuous tubing installation equipment 1 of this embodiment includes a transport vehicle 10, an injection mechanism 20, an adjustment structure 30, and a power assembly 40. The injection mechanism 20 includes an injection head 21; the adjustment structure 30 includes at least three telescopic arms 31, the first end of each of the three telescopic arms 31 is hinged to the transport vehicle 10, and the second end of each of the three telescopic arms 31 is connected to an operating platform 80. At least three telescopic arms 31 are connected to different positions on the operating platform 80. The injection head 21 is installed on the side of the operating platform 80 away from the telescopic arms 31. The transport vehicle 10 is also equipped with at least three telescopic arms 21. One less first telescopic drive member 32, at least one first telescopic drive member 32 is connected to at least one telescopic arm 31 in a one-to-one correspondence, the first telescopic drive member 32 can extend and retract to drive the telescopic arm 31 connected to it to swing relative to the transport vehicle 10, and each telescopic arm 31 can extend and retract along its length direction, so as to adjust the angle and height of the operating platform 80 through at least three telescopic arms 31 and at least one first telescopic drive member 32, thereby adjusting the angle and height of the injection head 21; the power assembly 40 is installed on the transport vehicle 10 and provides power to the telescopic arms 31 and the first telescopic drive member 32.

[0044] Understandably, such as Figure 1 As shown, in operation, the first telescopic drive 32 drives each telescopic arm 31 to swing away from the transport vehicle 10, thereby raising the operating platform 80 and the injection head 21. Simultaneously, the telescopic arms 31 themselves extend to further increase the height of the operating platform 80 and the injection head 21. The different extension degrees of the telescopic arms 31 are used to adjust the angle of the operating platform 80 and the injection head 21. Figure 2 As shown, when the operation stops, the first telescopic drive 32 drives each telescopic arm 31 to swing towards the transport vehicle 10. At the same time, the telescopic arm 31 itself shortens, thereby minimizing the space occupied by the telescopic arm 31. The operating platform 80 and the injection head 21 are mounted on the transport vehicle 10 and enter the storage state, reducing the volume of the transport vehicle 10.

[0045] In the technical solution of this invention, the injection head 21 is installed on one side of the operating platform 80, and the other side of the operating platform 80 is connected to at least three telescopic arms 31. The transport vehicle 10 is also equipped with at least one first telescopic drive member 32. The first telescopic drive member 32 drives the telescopic arms 31 to swing relative to the transport vehicle 10 to adjust the height and angle of the operating platform 80. Each telescopic arm 31 further adjusts the height and angle of the operating platform 80 through its own extension and retraction. Through the cooperation of the first telescopic drive member 32 and the telescopic arms 31, flexible height and angle adjustment of the operating platform 80 is achieved. The angle adjustment allows the injection head 21 to move via the operating platform 80, enabling flexible and wide-range adjustment of its height and angle. This makes it easier to align with wellheads of various heights and inclination angles, improving the efficiency of alignment and installation. Simultaneously, with the injection head 21 fixed to the operating platform 80, when not in use, the first telescopic drive component 32 drives the telescopic arm 31, operating platform 80, and injection head 21 to swing towards the transport vehicle 10 and store them there. This eliminates the need to remove the injection head 21, and it can be reinstalled for reuse, simplifying the installation process and improving efficiency.

[0046] Specifically, each telescopic arm 31 includes multiple sub-arms 311 arranged sequentially along its length. In any two adjacent sub-arms 311, the end of one sub-arm 311 closer to the transport vehicle 10 is slidably inserted into the end of the other sub-arm 311 furthest from the transport vehicle 10. A second telescopic drive member connects any two adjacent sub-arms 311, and the power assembly 40 provides power to each of these second telescopic drive members. The number of sub-arms 311 can be increased or decreased according to the required height. The size of the sub-arms 311 decreases progressively from the transport vehicle 10 to the operating platform 80. Any two adjacent sub-arms 311 are driven to slide towards or away from each other via a second telescopic drive member, thereby achieving telescopic adjustment of the entire telescopic arm 31 and increasing the adjustable range of the height and tilt angle of the operating platform 80.

