Underground vibration unbuckling device and control method thereof

Abstract

The control method comprises the steps that after a first electromagnet and a second electromagnet are powered on to generate a magnetic field, the polarity direction of the first electromagnet or the second electromagnet is controlled, and the second electromagnet is driven by magnetic force with the direction changing to repeatedly jar a force transmission piston in a sliding cavity; the force transfer piston is in sliding connection with the inner wall of the inlet section of the oil cylinder so as to transfer force borne by the force transfer piston to a force transfer medium of the oil cylinder; when the force transmission piston is not stressed, the first reset spring is reset; the vibrating piece is in sliding connection with the inner wall of the outlet section of the oil cylinder and is driven by the force transmission medium to jar a target object to generate vibration; and when the vibration piece is not stressed, the vibration piece is reset by the second reset spring. And finally, the unbuckling device continuously jarring the coupling on the basis of the resonant frequency. Impurities adhered in a thread gap of the coupling are loosened through vibration, a thread buckle between the coupling and a sleeve is loosened, and it is guaranteed that the coupling can be smoothly disassembled in the follow-up back-off operation.

Description

Technical Field

[0001] The invention relates to the technical field of oil well casing maintenance, and in particular to a downhole vibration loosening device and a control method thereof. Background Art

[0002] In well repair operations, casing damage is often encountered, such as casing rupture somewhere downhole. In order to ensure the normal production of oil and gas, it is necessary to repair the ruptured casing, and replacing the casing is a commonly used casing repair method. In the actual repair process, such a situation is often encountered: the casing coupling and the male buckle are rusted and adhered, especially in high-temperature oil wells, the casing thread buckle adhesion is more common. In this case, the conventional treatment method is to look down for a coupling that can be reversed, but this will cause great waste, wasting both operation time and construction materials. In some wells, there is even no coupling that can be reversed. At this time, the casing can only be cut and then reconnected, but the sealing of this casing reconnection process is often not as good as the overall casing. Therefore, a device or method is needed to quickly loosen the thread of this coupling. Summary of the invention

[0003] The embodiment of the present invention provides a downhole vibration loosening device and a control method thereof, thereby solving the technical problem in the prior art that the oil well casing and the coupling cannot be separated due to rust and adhesion between the oil well casing and the coupling; by continuously vibrating the coupling, the technical effect of separating the casing and the coupling is achieved.

[0004] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0005] In a first aspect, a downhole vibration loosening device is provided, comprising:

[0006] A housing, a first electromagnet, a second electromagnet, a force transmission piston, a cylinder and a vibrating member arranged in sequence in the housing;

[0007] The second electromagnet is slidably connected to the sliding cavity of the housing, one end of the sliding cavity is provided with the first electromagnet, and the other end of the sliding cavity is provided with the force transmission piston; after the first electromagnet and the second electromagnet are energized to generate a magnetic field, by controlling the polarity direction of the first electromagnet or the second magnet, the second electromagnet is driven by the magnetic force with changing direction to repeatedly shock the force transmission piston in the sliding cavity;

[0008] The force transmission piston is slidably connected to the inner wall of the inlet section of the oil cylinder to transmit the force received by the force transmission piston to the force transmission medium of the oil cylinder;

[0009] One end of the force transmission piston is connected to the oil cylinder through a first return spring, so as to be reset when the force transmission piston is not subjected to force;

[0010] The vibrating member is slidably connected to the inner wall of the outlet section of the oil cylinder, and is used to vibrate the target object under the drive of the force transmission medium to generate vibration;

[0011] One end of the vibrating member is connected to the oil cylinder via a second reset spring, so as to reset the vibrating member when no force is applied thereto.

[0012] Optionally, the second electromagnet includes a coil and an iron core inserted in the coil, the coil is fixed in the sliding cavity and does not contact the iron core, and the iron core is slidably connected to the sliding cavity; it is used to control the direction of the magnetic field of the second magnet after the first electromagnet and the second electromagnet are energized to generate a magnetic field, so that the iron core repeatedly shocks the force transmission piston in the sliding cavity under the drive of the magnetic force with changing direction.

