Crawler experimental platform for simulating underground detection

Abstract

The invention discloses a crawler experiment platform for simulating underground detection, and the platform comprises a simulation pipeline which comprises a plurality of pipe bodies which are sequentially connected end to end; the plurality of fixing assemblies are mounted on the simulation pipeline and are used for fixing the simulation pipeline; the plurality of connecting pieces are used for connecting two adjacent pipe bodies; the obstacle assembly is arranged in the simulation pipeline and used for simulating an underground obstacle; the positioning assembly is used for positioning the crawler in the simulation pipeline; the data acquisition assembly is used for acquiring data of the crawler in the simulation pipeline; the simulation pipeline is arranged to simulate the oil well pipeline, the obstacle assembly is used for simulating the obstacle in the underground pipeline, the environment of the underground pipeline can be simulated, the crawler can be verified, the collected data can be used for analyzing and improving the crawler, simulation software does not need to be used for simulating the underground pipeline, and the detection efficiency is improved. A complex environment can be set according to own requirements, and the speed of obtaining verification data is high.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline crawler verification, and in particular is a crawler experimental platform for simulating underground detection. Background Art

[0002] As an important strategic resource and material reserve in my country, oil has a profound impact on economic development and social stability. With the growth of social demand for oil, the requirements for oil extraction and storage are also increasing. Horizontal well technology, as one of the advanced technologies in oil field development, has effectively improved the production capacity and development benefits of oil wells by expanding the oil leakage area of ​​underground oil layers, and has shown significant advantages in oil extraction practice.

[0003] In different stages of horizontal well drilling, logging and production, it is often necessary to lower logging instruments or workover tools into the well to perform tasks. Traditionally, instrument lowering or equipment operation in vertical wells mainly relies on the gravity of the instrument itself. The instrument is connected to the power supply through a cable, and the instrument is lowered to the operating area by its own weight. However, for highly deviated wells (usually wells with a well inclination angle exceeding 60°) and horizontal wells (usually wells with a maximum well inclination angle of or close to 90°), the operating area is usually not in the vertical section, and the traditional gravity lowering method cannot meet the requirements.

[0004] In order to solve this problem, many new technologies have been introduced, among which crawling robot (crawlers) technology is the most representative. Some of these crawling robots are powered by cables, while others are driven by their own motors, or use the fluid in the well as a power source, and can actively walk in the underground pipeline. The main task of the crawling robot is to fix the logging instrument on it, send the logging instrument to the specified location by "crawling", and then recover it by cable recovery or self-retraction according to the design.

[0005] The crawling robot system is an efficient operating system that integrates mechanics, electronics, and instrumentation, and is capable of completing multiple complex operating tasks on horizontal underground pipelines.

[0006] According to the different driving methods of crawling robots, they can be divided into: rotating wheel crawling (wheeled) traction robots, grasping arm telescopic (telescopic) traction robots, high-pressure jet recoil traction robots and propeller propulsion traction robots. Wheeled robots have lower friction and are more energy efficient than tracked crawlers, consume less energy, and are suitable for long-term operations. Compared with other complex traction methods, wheeled crawlers have simpler structures and lower maintenance costs.

[0007] There are various forms of obstacles in the downhole pipeline, such as pipe joints, casing damage, wax deposition, perforation, and changes in pipe diameter. Faulty oil wells often have local bending deformations. This requires the crawling robot to not only have sufficient traction to complete the transportation of heavy testing instruments, but also to be able to pass through various obstacles in the wellbore and ultimately deliver the logging instruments or downhole tools to the target well section.

[0008] If the robot gets stuck in the pipeline due to an obstacle, it will not only be difficult to recover the robot and the detection equipment, but it will also be a great obstacle to the work underground. Therefore, the obstacle-crossing design of the crawling robot is extremely important. As for the inspection of the obstacle-crossing ability of the crawling robot, most schemes use simulation software such as MATLAB to simulate the movement of the crawling robot in the pipeline. However, most simulations simplify the real situation and cannot accurately simulate the complex real situation of the underground pipeline. Complex environment simulation often requires a lot of calculations.

[0009] A Chinese invention patent with publication number CN110321572A discloses a method for analyzing and verifying a pipeline crawling robot system. A three-dimensional model of the robot body structure is established in a three-dimensional modeling software; the three-dimensional model is meshed using a hexahedral grid, and the obtained robot body finite element model is imported into ADAMS for analysis and setting; in ADAMS, a voltage signal is applied to the piezoelectric ceramic driver to cause the robot body finite element model to move forward; in MATLAB, a voltage signal is applied to the piezoelectric ceramic driver to cause the robot body finite element model to move forward, which is consistent with the forward displacement in ADAMS.

