Deepwater submarine drilling integrated control system, method, equipment, device and medium

Abstract

The present application discloses a deepwater submarine drilling integrated control system, control method, equipment, device and storage medium. The system includes a deck mud pump control unit, a deck cementing pump control unit, an electric drill control unit, an underwater coiled tubing system control unit, an underwater iron driller control unit and an underwater pipe laying system control unit; the deck mud pump control unit and the deck cementing pump control unit are both arranged above water; the electric drill control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are all arranged underwater; the electric drill control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the deck cementing pump control unit; the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the deck mud pump control unit. The present application can be widely used in the field of submarine drilling technology.

Description

Technical Field

[0001] The present application relates to the field of submarine drilling technology, and in particular to a deepwater submarine drilling integrated control system, control method, equipment, device and storage medium. Background Art

[0002] The deepwater submarine drilling integrated control system consists of more than 10 sets of equipment on the seabed, including a continuous tube underwater drum, an underwater injection head, an underwater pipe laying manipulator, an underwater pipe laying device, an underwater upper hanging card, an underwater lower slip, a blowout preventer, an electric drilling tool, an upper frame hydraulic station, a lower frame hydraulic station, an underwater iron driller, a lifting frame, and an anti-sinking plate. The overall electric control system of the submarine shallow drilling in the related art is relatively simple and compact, has a single function and no relevant redundancy, which cannot meet the control requirements of the deepwater submarine drilling system. Specifically, it is mainly reflected in that an above-water control system cannot meet the control function requirements of all equipment, and at the same time, a failure of the above-water control system will cause all equipment to be unable to operate, which poses a great safety hazard. Moreover, the overall electric control system of the submarine shallow drilling in the related art does not adopt integrated control, which makes the system prone to collision during cross-operation and the defects of each device operating separately in a complex drilling process, resulting in poor operation safety. Therefore, there are still technical problems that need to be solved in the related art. Summary of the invention

[0003] The purpose of this application is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of an embodiment of the present application is to provide a deep-water submarine drilling integrated control system, control method, equipment, device and storage medium, which can improve operation safety.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the embodiments of the present application includes: a deepwater submarine drilling integrated control system, including: an umbilical cable communication unit, a deck mud pump control unit, a deck cementing pump control unit, an electric drill tool control unit, an underwater coiled tubing system control unit, an underwater iron driller control unit and an underwater pipe laying system control unit; the deck mud pump control unit and the deck cementing pump control unit are both arranged above water; the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are all arranged underwater; the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the deck cementing pump control unit through the umbilical cable communication unit; the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the deck mud pump control unit through the umbilical cable communication unit.

[0006] This embodiment can realize the anti-collision protection between each execution component of the whole system and the linkage interlocking between each control unit under different operation conditions through the interconnected deck mud pump control unit, deck cementing pump control unit, electric drilling tool control unit, underwater coiled pipe system control unit, underwater iron driller control unit and underwater pipe laying system control unit. This embodiment can realize the anti-collision control of cross operation and the linkage interlocking of complex drilling process flow, and this embodiment can improve the safety of drilling operation and increase the automation degree of system control.

[0007] In addition, the deepwater submarine drilling integrated control system according to the above embodiment of the present invention may also have the following additional technical features:

[0008] Furthermore, in an embodiment of the present application, the umbilical cable communication unit includes a deck measurement and control switch, a deck optical terminal, an underwater optical terminal and a ring network management switch; the deck mud pump control unit and the deck cementing pump control unit are connected to the deck measurement and control switch; the underwater optical terminal and the deck measurement and control switch are connected to the deck optical terminal; the underwater optical terminal, the electric drilling tool control unit, the underwater continuous pipe system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the ring network management switch.

[0009] Furthermore, in an embodiment of the present application, the system also includes a video recorder, an underwater video surveillance switch, a wellhead camera, a pipe arrangement system camera, a coiled tube system camera, and an injection head camera; the video recorder and the underwater optical terminal are connected to the deck optical terminal; the wellhead camera, the pipe arrangement system camera, the coiled tube system camera, the injection head camera, and the underwater optical terminal are connected to the underwater video surveillance switch.

[0010] Furthermore, in the embodiment of the present application, the system also includes an integrated hydraulic control unit, a light and camera control unit and a system integration control unit; the light and camera control unit, the integrated hydraulic control unit and the system integration control unit are all arranged underwater; the light and camera control unit, the integrated hydraulic control unit and the system integration control unit are all connected to the deck cementing pump control unit via the umbilical cable communication unit.

[0011] Furthermore, in the embodiment of the present application, the lighting and camera control unit, the system integration control unit, the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are all PLC control units; any two control units among the lighting and camera control unit, the system integration control unit, the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit communicate through Ethernet.

[0012] Furthermore, in the embodiment of the present application, the system also includes a driller control unit and a driller seat control unit; the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the driller control unit via an umbilical cable communication unit; the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the driller seat control unit via an umbilical cable communication unit.

