Underwater wellhead butt joint method and system for marine drilling platform

Abstract

The invention provides an underwater wellhead docking method and system for a marine drilling platform, and the method comprises the steps: collecting an image of an underwater wellhead through an underwater camera, then determining a relative position relation between a blowout preventer and the wellhead through a detection recognition algorithm and a precise distance measurement algorithm, transmitting a result to the platform, and assisting platform personnel in rapid operation to achieve precise docking. The method effectively reduces the docking time, reduces the production cost, improves the working efficiency, and can be widely applied to various marine oil and gas exploration and development operations. The method has important economic and social values for safety and high efficiency of deep sea drilling and oil and gas development, and has important significance for guaranteeing development of ocean oil and gas resources.

Description

Technical Field

[0001] The present invention relates to the field of marine oil and gas development, and involves theories such as underwater signal processing, optical image processing, target detection and recognition, etc. Background Art

[0002] With the increasing depth of offshore oil and gas exploration and development in various countries and the continuous expansion of oil field exploration and development areas, the requirements for safety and timeliness in the process of offshore oil and gas development are becoming higher and higher. In the process of deepwater oil and gas drilling operations, the docking of deepwater blowout preventers with underwater wellheads is a very critical operation link. In the actual operation process, since the deepwater drilling device is greatly affected by wind, waves and currents during operation, there will be obvious shaking during the docking of underwater blowout preventers with underwater wellheads. The underwater robot needs to observe repeatedly from multiple angles before commanding the operator to lower the blowout preventer group to the wellhead. Since there is only one underwater robot for observation in the current plan, there is an observation blind spot when the blowout preventer group is lowered. Once the lowering error occurs, the wellhead and blowout preventer will be damaged, and even the entire oil and gas well will be scrapped. In addition, since the underwater robot needs to observe repeatedly, it usually takes 2 hours to implement the docking wellhead operation, which affects the operation efficiency and greatly increases the time cost and manpower cost of offshore oil and gas development.

[0003] Focusing on the risks and operation timeliness of docking the deepwater blowout preventer group of offshore oil underwater wellhead, a real-time monitoring method is researched and developed through the use of video imaging technology. Through platform visualization monitoring, all-round monitoring of the blowout preventer group and the wellhead is achieved to ensure the safety of the docking operation and improve the docking timeliness. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a method and system for underwater wellhead docking of an ocean drilling platform. In view of the existing method of docking the underwater wellhead of an ocean drilling platform through observation by an underwater robot, the underwater robot has a visual blind spot and the docking time is long, which leads to an increase in the platform operation cost. The image of the underwater wellhead is collected by an underwater camera, and then the relative position relationship between the blowout preventer and the wellhead is determined by a detection and recognition algorithm and a precise ranging algorithm, and the result is transmitted to the platform to assist the platform personnel in rapid operation to achieve precise docking. The present invention has important economic and social value for the safety and efficiency of deep-sea drilling and oil and gas development, and is of great significance for ensuring the development of marine oil and gas resources.

[0005] In view of the existing underwater wellhead docking of offshore drilling platforms through observation by underwater robots, the underwater robots have visual blind spots and the docking time is long, which leads to increased platform operation costs. The present invention proposes an underwater wellhead docking method for offshore drilling platforms. The method collects images of underwater wellheads through underwater cameras, and then determines the relative position relationship between the blowout preventer and the wellhead through detection and recognition algorithms and precise ranging algorithms, and transmits the results to the platform to assist platform personnel in rapid operation to achieve precise docking.

[0006] The specific steps of the technical solution adopted by the present invention to solve its technical problem are as follows:

[0007] Step 1: The underwater camera collects optical images;

[0008] Install N underwater cameras and N fill lights below the BOP, and install the cameras and fill lights in the same orientation to collect the optical image G of the target area. n , n=1,2……N, N≥2;

[0009] Step 2: Underwater wellhead detection;

[0010] The edge detection algorithm or target detection algorithm is used to detect the long-distance fuzzy detection of the underwater wellhead and measure the diameter of the wellhead in the optical image;

[0011] Step 3: Calculate the vertical distance between the target wellhead and each camera;

[0012] Step 4: Calculate the horizontal distance and deflection angle between the target wellhead and the BOP;

[0013] Step 5: Construct the three-dimensional coordinate system of the blowout preventer;

[0014] According to the actual installation position of the underwater camera on the BOP, a three-dimensional coordinate system O2 is constructed with the center of the bottom surface of the BOP as the origin, the bow direction as the X-axis, the starboard direction as the Y-axis, and the direction of the riser connecting the BOP and the platform as the Z-axis. The coordinates T of each underwater camera are calculated. n ;

[0015] Step 6: Calculate the target wellhead coordinates;

[0016] Step 7: Coordinates transferred to the drilling platform

[0017] Cable transmission or wireless hydroacoustic communication is used to transmit the coordinate information M to the drilling platform in real time, assisting the platform personnel to quickly operate and achieve precise docking.