[0013] Optionally, the length of the iron core is greater than the length of the coil, and during the process of the iron core repeatedly shocking the force transmission piston, the coil is completely mounted on the iron core.

[0014] Optionally, a first limiting member is further provided between the coil and the force transmission piston, a limiting boss is provided on the limiting member, and a second limiting member adapted to the limiting boss is provided on the iron core; and the limiting boss and the second limiting member are abutted against each other when the first electromagnet and the second electromagnet are attracted to each other, so as to keep the iron core and the first electromagnet separated by a preset distance.

[0015] Optionally, the device further comprises a weight member to adjust the overall weight of the device.

[0016] Optionally, a lifting ring is provided on one end of the casing close to the wellhead, and the lifting ring is connected to the ground via a cable.

[0017] Optionally, the device further comprises a cable trolley, which is connected to the lifting ring via a cable and is used to determine the lowering position of the release device according to the length of the cable.

[0018] In a second aspect, a method for controlling a downhole vibration loosening device is provided, which is applied to the above-mentioned loosening device, and the method comprises:

[0019] In response to a lowering signal from the control terminal, the cable car lowers the release device to a target position;

[0020] A plurality of single pulse signals containing different control parameters are respectively sent out through the control terminal; the loosening device respectively shocks the coupling on the oil well casing according to the different control parameters;

[0021] According to the vibration sensor arranged on the coupling, a vibration curve corresponding to the shock under different control parameters is obtained;

[0022] According to the resonance characteristics, from the plurality of the vibration curves, a resonance frequency and a corresponding resonance control parameter that meet the resonance characteristics are selected;

[0023] In the control terminal, continuous pulses are sent to the loosening device according to the resonance control parameters, so that the loosening device continuously shocks the coupling.

[0024] Optionally, the step of lowering the release device to the target position by the cable car specifically includes:

[0025] When the cable car lowers the release device and is at a preset distance from the target position, the lowering speed of the cable car is reduced to a preset speed;

[0026] When the release device reaches the target position at a preset speed, the actual depth of the coupling is compared with the lowering length of the cable car; corrections are made according to the comparison result until the comparison result meets the preset range.

[0027] Optionally, the step of continuously shocking the coupling with the release device further includes:

[0028] The cable car is controlled to drive the loosening device to move toward the male buckle paired with the coupling, and the male buckle is shocked.

[0029] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0030] In the embodiment of the present invention, the downhole vibration loosening device controls the direction of the magnetic force of two electromagnets to make the iron core reciprocate, thereby driving the vibrating member to vibrate the coupling of the casing, thereby causing it to vibrate and loosening impurities adhered to the thread gap of the coupling, thereby loosening the thread buckle between the coupling and the casing, ensuring that the subsequent reverse threading operation can smoothly remove the coupling.

[0031] The control method of the underground vibration loosening device in the embodiment of the present invention first uses multiple single pulse shocks, then uses a vibration sensor to detect the vibration frequency curve of the coupling, and selects the resonant frequency from it. The coupling is vibrated based on the resonant frequency, thereby improving the efficiency of loosening impurities in the thread gap of the coupling and reducing the strength of the impurity adhesion force more quickly. It is ensured that the subsequent undercut operation can smoothly disassemble the coupling. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of the structure of a downhole vibration loosening device provided by the present invention;

[0034] Figure 2 It is a structural schematic diagram of the top of the release device in the present invention;

[0035] Figure 3 It is a structural schematic diagram of the release device when the first electromagnet and the second electromagnet attract each other in the present invention;

[0036] Figure 4 It is a structural schematic diagram of the release device when the first electromagnet and the second electromagnet repel each other in the present invention;

[0037] Figure 5 The present invention provides a downhole vibration loosening device and a control method thereof.