[0047] Optionally, the first telescopic drive component 32 is a hydraulic cylinder; and / or, the second telescopic drive component is a hydraulic cylinder. The movement of the hydraulic cylinder is relatively smooth, without significant vibration or impact, making the position adjustment of the injection head 21 more stable and accurate. The hydraulic cylinder can withstand large loads and pressures, making it suitable for high-intensity and high-load working environments in fracturing operations. At the same time, the hydraulic cylinder can achieve precise force and speed control. By adjusting the flow rate and pressure, the movement of the hydraulic cylinder can be controlled, making the position adjustment of the injection head 21 more accurate and easier to align the injection head 21 with the wellhead, thus improving operational efficiency.

[0048] In one embodiment, the transport vehicle 10 is further equipped with a control console 50. Each of the first telescopic drive members 32 and each of the second telescopic drive members are electrically connected to the control console 50. A position detection sensor is installed on the operating platform 80. The position detection sensor detects the height and angle of the operating platform 80 and sends the height and angle data to the control console 50. The control console 50 receives the height and angle data and controls the extension and retraction of each of the first telescopic drive members 32 and each of the second telescopic drive members based on the height and angle data. By detecting the current height and current angle of the operating platform 80 through the position detection sensor and sending the position data to the control console 50, the control console 50 controls the extension and retraction of each of the first telescopic drive members 32 and each of the second telescopic drive members based on the position data and the target height and target angle, thereby enabling precise and rapid adjustment of the operating platform 80 and improving work efficiency.

[0049] Understandably, a control system can be set up in the control console 50. The control system automatically adjusts the extension and retraction of each first telescopic drive 32 and each second telescopic drive according to the position information detected by the position detection sensor, thereby realizing the positioning of the operating platform 80 and the injection head 21. The control system can be selected from the existing technology, which can further improve the work efficiency.

[0050] In one embodiment, there are four telescopic arms 31, and the operating platform 80 is rectangular. The second ends of the four telescopic arms 31 are respectively connected to the four corners of the operating platform 80. When the operating platform 80 is rectangular and the four telescopic arms 31 are respectively connected to its four corners, the support stability of the operating platform 80 is higher, and the angle adjustment range of the operating platform 80 can be larger, increasing the flexibility of the injection head 21.

[0051] Furthermore, the number of first telescopic drive members 32 is the same as the number of telescopic arms 31 and they are connected in a one-to-one correspondence. Each telescopic arm 31 is connected to a corresponding first telescopic drive member 32, which makes the support of the first telescopic drive member 32 for the first telescopic arm 31 more stable, prevents the problem of insufficient power of a single first telescopic drive member 32, and makes the movement of the telescopic arm 31 more stable when the first telescopic drive member 32 drives it, thus improving the stability of the injection head 21.

[0052] In one embodiment, the injection mechanism 20 further includes an oil pipe roller 22 and a continuous oil pipe. One end of the continuous oil pipe is wound around the oil pipe roller 22, and the other end is connected to the inlet of the injection head 21. The oil pipe roller 22 is rotatably mounted on the transport vehicle 10. The continuous oil pipe is wound around the oil pipe roller 22, which is rotatable. When the injection head 21 is raised, the oil pipe roller 22 rotates and pulls out the continuous oil pipe wound on it, so that the continuous oil pipe can rise with the injection head 21 without being damaged. At the same time, when the injection head 21 is lowered for recovery, the continuous oil pipe can be wound around the oil pipe roller 22 again for easy recovery.

[0053] In one embodiment, the transport vehicle 10 is also equipped with a hydraulic hose roller 60, which is covered with a hydraulic hose. The hydraulic hose is connected to the injection head 21. The hydraulic hose is connected to the injection head 21 and is used to control the movement and flow of the injection head 21. It rises and falls with the injection head 21. Therefore, the hydraulic hose roller 60 is used to retract and extend the hydraulic hose, which facilitates the storage of the hydraulic hose.