[0018] In the third step, the vertical distance between the target wellhead and each underwater camera is calculated:

[0019]

[0020] Where D is the actual diameter of the target wellhead, f is the focal length of the underwater camera, and d n is the diameter of the wellhead in the nth underwater camera, n is the camera serial number, and N is the number of underwater cameras; n=1,2……N, N≥2.

[0021] In the fourth step, a two-dimensional rectangular coordinate system O1 is established with the center of the imaging area as the origin. The coordinates of the center of the target wellhead in the optical image are (a n ,b n ), calculate the horizontal distance L between the center of the target wellhead and each underwater camera in the horizontal plane n and declination

[0022]

[0023]

[0024] Among them, H n is the vertical distance between the target wellhead and each underwater camera, and arcsin is the inverse sine function.

[0025] In the sixth step, the coordinates M of the target in the coordinate system O2 are calculated;

[0026]

[0027] Where L n is the horizontal distance of the target wellhead center relative to each underwater camera in the horizontal plane, is the deviation angle of the target wellhead center relative to each underwater camera.

[0028] An electronic device comprises one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method as described above.

[0029] A computer-readable storage medium stores program codes, and the program codes can be called by a processor to execute the method as described above.

[0030] A system adopting an underwater wellhead docking method of an offshore drilling platform comprises a blowout preventer, an electronic device or a computer-readable storage medium, N underwater cameras and N fill-in lights, wherein the N underwater cameras and the N fill-in lights are installed below the blowout preventer, and the electronic device or the computer-readable storage medium transmits calculated coordinate information to the drilling platform in real time.

[0031] The beneficial effect of the present invention is that the image of the underwater wellhead is collected by an underwater camera, and then the relative position relationship between the blowout preventer and the wellhead is determined by detection, identification and precise distance measurement, and the result is transmitted to the drilling platform in real time, so as to assist the platform personnel to quickly operate and achieve precise docking. Compared with the existing underwater robot observation and manual docking, it can effectively reduce the docking time, reduce production costs, and improve work efficiency, and can be widely used in various marine oil and gas exploration and development operations. The present invention has important economic and social value for the safety and efficiency of deep-sea drilling and oil and gas development, and is of great significance to the development of marine oil and gas resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the overall method flow chart of the present invention

[0033] Figure 2 Schematic diagram of underwater camera imaging of the present invention

[0034] Figure 3 It is the imaging area rectangular coordinate system O1 of the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0036] The main steps of the present invention are as follows:

[0037] Step 1: The underwater camera collects optical images;

[0038] Install N underwater cameras and fill lights under the BOP group in the same orientation to collect the optical image G of the target area. n , n=1,2……N, N≥2;

[0039] Step 2: Underwater wellhead detection;

[0040] Edge detection, target detection and other algorithms are used to achieve long-distance fuzzy detection of underwater wellheads and measure the diameter d of the wellhead in the optical image. n , n=1,2……N, N≥2;

[0041] Step 3: Calculate the vertical distance between the target wellhead and each camera;

[0042] Calculate the vertical distance between the target wellhead and each camera.

[0043]

[0044] Where D is the actual diameter of the target wellhead, f is the focal length of the camera, and d n is the diameter of the wellhead in each camera, n is the camera number, and N is the number of cameras;

[0045] Step 4: Calculate the horizontal distance and deflection angle between the target wellhead and the BOP;

[0046] A two-dimensional rectangular coordinate system O1 is established with the center of the imaging area as the origin. The coordinates of the target wellhead center in the optical image are (a n ,b n ), calculate the horizontal distance L of the target wellhead center relative to each camera in the horizontal plane n and declination

[0047]

[0048]

[0049] Among them, H n is the vertical distance between the target wellhead and each camera, d n is the diameter of the wellhead in each camera, f is the focal length of the camera, and arcsin is the inverse sine function;