[0038] Figure numerals: 1. outer shell; 11. weight member; 12. lifting ring; 2. first electromagnet; 3. second electromagnet; 31. coil; 32. iron core; 321. second limit member; 4. force transmission piston; 41. first return spring; 5. oil cylinder; 51. force transmission medium; 6. vibrating member; 61. second return spring; 7. first limit member; 71. limit boss; 8. sleeve; 9. coupling. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0043] It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations of the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0044] The technical solution of the embodiment of the present invention is to solve the above technical problems, and the overall idea is as follows:

[0045] The coupling 9 is vibrated to loosen the impurities adhering in the thread gap by the vibration generated, thereby reducing the strength of the adhesion force and ensuring that the coupling 9 can be smoothly disassembled in the subsequent undercut operation.

[0046] In an embodiment of the present invention, there is provided Figure 1 A downhole vibration loosening device shown includes: a housing 1, a first electromagnet 2, a second electromagnet 3, a force transmission piston 4, a cylinder 5 and a vibrating member 6 arranged in sequence in the housing 1; first, in the structure for generating vibration, it is necessary to perform reciprocating motion and have the functions of fast response and variable frequency. Under this requirement, whether it is a linear motor or a hydraulic cylinder, although it can perform reciprocating motion, the frequency cannot be changed and the response speed is slow. Therefore, this embodiment adopts a magnetic drive method.

[0047] Specifically, the second electromagnet 3 is slidably connected to the sliding cavity of the housing 1, the first electromagnet 2 is provided at one end of the sliding cavity, and the force transmission piston 4 is provided at the other end of the sliding cavity; after the first electromagnet 2 and the second electromagnet 3 are energized to generate a magnetic field, by controlling the polarity direction of the first electromagnet 2 or the second magnet, the second electromagnet 3 is driven by the magnetic force with changing direction to repeatedly shock the force transmission piston 4 in the sliding cavity;

[0048] It should be noted that the present embodiment adopts a fixed first electromagnet 2 to drive a slidable second electromagnet 3 to shock the force transmission piston 4. The first electromagnet 2 and the second electromagnet 3 can be connected to an off-hole power source via a cable, or a mobile power source can be arranged in the housing 1 to power the first electromagnet 2 and the second electromagnet 3. The operating principle is that the direction of the magnetic force of one of the two electromagnets remains unchanged, while the magnetic force of the other electromagnet changes, so that the second electromagnet 3 is subjected to magnetic forces in different directions, causing the second electromagnet to reciprocate, thereby repeatedly shocking the force transmission piston 4. For example, if Figure 3 As shown, when the polarity direction of the first electromagnet 2 remains unchanged, the polarity direction of the second electromagnet 3 is set opposite to that of the first electromagnet 2. According to the principle of opposites attract, the second electromagnet 3 moves toward the first electromagnet 2. Figure 4 As shown, the polarity direction of the second electromagnet 3 is changed to be the same as that of the first electromagnet 2. Then, according to the principle of like charges repelling each other, the second electromagnet 3 will move away from the first electromagnet 2. When the frequency of shocking the force transmission piston 4 needs to be changed, it is only necessary to increase or decrease the current of the electromagnet coil 31 to change the magnetic force, and the movement speed of the second electromagnet 3 will also change accordingly, so as to complete the shocking according to the preset frequency.

[0049] In addition, one of the first electromagnet 2 and the second electromagnet 3 can be set as a permanent magnet, which can still be achieved. In this embodiment, two electromagnets are set to expand the range of magnetic force variation, and the two electromagnets can set the magnetic force size by themselves, thereby reducing errors and deviations.

[0050] The force transmission piston 4 is slidably connected to the inner wall of the inlet section of the oil cylinder 5 to transmit the force received by the force transmission piston 4 to the force transmission medium 51 of the oil cylinder 5; one end of the force transmission piston 4 is connected to the oil cylinder 5 through the first return spring 41, which is used to reset the force transmission piston 4 when it is not under force; in this structure, since the force transmission piston 4 needs to repeatedly transmit the force caused by the shock to the force transmission medium 51, the first return spring 41 is required to reset it for the next shock. The second return spring 61 has the same function and principle as the first return spring 41. Among them, the force transmission medium 51 can be hydraulic oil.