[0013] On the other hand, the embodiment of the present application also provides a deepwater seabed drilling integrated control system control method, including:

[0014] When in the coiled tubing drilling operation mode, the underwater coiled tubing system control unit controls the coiled tubing to pass through the wellhead, the underwater iron roughneck control unit controls the underwater iron roughneck, and the underwater pipe laying system control unit controls the underwater pipe laying system to prohibit entering the wellhead;

[0015] When the underwater iron roughneck control unit controls the underwater iron roughneck and the underwater pipe laying system control unit controls the casing to be lowered for cementing operation, the underwater coiled tubing system control unit controls the underwater coiled tubing system to stop entering the wellhead area;

[0016] After the submerged iron driller control unit controls the underwater iron driller and the underwater pipe laying system control unit controls the underwater pipe laying system to complete the casing buckling, the underwater iron driller control unit controls the iron driller to leave the wellhead area, and the underwater pipe laying system control unit controls the underwater pipe laying system to lower or lift the casing;

[0017] Before the deck mud pump control unit controls the deck mud pump and the deck cementing pump control unit controls the cementing pump to deliver drilling and completion fluid underwater, the underwater coiled tubing system control unit controls the drilling and completion fluid inlet main valve of the underwater coiled tubing system to open;

[0018] Before the coiled tubing and electric drilling tools are lowered and recovered during the coiled tubing drilling operation, the underwater iron roughneck control unit controls the underwater slips to open;

[0019] During the operation of making and breaking out the casing, the underwater iron roughneck control unit controls the underwater slips to close, and the underwater pipe laying system control unit controls the clamping manipulator to open and the supporting manipulator to close;

[0020] During the casing lifting and lowering operation, the underwater iron roughneck control unit controls the underwater slips to open, and the underwater pipe laying system control unit controls the clamping manipulator to close and the supporting manipulator to open;

[0021] When the electric drill control unit controls the electric drill to rotate and drill, the deck mud pump control unit controls the deck mud pump to start pumping drilling fluid downward.

[0022] On the other hand, an embodiment of the present application further provides a subsea drilling equipment, including the deepwater subsea drilling integrated control system described above.

[0023] On the other hand, the present application also provides a deepwater submarine drilling integrated control device, comprising:

[0024] at least one processor;

[0025] at least one memory for storing at least one program;

[0026] When the at least one program is executed by the at least one processor, the at least one processor implements the deepwater subsea drilling integrated control system as described in any one of the invention contents.

[0027] In addition, the present application also provides a computer-readable storage medium, which stores processor-executable instructions, and the processor-executable instructions are used to execute the deep-water seabed drilling integrated control system as described in any of the above items when executed by the processor.

[0028] The advantages and benefits of the present application will be partially given in the following description, and partially become apparent from the following description, or be understood through the practice of the present application:

[0029] The present application can realize the anti-collision protection between each execution component of the whole system and the linkage interlocking between each control unit under different operation conditions through the interconnected deck mud pump control unit, deck cementing pump control unit, electric drilling tool control unit, underwater coiled pipe system control unit, underwater iron driller control unit and underwater pipe laying system control unit. The present application can realize the anti-collision control of cross operation and the linkage interlocking of complex drilling process flow, and the present application can improve the safety of drilling operation and increase the automation degree of system control. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1It is a schematic structural diagram of a deepwater seabed drilling integrated control system in a specific embodiment of the present invention;

[0031] Figure 2 It is a structural schematic diagram of a deepwater submarine drilling integrated control system in another specific embodiment of the present invention;

[0032] Figure 3 It is a structural schematic diagram of a deepwater submarine drilling integrated control system in another specific embodiment of the present invention;

[0033] Figure 4 It is a structural schematic diagram of a deepwater submarine drilling integrated control system in another specific embodiment of the present invention;

[0034] Figure 5 It is a structural schematic diagram of a deepwater submarine drilling integrated control system in another specific embodiment of the present invention;

[0035] Figure 6 A schematic diagram of the steps of a control method for a deepwater submarine drilling integrated control system in a specific embodiment of the present invention;

[0036] Figure 7 It is a structural schematic diagram of a deepwater submarine drilling integrated control system in another specific embodiment of the present invention;

[0037] Figure 8 It is a schematic diagram of the control program of each controller in the control method of the deepwater seabed drilling integrated control system in a specific embodiment of the present invention;

[0038] Fig. 9 It is a structural schematic diagram of a deepwater submarine drilling integrated control system in another specific embodiment of the present invention;

[0039] Fig.10 It is a structural schematic diagram of a deep-water seabed drilling integrated control device in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present invention are described in detail below with reference to the accompanying drawings to explain the principles and processes of the deepwater submarine drilling integrated control system, control method, equipment, device and storage medium in the embodiments of the present invention.