[0054] In one embodiment, a blowout preventer 70 is installed at the outlet of the injection head 21. The blowout preventer 70 is installed at the outlet of the injection head 21 to prevent leakage during fracturing and ensure the safety of the fracturing process.

[0055] Furthermore, each telescopic arm 31 is also equipped with an angle sensor, which is used to detect the angle between the corresponding telescopic arm and the horizontal plane. By detecting the angle between the telescopic arm and the horizontal plane, it is easier to adjust the telescopic arm more precisely, thereby improving the positioning speed and accuracy of the operating platform.

[0056] Please see Figure 3The present invention also provides a control method for a vehicle-mounted coiled tubing installation device, applied to the aforementioned vehicle-mounted coiled tubing installation device, comprising the following steps:

[0057] S100: Obtain the vertical height of the wellhead to be injected and the horizontal distance between each telescopic arm and the wellhead to be injected;

[0058] S200: Calculate the target tilt angle and target telescopic length of each telescopic arm using the vertical height and the horizontal distance;

[0059] Given the vertical height of the wellhead to be injected and the horizontal distance between each telescopic arm and the wellhead, and assuming the angle between the horizontal plane and the wellhead height line is 90 degrees, the length of the telescopic arm serving as the inclined side and the angle between the telescopic arm and the horizontal plane can be calculated.

[0060] S300: Control each first telescopic drive member to extend or retract according to the target tilt angle, so as to adjust the current tilt angle of each telescopic arm to achieve the target tilt angle corresponding to it;

[0061] S400: Control each telescopic arm to extend or retract until it reaches the target extension length corresponding to it;

[0062] After adjusting the telescopic arm according to the calculated target tilt angle and target telescopic length, the operating platform is in a horizontal state, eliminating the need for leveling and improving positioning efficiency.

[0063] S500: Obtain the target angle and control the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform to achieve the target angle.

[0064] Through the cooperation of the first telescopic drive component and the telescopic arm 31, the height and angle of the operating platform 80 can be flexibly adjusted, thereby allowing the height and angle of the injection head to be adjusted flexibly over a wide range, making it easier to align with wellheads of various heights and inclination angles, and improving the efficiency of alignment and installation of the injection head with the wellhead. At the same time, by calculating the target inclination angle and target telescopic length, after adjusting the telescopic arm according to the target inclination angle and target telescopic length, the operating platform is level, and the next step can be carried out without leveling, which improves positioning accuracy and operation efficiency.

[0065] The specific structure of the vehicle-mounted coiled tubing operation equipment is as described in the above embodiments. Since the control method of the vehicle-mounted coiled tubing operation equipment adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0066] Please see Figure 4 In one embodiment, step S500 includes:

[0067] S510: Obtain the target angle based on the inclination angle of the wellhead to be injected;

[0068] The target angle is obtained based on the inclination angle of the wellhead to which the injection head needs to be connected;

[0069] S520: Control the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform;

[0070] Adjust the current angle by extending and retracting each telescopic arm;

[0071] S530: Determine whether the current angle of the operating platform after adjustment is the same as the target angle;

[0072] S540: If the current angle of the operating platform is different from the target angle, then return to step S520 until the current angle of the operating platform after adjustment is the same as the target angle.

[0073] Braking the first telescopic drive component keeps the current height of the operating platform unchanged. Only the telescopic arm is adjusted to change the current angle of the operating platform, resulting in a high degree of alignment between the injection head and the wellhead. The operation is simple and efficient.