[0050] Step 5: Construct the three-dimensional coordinate system of the blowout preventer;

[0051] According to the actual installation position of the underwater camera on the BOP, a three-dimensional coordinate system O2 is constructed with the center of the bottom surface of the BOP as the origin, the bow direction as the X axis, the starboard direction as the Y axis, and the direction of the riser connecting the BOP and the platform as the Z axis. And the coordinates T of each camera are calculated n ;

[0052] Step 6: Calculate the target wellhead coordinates;

[0053] According to the position relationship of the target wellhead relative to each camera And combined with the coordinates T of each camera n , calculate the coordinates M of the target in the coordinate system O2.

[0054]

[0055] Among them, H n is the vertical distance between the target wellhead and each camera, L n is the horizontal distance of the target wellhead center relative to each camera in the horizontal plane, is the deflection angle of the target wellhead center relative to each camera. n is the camera number, and N is the number of cameras;

[0056] Step 7: Transmit the coordinates to the drilling platform;

[0057] Cable transmission or wireless hydroacoustic communication is used to transmit the coordinate information M to the drilling platform in real time, assisting the platform personnel to quickly operate and achieve precise docking.

Claims

1. A method for docking an underwater wellhead of an offshore drilling platform, characterized in that The steps include: Step 1: The underwater camera collects optical images; Install N underwater cameras and N fill lights below the BOP, and install the cameras and fill lights in the same orientation to collect the optical image G of the target area. n , n=1,2……N, N≥2; Step 2: Underwater wellhead detection; The edge detection algorithm or target detection algorithm is used to detect the long-distance fuzzy detection of the underwater wellhead and measure the diameter of the wellhead in the optical image; Step 3: Calculate the vertical distance between the target wellhead and each camera; Step 4: Calculate the horizontal distance and deflection angle between the target wellhead and the blowout preventer; Step 5: Construct the three-dimensional coordinate system of the blowout preventer; According to the actual installation position of the underwater camera on the BOP, a three-dimensional coordinate system O2 is constructed with the center of the bottom surface of the BOP as the origin, the bow direction as the X-axis, the starboard direction as the Y-axis, and the direction of the riser connecting the BOP and the platform as the Z-axis. The coordinates T of each underwater camera are calculated. n ; Step 6: Calculate the target wellhead coordinates; Step 7: Transfer coordinates to the drilling platform Cable transmission or wireless hydroacoustic communication is used to transmit the coordinate information M to the drilling platform in real time, assisting the platform personnel to quickly operate and achieve precise docking.

2. The method for docking an underwater wellhead of an offshore drilling platform according to claim 1, characterized in that: In the third step, the vertical distance between the target wellhead and each underwater camera is calculated: Where D is the actual diameter of the target wellhead, f is the focal length of the underwater camera, and d n is the diameter of the wellhead in the nth underwater camera, n is the camera serial number, and N is the number of underwater cameras; n=1,2……N, N≥2.

3. The method for docking an underwater wellhead of an offshore drilling platform according to claim 2, characterized in that: In the fourth step, a two-dimensional rectangular coordinate system O1 is established with the center of the imaging area as the origin. The coordinates of the center of the target wellhead in the optical image are (a n ,b n ), calculate the horizontal distance L between the center of the target wellhead and each underwater camera in the horizontal plane n and declination Among them, H n is the vertical distance between the target wellhead and each underwater camera, and arcsin is the inverse sine function.

4. The method for docking an underwater wellhead of an offshore drilling platform according to claim 3, characterized in that: In the sixth step, the coordinates M of the target in the coordinate system O2 are calculated; Where L n is the horizontal distance of the target wellhead center relative to each underwater camera in the horizontal plane, is the deviation angle of the target wellhead center relative to each underwater camera.

5. An electronic device, characterized in that: include: one or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 4.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, and the program codes can be called by a processor to execute the method according to any one of claims 1 to 4.

7. A system for underwater wellhead docking method of an offshore drilling platform, comprising a blowout preventer, N underwater cameras and N fill-in lights, wherein the N underwater cameras and N fill-in lights are installed below the blowout preventer, and an electronic device or a computer-readable storage medium transmits calculated coordinate information to the drilling platform in real time, wherein the electronic device or the computer-readable storage medium adopts the method described in any one of claims 1 to 4.

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