[0051] The vibrator 6 is slidably connected to the inner wall of the outlet section of the cylinder 5, and is used to shock the target object under the drive of the force transmission medium 51 to generate vibration; one end of the vibrator 6 is connected to the cylinder 5 through a second reset spring 61, and is used to reset the vibrator 6 when it is not under force.

[0052] It should be noted that the target object in this embodiment is the coupling 9 on the oil well casing 8. Since the oil well itself is a cylinder and has a large depth, if the coupling 9 is directly hit by the force transmission piston 4, the diameter of the casing 8 cannot accommodate this structure. Therefore, the oil cylinder 5 is used to transfer the kinetic energy received by the force transmission piston 4 to the vibrator 6 in the horizontal direction through the force transmission medium 51, so that the kinetic energy in the vertical direction is converted into kinetic energy in the horizontal direction to satisfy the vibration member 6 to directly shock the coupling 9. And because the force transmission medium 51 is a liquid, no matter which direction the vibrator 6 is set to, the force transmission medium 51 can transfer the kinetic energy according to its movement direction.

[0053] Furthermore, if Figure 1 As shown, the second electromagnet 3 includes a coil 31 and an iron core 32 inserted in the coil 31, the coil 31 is fixed in the sliding cavity and does not contact the iron core 32, and the iron core 32 is slidably connected to the sliding cavity; it is used to control the direction of the magnetic field of the second magnet after the first electromagnet 2 and the second electromagnet 3 are energized to generate a magnetic field, so that the iron core 32 is driven by the magnetic force with changing direction to repeatedly shock the force transmission piston 4 in the sliding cavity.

[0054] It should be noted that the electromagnet will be wound around the outer wall of the iron core 32. If the second electromagnet 3 slides as a whole in the sliding cavity, the coil 31 will inevitably be worn. Even if a protective shell is added to the outside, the line connecting the coil 31 and the power supply will be damaged during the continuous movement. Therefore, the coil 31 is fixed in the sliding cavity and does not contact the iron core 32. The iron core 32 is slidably connected to the sliding cavity. This ensures the safety of the line connecting the coil 31 and the external power supply, and improves the service life of the device.

[0055] Furthermore, if Figure 1 As shown, the length of the iron core 32 is greater than that of the coil 31 . During the process of the iron core 32 repeatedly impacting the force transmission piston 4 , the coil 31 is completely sleeved on the iron core 32 .

[0056] It should be noted that ensuring that the coil 31 is completely mounted on the iron core 32 can allow the magnetic field of the entire coil 31 to participate in the work, thereby being able to more accurately control the generated magnetic force and further accurately control the movement frequency of the iron core 32 .

[0057] Furthermore, if Figure 1 As shown, a first limiting member 7 is further provided between the coil 31 and the force transmission piston 4, and a limiting boss 71 is provided on the limiting member, and a second limiting member 321 adapted to the limiting boss 71 is provided on the iron core 32; when the first electromagnet 2 and the second electromagnet 3 are attracted to each other, the limiting boss 71 and the second limiting member 321 abut against each other, so as to keep the iron core 32 and the first electromagnet 2 separated by a preset distance.

[0058] It should be noted that the first stopper 7 is used to separate the coil 31 and the force transmission piston 4, leaving a movement distance for the iron core 32, and the size of the first stopper 7 can be designed according to the movement length of the iron core 32. The stopper boss 71 is used to block the second stopper 321 to prevent the iron core 32 from hitting the first electromagnet 2 and causing damage to the magnet.

[0059] Furthermore, as shown in FIG2 , the release device further includes a weight member 11 to adjust the overall weight of the device.

[0060] It should be noted that since there is a large amount of formation fluid in the well, the formation fluid will generate a large buoyancy on the entering loosening device. In addition, there is friction between the loosening device and the well wall in the well. Therefore, a weight member 11 is provided to add extra gravity so that the loosening device can be lowered smoothly.