[0041] The deepwater submarine drilling system consists of more than 10 sets of equipment on the seabed, including a continuous tube underwater drum, an underwater injection head, an underwater pipe laying manipulator, an underwater pipe laying device, an underwater upper hanging card, an underwater lower slip, a blowout preventer, an electric drilling tool, an upper frame hydraulic station, a lower frame hydraulic station, an underwater iron driller, a lifting frame, and an anti-sinking plate. The overall electric control system of the submarine shallow drilling in the related art is relatively simple and compact, has a single function and no relevant redundancy, which cannot meet the control requirements of the deepwater submarine drilling system. Specifically, it is mainly reflected in that an above-water control system cannot meet the control function requirements of all equipment, and at the same time, a failure of the above-water control system will cause all equipment to be unable to operate, which poses a great safety hazard. Moreover, the overall electric control system of the submarine shallow drilling in the related art does not adopt integrated control, which makes the system prone to collision during cross-operation and the defects of each device operating separately in a complex drilling process, resulting in poor operation safety. Therefore, there are still technical problems that need to be solved in the related art.

[0042] In view of the above-mentioned defects of the prior art, Figure 1 , Figure 1 Schematic diagram of the structure of the deepwater submarine drilling integrated control system provided by the embodiment of the present application. Figure 1 In the invention, the deepwater submarine drilling integrated control system may at least include a deck mud pump control unit 1, a deck cementing pump control unit 2, an electric drill control unit 3, an underwater coiled tubing system control unit 4, an underwater iron driller control unit 5, an underwater pipe laying system control unit 6 and an umbilical cable communication unit 7. The deck mud pump control unit 1 and the deck cementing pump control unit 2 may be arranged on the water or at sea. The electric drill control unit 3, the underwater coiled tubing system control unit 4, the underwater iron driller control unit 5 and the underwater pipe laying system control unit 6 are all arranged underwater. The electric drill control unit 3, the underwater coiled tubing system control unit 4, the underwater iron driller control unit 5 and the underwater pipe laying system control unit 6 may be connected to the deck cementing pump control unit 2 through the umbilical cable communication unit 7. The underwater coiled tubing system control unit 4, the underwater iron driller control unit 5 and the underwater pipe laying system control unit 6 may be connected to the deck mud pump control unit 1 through the umbilical cable communication unit 7. Specifically, the deck mud pump control unit 1 and the deck cementing pump control unit 2 are used to control the mud pump and the cementing pump, respectively. The underwater coiled tubing system control unit 4 can control equipment such as the drum, upper hydraulic station, injection head and elevator; the underwater pipe laying system control unit 6 can control equipment such as the underwater pipe laying manipulator and drilling tool storage rack; the underwater iron roughneck control unit 5 can control equipment such as the iron roughneck, slips, blowout preventer and anti-sinking plate; the electric drilling tool control unit 3 can control equipment such as the electric drilling tool and transformer.

[0043] In summary, this embodiment can realize the anti-collision protection between each execution component of the entire system and the linkage interlocking between each control unit under different operation conditions through the interconnected deck mud pump control unit, deck cementing pump control unit, electric drilling tool control unit, underwater coiled tubing system control unit, underwater iron driller control unit and underwater pipe laying system control unit. This embodiment can realize the anti-collision control of cross-operation and the linkage interlocking of complex drilling process flow, and this embodiment can improve the safety of drilling operation and increase the degree of automation of system control.

[0044] Further, in some feasible embodiments of the present application, referring to Figure 2 , the umbilical cable communication unit 7 may include a deck measurement and control switch 71, a deck optical terminal 72, an underwater optical terminal 73 and a ring network management switch 74. The deck mud pump control unit 1 and the deck cementing pump control unit 2 may be connected to the deck measurement and control switch 71. The underwater optical terminal 73 and the deck measurement and control switch 71 may be connected to the deck optical terminal 72. The underwater optical terminal 73, the electric drilling tool control unit 3, the underwater coiled pipe system control unit 4, the underwater iron driller control unit 5 and the underwater pipe laying system control unit 6 may be connected to the ring network management switch 74. Specifically, the deck measurement and control switch 71 may realize communication between various devices on the deck surface and communication with underwater devices through a star network. The deck optical terminal 72 and the underwater optical terminal 73 may perform photoelectric conversion of optical fiber communication.

[0045] Further, in some feasible embodiments of the present application, referring to Figure 3 The deepwater submarine drilling integrated control system may also include a video recorder 10, an underwater video monitoring switch 11, a wellhead camera 12, a tube system camera 13, a coiled tube system camera 14, and an injection head camera 15. The video recorder 10 and the underwater optical terminal 73 may be connected to the deck optical terminal. The wellhead camera 12, the tube system camera 13, the coiled tube system camera 14, the injection head camera 15, and the underwater optical terminal 73 may be connected to the underwater video monitoring switch 11. Specifically, the video recorder 10 is arranged on the deck part. At the same time, the video recorder 10 also includes a video monitoring screen and a video server on the deck part. The underwater video monitoring switch 11, the wellhead camera, the tube system camera 13, the coiled tube system camera 14, the injection head camera 15, and other equipment constitute the camera equipment of the underwater part.