[0074] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A vehicle-mounted continuous tubing installation device, characterized in that, include: Transport vehicle; An injection mechanism, the injection mechanism including an injection head; The adjustment structure includes four telescopic arms, the first end of each telescopic arm being hinged to the transport vehicle. The operating platform is rectangular, and the second ends of the four telescopic arms are respectively connected to the four corners of the operating platform. The injection head is installed on the side of the operating platform away from the telescopic arms. At least one first telescopic drive is also installed on the transport vehicle. The first telescopic drive is connected to each telescopic arm in a one-to-one correspondence. The first telescopic drive can extend and retract to drive the telescopic arm connected to it to swing relative to the transport vehicle, and each telescopic arm can extend and retract along its length direction, so as to adjust the angle and height of the operating platform through the four telescopic arms and at least one first telescopic drive, thereby adjusting the angle and height of the injection head. A powertrain, which is mounted on the transport vehicle and provides power to the telescopic boom and the first telescopic drive component; Each of the telescopic arms includes a plurality of sub-arms arranged sequentially along its length. In any two adjacent sub-arms, the end of one sub-arm closer to the transport vehicle can be slidably inserted into the end of the other sub-arm away from the transport vehicle. A second telescopic drive member is connected between any two adjacent sub-arms. The power system provides power to each of the second telescopic drive members. The transport vehicle is also equipped with a control console. Each of the first telescopic drive components and each of the second telescopic drive components are electrically connected to the control console. A position detection sensor is provided on the operating platform. The position detection sensor is used to detect the height and angle of the operating platform and send the height data and angle data of the operating platform to the control console. The control console is used to receive the height data and the angle data and control the extension and retraction of each of the first telescopic drive components and each of the second telescopic drive components according to the height data and the angle data.

2. The vehicle-mounted coiled tubing installation equipment as described in claim 1, characterized in that, The number of the first telescopic drive components is the same as the number of the telescopic arms, and they are connected in a one-to-one correspondence.

3. The vehicle-mounted continuous tubing installation equipment as described in any one of claims 1-2, characterized in that, The injection mechanism also includes an oil pipe roller and a continuous oil pipe. One end of the continuous oil pipe is wound around the oil pipe roller, and the other end is connected to the inlet of the injection head. The oil pipe roller is rotatably mounted on the transport vehicle.

4. The vehicle-mounted continuous tubing installation equipment as described in any one of claims 1-2, characterized in that, The transport vehicle is also equipped with a hydraulic hose roller, which is covered with a hydraulic hose, and the hydraulic hose is connected to the injection head.

5. The vehicle-mounted coiled tubing installation equipment as described in any one of claims 1-2, characterized in that, Each of the telescopic arms is also equipped with an angle sensor, which is used to detect the angle between the corresponding telescopic arm and the horizontal plane.

6. A control method for a vehicle-mounted coiled tubing installation device, characterized in that, The vehicle-mounted coiled tubing installation equipment as described in any one of claims 1-5 includes the following steps: Obtain the vertical height of the wellhead to be injected and the horizontal distance between each telescopic arm and the wellhead to be injected; The target tilt angle and target telescopic length of each telescopic arm are calculated using the vertical height and the horizontal distance. The first telescopic drive component is controlled to extend and retract according to the target tilt angle, so as to adjust the current tilt angle of each telescopic arm to achieve the target tilt angle corresponding to it. Control each of the telescopic arms to extend and retract until it reaches the corresponding target extension length; The target angle is obtained, and the telescopic arms are controlled to extend and retract to adjust the current angle of the operating platform to achieve the target angle.

7. The control method for the vehicle-mounted coiled tubing installation equipment as described in claim 6, characterized in that, The step of controlling the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform to be the same as the inclination angle of the wellhead to be injected includes: The target angle is obtained based on the inclination angle of the wellhead to be injected; Control the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform; Determine whether the current angle of the operating platform after adjustment is the same as the target angle; If the current angle of the operating platform is different from the target angle, then return to the step of controlling the extension and retraction of each of the telescopic arms to adjust the current angle of the operating platform, until the adjusted current angle of the operating platform is the same as the target angle.

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