[0061] Furthermore, if Figure 2 As shown, a lifting ring 12 is provided on one end of the housing 1 near the wellhead, and the lifting ring 12 is connected to the ground through a cable. In addition, it also includes a cable car, which is connected to the lifting ring 12 through a cable, and is used to determine the position of the release device by the length of the cable.

[0062] Based on the same inventive concept, the embodiment of the present invention provides Figure 5 A method for controlling a downhole vibration loosening device is shown, the method comprising steps S101 to S105:

[0063] Step S101, in response to a lowering signal from a control terminal, the cable car lowers the release device to a target position;

[0064] It should be noted that when the cable car releases the buckle device and is 20 meters away from the target position, the cable car lowering speed is reduced to the preset speed; the preset speed here can be set to a smaller constant speed, or the speed can be reduced in stages, so as to slowly reach the target position and avoid deviation from the target at too fast a speed. When the buckle device reaches the target position at the preset speed, the actual depth of the coupling 9 is compared with the lowering length of the cable car; corrections are made according to the comparison results. For example, if the lowering length is 100 meters and the actual depth of the coupling 9 is 102 meters, the cable machine is controlled to continue to lower the buckle device by 2 meters; and if the lowering length is 100 meters and the actual depth of the coupling 9 is 98 meters, the cable machine is controlled to rise the buckle device by 2 meters until the comparison result meets the preset range. It is thus judged that the buckle device has reached the target position. The preset range can be set to the difference between the lowering length and the actual depth of the coupling 9 as 2 cm, and the specific range can be set according to the size of the coupling 9 or actual needs.

[0065] Step S102, a plurality of single pulse signals containing different control parameters are respectively sent out through the control terminal; the loosening device jars the coupling 9 on the oil well casing 8 according to the different control parameters;

[0066] Step S103, obtaining vibration curves corresponding to shocks under different control parameters according to the vibration sensor arranged on the coupling 9;

[0067] It should be noted that the control terminal is used to transmit a single pulse signal, mainly to obtain the corresponding control parameters through each shock to generate vibration conditions for the butt collar 9. The control parameters include the current supplied to the first electromagnet 2 and the second electromagnet 3, and the time of polarity change.

[0068] Step S104, selecting a resonance frequency and a corresponding resonance control parameter that meet the resonance characteristics from a plurality of vibration curves according to the resonance characteristics;

[0069] It should be noted that resonance refers to the phenomenon that energy is transferred back and forth and enhanced within an object. When the vibration frequency of the coupling 9 is the same as its natural frequency, the amplitude will increase rapidly, thereby accelerating the shaking-loosening speed of the impurities adhering to the thread gap between the casing 8 and the coupling 9. As for the setting of the resonance feature, it is not necessary to set a frequency that is completely equal to the coupling 9. Because multiple single pulses cannot fully and accurately reflect the standard resonance frequency, the frequency with the largest amplitude increase can be selected from the multiple frequency curves obtained as the resonance feature.

[0070] Step S105, in the control terminal, continuous pulses are sent to the loosening device according to the resonance control parameters, so that the loosening device continuously shocks the coupling 9. That is to say, after finding the control parameters corresponding to the vibration frequency, it is not necessary to send a single pulse, and continuous pulses are used to speed up the vibration efficiency, and the impurities adhered between the casing 8 and the coupling 9 are quickly shaken loose.

[0071] In addition, since the coupling 9 and the casing 8 are connected by a male buckle and a female buckle, the main location for vibration loosening is the male buckle. Therefore, when the loosening device continuously vibrates the coupling 9, in order to further improve the vibration efficiency, the cable car can be controlled to drive the loosening device to move to the male buckle paired with the coupling 9 to vibrate the male buckle. Because the male buckle is located very close to the coupling 9, it only needs to be offset up and down according to the size of the coupling 9. This allows for faster loosening.