[0046] Further, in some feasible embodiments of the present application, referring to Figure 4, the deep-water seabed drilling integrated control system may also include an integrated hydraulic control unit 16, a light and camera control unit 8 and a system integration control unit 9. The light and camera control unit 8 and the system integration control unit 9 are all arranged underwater. The integrated hydraulic control unit 16, the light and camera control unit 8 and the system integration control unit 9 can all be connected to the deck cementing pump control unit 2 through the umbilical cable communication unit 73. Specifically, the system integration control unit 9 can perform automated and safe control between multiple devices such as cross-operation collision prevention of underwater equipment at the wellhead and linkage and interlocking of complex drilling processes. The integrated hydraulic station control unit 16 can control equipment such as hydraulic stations and low-voltage power supply and distribution. The light and camera control unit 8 can control equipment such as lights and camera pan / tilts.

[0047] Further, in some feasible embodiments of the present application, the light and camera control unit 8, the system integration control unit 9, the electric drill control unit 3, the underwater coiled tubing system control unit 4, the underwater iron roughneck control unit 5, and the underwater pipe laying system control unit 6 are all PLC control units. Any two control units among the light and camera control unit 8, the system integration control unit 9, the electric drill control unit 3, the underwater coiled tubing system control unit 4, the underwater iron roughneck control unit 5, and the underwater pipe laying system control unit 6 can communicate via Ethernet.

[0048] Further, in some feasible embodiments of the present application, referring to Figure 5 , the deepwater submarine drilling integrated control system may also include a driller control unit 17 and a driller seat control unit 18. The electric drill control unit 3, the underwater coiled tubing system control unit 4, the underwater iron driller control unit 5 and the underwater pipe arrangement system control unit 6 may be connected to the driller control unit 17 through the umbilical cable communication unit. The electric drill control unit 3, the underwater coiled tubing system control unit 4, the underwater iron driller control unit 5 and the underwater pipe arrangement system control unit 6 may be connected to the driller seat control unit 18 through the umbilical cable communication unit. Specifically, the driller control unit 17 is integrated with a driller human-machine interface and a controller. The driller control unit 17 may issue control instructions, indicate the equipment operation status and operate the historical data server function through the driller human-machine interface.

[0049] In addition, the present application also provides a deepwater submarine drilling system control method. The method can be implemented by the above deepwater submarine drilling integrated control system. Figure 6 The deepwater seabed drilling integrated control system control method may include steps S101 to S108.

[0050] S101. When in coiled tubing drilling operation mode, the underwater coiled tubing system control unit controls the coiled tubing to pass through the wellhead, the underwater iron roughneck control unit controls the underwater iron roughneck, and the underwater pipe laying system control unit controls the underwater pipe laying system to prohibit entering the wellhead.

[0051] S102: When the underwater iron roughneck control unit controls the underwater iron roughneck and the underwater pipe laying system control unit controls the casing to be lowered for cementing operation, the underwater coiled tubing system control unit controls the underwater coiled tubing system to stop entering the wellhead area.

[0052] S103, after the underwater roughneck control unit controls the underwater roughneck and the underwater pipe laying system control unit controls the underwater pipe laying system to complete the casing buckling, the underwater roughneck control unit controls the roughneck to leave the wellhead area, and the underwater pipe laying system control unit controls the underwater pipe laying system to lower or lift the casing.

[0053] S104, before the deck mud pump control unit controls the deck mud pump and the deck cementing pump control unit controls the cementing pump to deliver drilling and completion fluid underwater, the underwater coiled tubing system control unit controls the drilling and completion fluid inlet main valve of the underwater coiled tubing system to open.

[0054] S105. Before lowering and recovering the coiled tubing and the electric drilling tool during the coiled tubing drilling operation, the underwater iron roughneck control unit controls the iron roughneck underwater slips to open.

[0055] S106. During the casing make-up and break-out operation, the underwater roughneck control unit controls the underwater slips to close, and the underwater pipe laying system control unit controls the clamping manipulator to open and the supporting manipulator to close.

[0056] S107. During the casing lifting and lowering operation, the underwater iron roughneck control unit controls the underwater slips to open, and the underwater pipe laying system control unit controls the clamping manipulator to close and the supporting manipulator to open.

[0057] S108. When the electric drilling tool control unit controls the electric drilling tool to rotate and drill, the deck mud pump control unit controls the deck mud pump to start pumping drilling fluid downward.

[0058] Specifically, when the underwater iron driller control unit of the deepwater submarine drilling integrated control system controls the underwater iron driller and the underwater pipe laying system control unit of the deepwater submarine drilling integrated control system controls the casing to be lowered for cementing operations, the underwater coiled tubing system control unit controls the underwater coiled tubing system to stop entering the wellhead area. After the underwater iron driller control unit controls the underwater iron driller and the underwater pipe laying system control unit controls the underwater pipe laying system to complete the casing buckling, the underwater iron driller control unit controls the iron driller to leave the wellhead area, and the underwater pipe laying system control unit controls the underwater pipe laying system to lower or lift the casing. Before the deck mud pump control unit controls the deck mud pump and the deck cementing pump control unit controls the cementing pump to send drilling and completion fluid underwater, the underwater coiled tubing system control unit controls the drilling and completion fluid inlet main valve of the underwater coiled tubing system to open. Before the coiled tubing and electric drilling tools are lowered and recovered during the coiled tubing drilling operation, the underwater iron driller control unit controls the underwater slips to open. When making and breaking out the casing, the underwater iron roughneck control unit controls the underwater slips to close, and the underwater pipe laying system control unit controls the gripping manipulator to open and the supporting manipulator to close. When raising and lowering the casing, the underwater iron roughneck control unit controls the underwater slips to open, and the underwater pipe laying system control unit controls the gripping manipulator to close and the supporting manipulator to open. When the electric drill control unit controls the electric drill to rotate and drill, the deck mud pump control unit controls the deck mud pump to start pumping drilling fluid downward.

[0059] This embodiment can realize the anti-collision protection between each execution component of the whole system and the linkage interlocking between each control unit under different operation conditions through the interconnected deck mud pump control unit, deck cementing pump control unit, electric drilling tool control unit, underwater coiled pipe system control unit, underwater iron driller control unit and underwater pipe laying system control unit. This embodiment can realize the anti-collision control of cross operation and the linkage interlocking of complex drilling process flow, and this embodiment can improve the safety of drilling operation and increase the automation degree of system control.

[0060] The specific implementation principle of this application is described below with reference to the accompanying drawings:

[0061] At present, subsea drilling rigs are mainly used for shallow drilling in subsea geological surveys. There are different series ranging from 1 meter to 200 meters according to the drilling depth requirements. They have the characteristics of small borehole diameter, shallow drilling depth, using seawater as drilling fluid, no need for cementing, and no need for well control. The drilled wells are not used for production wells. The deepwater subsea drilling integrated control system is a new subsea drilling system specially used for the development of natural gas hydrates in the sea area. It is different from the conventional shallow drilling for geological surveys, and its purpose is to quickly and efficiently establish natural gas hydrate production wells. Based on the shallow burial characteristics of hydrates in the sea area and the advantages of continuous tubing drilling, the main body of the continuous tubing deepwater subsea drilling rig is placed on the seabed, and a small part such as mud pumps, cementing pumps and driller's room are placed on the engineering ship, which will greatly reduce the operating cost and drilling cycle. The main body of the deepwater submarine drilling rig includes more than 10 sets of equipment, including underwater coiled tubing drum, underwater injection head, underwater pipe laying manipulator, underwater pipe laying device, underwater upper hanging card, underwater lower slip, blowout preventer, electric drilling tools, upper frame hydraulic station, lower frame hydraulic station, underwater iron driller, lifting frame and anti-sinking plate. It has the characteristics of heavy and numerous submarine equipment, complex drilling process, many cross-wellhead operations and high safety requirements.

[0062] The existing subsea shallow drilling is relatively simple in terms of control, mainly consisting of a deck measurement and control system and an underwater measurement and control system, both of which can be powered and communicated through an optical fiber umbilical cable. The deck measurement and control system is integrated in the driller's room, and mainly consists of a human-machine interface, an above-water control system, an above-water optical terminal, a video recorder, an umbilical cable winch, and a boost power supply system. The underwater measurement and control system is located on the subsea shallow drilling body, and mainly consists of an optoelectronic separation box, a step-down power supply cabin, a hydraulic pump station, a measurement and control cabin, etc. The network architecture generally adopts a simple star-shaped approach, with the control function being realized by the above-water control system, and the underwater measurement and control cabin being a remote terminal IO, which is mainly responsible for collecting sensor data and controlling outputs.

[0063] The overall electric control system of the submarine shallow drilling in the related technology is relatively simple and compact, with a single function and no relevant redundancy, which cannot meet the control requirements of the deepwater submarine drilling integrated control system. Specifically, it is mainly reflected in the fact that an above-water control system cannot meet the control function requirements of all equipment, and at the same time, the failure of the above-water control system will cause all equipment to be unable to operate, posing a great safety hazard. Moreover, the overall electric control system of the submarine shallow drilling in the related technology does not adopt integrated control, which makes the system prone to collision during cross-operation and the defects of each device operating separately in the complex drilling process, resulting in poor operation safety.

[0064] In order to solve the above technical problems, the present embodiment provides a deepwater submarine drilling integrated control system. In the present embodiment, the integrated hydraulic control unit, the lighting and camera control unit, the system integration control unit, the deck mud pump control unit, the deck cementing pump control unit, the electric drilling tool control unit, the underwater coiled tubing system control unit, the underwater iron roughneck control unit and the underwater pipe laying system control unit are respectively the integrated hydraulic controller, the lighting and camera controller, the system integration controller, the deck mud pump controller, the deck cementing pump controller, the electric drilling tool controller, the underwater coiled tubing system controller, the underwater iron roughneck controller and the underwater pipe laying system controller.