[0072] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A downhole vibration loosening device, characterized in that: The device comprises: A housing, a first electromagnet, a second electromagnet, a force transmission piston, an oil cylinder and a vibrating member arranged in sequence in the housing; The second electromagnet is slidably connected to the sliding cavity of the housing, the first electromagnet is provided at one end of the sliding cavity, and the force transmission piston is provided at the other end of the sliding cavity; after the first electromagnet and the second electromagnet are energized to generate a magnetic field, by controlling the polarity direction of the first electromagnet or the second magnet, the second electromagnet is driven by a magnetic force with a changing direction to repeatedly shock the force transmission piston in the sliding cavity; The force transmission piston is slidably connected to the inner wall of the inlet section of the oil cylinder to transmit the force received by the force transmission piston to the force transmission medium of the oil cylinder; One end of the force transmission piston is connected to the oil cylinder through a first return spring, so as to be reset when the force transmission piston is not subjected to force; The vibrating member is slidably connected to the inner wall of the cylinder outlet section and is used to vibrate the target object under the drive of the force transmission medium to generate vibration; One end of the vibrating member is connected to the oil cylinder via a second reset spring, so as to reset the vibrating member when no force is applied thereto.

2. The release device according to claim 1, characterized in that: The second electromagnet includes a coil and an iron core inserted in the coil, the coil is fixed in the sliding cavity and does not contact the iron core, and the iron core is slidably connected to the sliding cavity; It is used to control the direction of the magnetic field of the second magnet after the first electromagnet and the second electromagnet are energized to generate a magnetic field, so that the iron core is driven by the magnetic force with changing direction to repeatedly shock the force transmission piston in the sliding cavity.

3. The release device according to claim 2, characterized in that: The length of the iron core is greater than that of the coil. During the process in which the iron core repeatedly shocks the force transmission piston, the coil is completely sleeved on the iron core.

4. The release device according to any one of claims 2 to 3, characterized in that: A first limiting member is also provided between the coil and the force transmission piston, the limiting member is provided with a limiting boss, and the iron core is provided with a second limiting member adapted to the limiting boss; when the first electromagnet and the second electromagnet are attracted to each other, the limiting boss and the second limiting member abut against each other, so as to keep the iron core and the first electromagnet separated by a preset distance.

5. The release device according to claim 1, characterized in that: The device further comprises a weight member to adjust the overall weight of the device.

6. The release device according to claim 1, characterized in that: A lifting ring is arranged on one end of the shell close to the wellhead, and the lifting ring is connected to the ground through a cable.

7. The release device according to claim 6, characterized in that: The device also includes a cable car, which is connected to the lifting ring through a cable and is used to determine the lowering position of the release device according to the length of the cable.

8. A method for controlling a downhole vibration loosening device, characterized in that: Applicable to the release device as claimed in any one of claims 1 to 7; The method comprises: In response to a lowering signal from the control terminal, the cable car lowers the release device to a target position; A plurality of single pulse signals containing different control parameters are respectively sent out through the control terminal; the loosening device respectively shocks the coupling on the oil well casing according to the different control parameters; According to the vibration sensor arranged on the coupling, a vibration curve corresponding to the shock under different control parameters is obtained; According to the resonance characteristics, selecting a resonance frequency and a corresponding resonance control parameter that meet the resonance characteristics from the plurality of vibration curves; In the control terminal, continuous pulses are sent to the loosening device according to the resonance control parameters, so that the loosening device continuously shocks the coupling.

9. The control method according to claim 8, characterized in that: The step of lowering the release device to the target position by the cable car specifically includes: When the cable car lowers the release device and is a preset distance away from the target position, the lowering speed of the cable car is reduced to a preset speed; When the release device reaches the target position at a preset speed, the actual depth of the coupling is compared with the lowering length of the cable car; corrections are made according to the comparison result until the comparison result meets the preset range.

10. The control method according to any one of claims 8 to 9, characterized in that: The step of continuously shocking the coupling with the release device also includes: The cable car is controlled to drive the release device to move toward the male buckle matched with the coupling to shock the male buckle.

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