[0065] like Figure 7 As shown in the figure, the underwater ring network deepwater submarine drilling integrated control system is divided into two parts according to the location: underwater and deck, and the two parts can communicate through optical fiber. According to the business function, it is divided into two parts: logic control network and video monitoring network, which are two independent networks. The logic control network and video monitoring network can realize the communication between the underwater and deck parts through one optical fiber, and the two optical fibers are on the same optoelectronic composite umbilical cable.

[0066] The logic control network realizes the control of the entire deepwater submarine drilling integrated control system. The deck part is mainly composed of the deck mud pump controller, deck cementing pump controller, driller human-machine interface, driller seat controller, deck measurement and control switch and umbilical cable winch. The deck mud pump controller and cementing pump controller are used to control the mud pump and cementing pump respectively. The driller seat controller is responsible for collecting the operation inputs such as the driller seat emergency stop button, handle and switch, and controlling the output display such as sound and light alarm. The driller human-machine interface is responsible for the control command issuance, equipment operation status indication and historical data server function. The deck measurement and control switch can realize the communication between the deck equipment and the underwater equipment through the star network. The deck and underwater optical terminal are responsible for the photoelectric conversion of optical fiber communication. The underwater part is mainly composed of the system integration controller, underwater coiled pipe system controller, underwater pipe system controller, underwater iron driller controller, underwater hydraulic station controller, light and camera controller, electric drilling tool controller, ring network management switch, etc. The system integration controller is responsible for the automation and safety control of multiple devices such as cross-operation anti-collision of underwater equipment at the wellhead, linkage and interlocking of complex drilling processes. The underwater coiled tubing system controller is responsible for the control of equipment such as drums, upper hydraulic stations, injection heads, and elevators. The underwater pipe laying system controller is responsible for the control of equipment such as underwater pipe laying manipulators and drilling tool storage racks. The underwater iron roughneck controller is responsible for the control of equipment such as iron roughneck, slips, blowout preventers, and anti-sinking plates. The integrated hydraulic station controller is responsible for the control of equipment such as hydraulic stations and low-voltage power supply and distribution. The lighting and camera controller is responsible for the control of equipment such as lighting and camera pan / tilts. The electric drill tool controller is responsible for the control of equipment such as electric drill tools and transformers. The ring network management switch is responsible for the ring network management of underwater equipment and communication with the deck.

[0067] The video surveillance network realizes high-definition video surveillance of the entire deep-water submarine drilling integrated control system. The deck part is mainly composed of video surveillance screens, video recorders, and video servers. The underwater part is composed of underwater video surveillance switches, wellhead cameras, pipe system cameras, continuous pipe system cameras, injection head cameras and other equipment.

[0068] like Figure 8 As shown in the figure, the anti-collision and linkage interlocking control function of the deepwater submarine drilling integrated control system is mainly composed of the deepwater submarine drilling integrated control system integrated control program, the driller human-machine interface program, the deck mud pump control program, the deck cementing pump control program, the underwater coiled pipe system control program, the underwater pipe system control program, the underwater iron driller control program, the comprehensive hydraulic station control program, the light and camera control program and the electric drilling tool control program. It is divided into three parts according to the function: the driller human-machine interface is responsible for the anti-collision and linkage interlocking parameter setting and status display. The deepwater submarine drilling integrated control system integrated control program is responsible for realizing the anti-collision and linkage interlocking function of the entire deepwater submarine drilling integrated control system, comprehensively analyzing and processing the status information sent by all equipment control programs, and sending the logic instructions after judgment and processing to the equipment control. The equipment control program sends the status information such as position and action collected by the sensors of each equipment to the deepwater submarine drilling integrated control system integrated control program, and executes the equipment action according to the control instructions sent by the deepwater submarine drilling integrated control system integrated control program.

[0069] Anti-collision protection is mainly used in the wellhead operation area. The equipment required to realize the anti-collision protection function includes underwater iron driller, underwater pipe system and underwater continuous pipe system.

[0070] When in the coiled tubing drilling operation mode, the underwater coiled tubing system controller controls the coiled tubing to pass through the wellhead, the underwater iron roughneck controller controls the underwater iron roughneck, and the underwater pipe laying system controller controls the underwater pipe laying system to prohibit entering the wellhead.

[0071] When the underwater iron roughneck controller controls the underwater iron roughneck and the underwater pipe laying system controller controls the casing to be lowered for cementing operation, the underwater coiled tubing system controller controls the underwater coiled tubing system to stop entering the wellhead area.

[0072] When the underwater roughneck controller controls the underwater roughneck and the underwater pipe laying system controller controls the underwater pipe laying system to complete the casing buckle-off, the underwater roughneck controller controls the roughneck to leave the wellhead area, and the underwater pipe laying system controller controls the underwater pipe laying system to lower or lift the casing.

[0073] The implementation of linkage interlocking function mainly includes the following processes:

[0074] Before the deck mud pump controller controls the deck mud pump and the deck cementing pump controller controls the cementing pump to deliver drilling and completion fluid underwater, the underwater coiled tubing system controller controls the drilling and completion fluid inlet main valve of the underwater coiled tubing system to open.

[0075] Before lowering and recovering the coiled tubing and electric drilling tools in the coiled tubing drilling operation, the underwater iron roughneck controller controls the underwater slips to open.

[0076] During the operation of making and breaking out the casing, the underwater roughneck controller controls the underwater roughneck slips to close, and the underwater pipe laying system controller controls the clamping manipulator to open and the supporting manipulator to close.

[0077] During the casing lifting and lowering operation, the underwater roughneck controller controls the underwater roughneck to open, and the underwater pipe laying system controller controls the clamping manipulator to close and the supporting manipulator to open.

[0078] When the electric drill tool controller controls the electric drill tool to rotate and drill, the deck mud pump controller controls the deck mud pump to start pumping the drilling fluid downward.

[0079] Further, refer to Fig. 9 , S7-1200PLC controllers are used for the mud pump, cementing pump and driller's seat controller on the deck. The driller's human-machine interface uses an IPC panel-type industrial computer, and the human-machine interface program is developed based on the Botu platform Winccprofessional. The deck measurement and control switch uses the SCALANCE X100 unmanaged switch. The underwater network is based on the media redundancy protocol (MRP) to build a ring network. The ring network management switch uses the SCALANCE X400 managed switch, and the other 1# to 7# switches use the SCALANCE X200 switch that supports the ring network protocol. The system integration controller, underwater continuous pipe system controller, underwater pipe system controller, etc. use the S7-1500PLC controller, the underwater iron driller controller, the integrated hydraulic station controller, the electric drilling tool controller, the lighting and camera controller use the S7-1200PLC controller, and all controllers can be connected to the ring network through the corresponding switch. All PLC controllers in the logic control network can establish connections and send data through S7 unilateral communication. The video surveillance screen on the deck of the video surveillance network uses a 24-inch display, and the video server uses a 2T hard disk storage, which will automatically overwrite when full. The underwater video surveillance switch uses a SCALANCE X100 non-network-managed switch, and the four underwater cameras are equipped with lighting and pan / tilts. The entire logic control network system of this embodiment is developed based on industrial control products. The entire set of controllers, human-machine interfaces, switches, etc. uses related hardware equipment, the program is developed based on the Botu software platform, and uses profinet industrial Ethernet communication. The system of this embodiment has the advantages of simple and fast development, no need for communication conversion, and stable and reliable ring network redundancy.

[0080] In summary, the deepwater submarine drilling integrated control system proposed in this application has the following advantages compared with the conventional submarine shallow drilling control system:

[0081] (1) Decentralized control of heavy and numerous equipment can be achieved. The underwater equipment of the present application is decentralized controlled by controllers such as underwater coiled tubing system controller, underwater pipe laying system controller, underwater iron roughneck controller, underwater hydraulic station controller, light and camera controller, and electric drilling tool controller, so as to achieve reasonable allocation of equipment control resources, and a failure in a controller will not cause other equipment to fail to operate.

[0082] (2) Integrated control of complex drilling processes can be achieved. This application can achieve intelligent control of complex drilling processes of underwater equipment, such as linkage and interlocking, and cross-operation collision prevention at the wellhead, through a system integrated controller.

[0083] (3) Ring network redundancy can be achieved. This application can achieve automatic and rapid switching after a communication link failure of underwater equipment through ring network redundancy.

[0084] and Figure 6 Corresponding to the method, the embodiment of the present application also provides a deep-water seabed drilling integrated control device, the specific structure of which can be referred to Fig.10 ,include:

[0085] at least one processor 1011;

[0086] At least one memory 1012, used to store at least one program;

[0087] When the at least one program is executed by the at least one processor, the at least one processor implements the deep-water seabed drilling integrated control system control method.

[0088] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0089] and Figure 6 Corresponding to the method, an embodiment of the present application further provides a computer-readable storage medium, which stores processor-executable instructions, and the processor-executable instructions are used to execute the deep-water seabed drilling integrated control system control method when executed by the processor.

[0090] The contents of the above-mentioned deep-water submarine drilling integrated control system control method embodiment are all applicable to the present storage medium embodiment. The functions specifically implemented by the present storage medium embodiment are the same as those of the above-mentioned deep-water submarine drilling integrated control system control method embodiment, and the beneficial effects achieved are also the same as those achieved by the above-mentioned deep-water submarine drilling integrated control system control method embodiment.

[0091] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0092] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional techniques of the engineer. Therefore, those skilled in the art can implement the present application set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0093] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0094] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution system, device or apparatus. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution system, device or apparatus.

[0095] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0096] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0097] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0098] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0099] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the described embodiments. Technical personnel familiar with the field may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A deepwater submarine drilling integrated control system, characterized in that: include: An umbilical cable communication unit, a deck mud pump control unit, a deck cementing pump control unit, an electric drill control unit, an underwater coiled tubing system control unit, an underwater iron driller control unit, and an underwater pipe laying system control unit; the deck mud pump control unit and the deck cementing pump control unit are both arranged above water; the electric drill control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit, and the underwater pipe laying system control unit are all arranged underwater; the electric drill control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit, and the underwater pipe laying system control unit are connected to the deck cementing pump control unit via the umbilical cable communication unit; the underwater coiled tubing system control unit, the underwater iron driller control unit, and the underwater pipe laying system control unit are connected to the deck mud pump control unit via the umbilical cable communication unit; The system also includes an integrated hydraulic control unit, a light and camera control unit and a system integration control unit; the light and camera control unit, the integrated hydraulic control unit and the system integration control unit are all arranged underwater; the light and camera control unit, the integrated hydraulic control unit and the system integration control unit are all connected to the deck cementing pump control unit through the umbilical cable communication unit; the light and camera control unit, the system integration control unit, the electric drill control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are all PLC control units; any two control units among the light and camera control unit, the system integration control unit, the electric drill control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit communicate through Ethernet.

2. The deepwater submarine drilling integrated control system according to claim 1, characterized in that: The umbilical cable communication unit includes a deck measurement and control switch, a deck optical terminal, an underwater optical terminal and a ring network management switch; the deck mud pump control unit and the deck cementing pump control unit are connected to the deck measurement and control switch; the underwater optical terminal and the deck measurement and control switch are connected to the deck optical terminal; the underwater optical terminal, the electric drilling tool control unit, the underwater continuous pipe system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the ring network management switch.

3. The deepwater seabed drilling integrated control system according to claim 2, characterized in that: The system also includes a video recorder, an underwater video monitoring switch, a wellhead camera, a pipe system camera, a coiled pipe system camera, and an injection head camera; The video recorder and the underwater optical terminal are connected to the deck optical terminal; the wellhead camera, the pipe system camera, the continuous pipe system camera, the injection head camera and the underwater optical terminal are connected to the underwater video monitoring switch.

4. The deepwater seabed drilling integrated control system according to claim 1, characterized in that: The system also includes a driller control unit and a driller seat control unit; the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the driller control unit via an umbilical cable communication unit; the electric drill tool control unit, the underwater coiled tubing system control unit, the underwater iron driller control unit and the underwater pipe laying system control unit are connected to the driller seat control unit via an umbilical cable communication unit.

5. A control method for a deepwater submarine drilling integrated control system, characterized in that: The method is implemented by the deepwater submarine drilling integrated control system according to any one of claims 1 to 4, and includes: When in the coiled tubing drilling operation mode, the underwater coiled tubing system control unit controls the coiled tubing to pass through the wellhead, the underwater iron roughneck control unit controls the underwater iron roughneck, and the underwater pipe laying system control unit controls the underwater pipe laying system to prohibit entering the wellhead; When the underwater iron roughneck control unit controls the underwater iron roughneck and the underwater pipe laying system control unit controls the casing to be lowered for cementing operation, the underwater coiled tubing system control unit controls the underwater coiled tubing system to stop entering the wellhead area; After the underwater iron roughneck control unit controls the underwater iron roughneck and the underwater pipe laying system control unit controls the underwater pipe laying system to complete the casing buckling, the underwater iron roughneck control unit controls the iron roughneck to leave the wellhead area, and the underwater pipe laying system control unit controls the underwater pipe laying system to lower or lift the casing; Before the deck mud pump control unit controls the deck mud pump and the deck cementing pump control unit controls the cementing pump to deliver drilling and completion fluid underwater, the underwater coiled tubing system control unit controls the drilling and completion fluid inlet main valve of the underwater coiled tubing system to open; Before the coiled tubing and electric drilling tools are lowered and recovered during the coiled tubing drilling operation, the underwater iron roughneck control unit controls the underwater slips to open; During the operation of making and breaking out the casing, the underwater iron roughneck control unit controls the underwater slips to close, and the underwater pipe laying system control unit controls the clamping manipulator to open and the supporting manipulator to close; During the casing lifting and lowering operation, the underwater iron roughneck control unit controls the underwater slips to open, and the underwater pipe laying system control unit controls the clamping manipulator to close and the supporting manipulator to open; When the electric drill control unit controls the electric drill to rotate and drill, the deck mud pump control unit controls the deck mud pump to start pumping drilling fluid downward.

6. A subsea drilling equipment, characterized in that: It comprises the deep-water seabed drilling integrated control system as described in any one of claims 1 to 4.

7. A deepwater submarine drilling integrated control device, characterized in that include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the deepwater seabed drilling integrated control system control method as described in claim 5.

8. A computer-readable storage medium storing instructions executable by a processor, characterized in that: The processor-executable instructions are used to execute the deep-water seabed drilling integrated control system control method as claimed in claim 5 when executed by the processor.

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