[0010] This pipeline crawling robot system analysis and verification method uses simulation software to simulate the pipeline environment. When simulating a complex environment, it requires a huge amount of calculation and the simulation verification speed is slow. Summary of the invention

[0011] The object of the present invention is to provide a crawler experimental platform for simulating downhole exploration to solve at least one of the above-mentioned technical problems.

[0012] To achieve the above object, the technical solution adopted by the present invention is:

[0013] A crawler experimental platform for simulating underground detection, comprising:

[0014] The simulated pipeline includes a plurality of pipe bodies connected end to end in sequence, and the plurality of pipe bodies are combined into the simulated pipeline;

[0015] A plurality of fixing components, installed on the simulated pipeline, and used for fixing the simulated pipeline;

[0016] A plurality of connectors, used for connecting two adjacent pipe bodies;

[0017] An obstacle component, disposed in the simulated pipeline, for simulating an obstacle in the well;

[0018] A positioning component, used for positioning the crawler in the simulated pipeline;

[0019] The data acquisition component is used for collecting data of the crawler in the simulation pipeline.

[0020] The present invention simulates the oil well pipeline by setting up a simulated pipeline, uses the set fixing component to simulate the fixation of the pipeline, and uses the set connecting piece to connect adjacent pipe bodies; uses the set obstacle component to simulate the obstacle in the downhole pipeline, uses the set positioning component to realize the positioning of the crawler, and uses the set data acquisition component to collect data for subsequent analysis. Through the above-mentioned settings, the present device can simulate the environment of the downhole pipeline for the verification of the crawler, and can use the collected data to analyze and improve the crawler. There is no need to use simulation software to simulate the downhole pipeline, and a complex environment can be set according to one's own needs, and the speed of obtaining verification data is fast.

[0021] Furthermore, the tube body is a transparent tube body, which is convenient for directly observing the situation of the crawler in the simulated pipeline.

[0022] Specifically, the fixing assembly includes a U-shaped hoop and an elongated seat body. The tube body is fixed to the top of the seat body through the U-shaped hoop. The length direction of the seat body is perpendicular to the length direction of the tube body. The tube body is fixed to the seat body through the set U-shaped hoop, so that the simulated pipeline can remain stable during crawler verification.

[0023] Specifically, the connecting piece includes a first connecting tube, the outer diameter of the first connecting tube matches the inner diameter of the tube body, the two ends of the first connecting tube are respectively fixed to the ends of the two corresponding tube bodies, and the first connecting tube is used to connect two adjacent tube bodies and keep the two adjacent tube bodies connected.

[0024] Preferably, the connecting piece includes a second connecting tube, the inner diameter of the second connecting tube matches the outer diameter of the tube body, the two ends of the second connecting tube are respectively fixed to the ends of the two corresponding tube bodies, and the second connecting tube is used to connect two adjacent tube bodies and maintain communication between the two adjacent tube bodies, and the second connecting tube will not occupy the space inside the tube body.

[0025] Furthermore, the middle portion of the second connecting pipe protrudes outward to form a first obstacle portion, and the first obstacle portion can simulate the situation where the diameter of the downhole pipeline suddenly increases, and can increase the verification environment of the crawler.

[0026] Specifically, the obstacle assembly includes a first obstacle pipe, a second obstacle pipe and an obstacle block;

[0027] The inner diameter of the first obstacle pipe gradually increases from the middle to both ends, so as to simulate the situation that the diameter of the downhole pipeline decreases;

[0028] The second obstacle pipe is a square pipe, which is used to simulate the situation that the shape of the downhole pipeline becomes square.

[0029] Specifically, the positioning component includes several scanning cameras and positioning QR codes. Several scanning cameras are evenly distributed outside the simulated pipeline along the length direction of the simulated pipeline. The positioning QR code is set on the crawler and faces the scanning camera. The scanning camera is set to cooperate with the positioning QR code for positioning the crawler. The scanning camera can recognize the positioning QR code. Each scanning camera also corresponds to a scanning range. When the positioning QR code follows the crawler to move into the scanning range of the corresponding scanning camera, it is recognized by the scanning camera, and the position of the crawler can be determined based on the position of the corresponding scanning camera.

[0030] Furthermore, the data acquisition component includes a photoelectric detector, which is installed on the crawler. The photoelectric detector is used to collect optical signals during the verification process of the crawler.

[0031] Furthermore, the data acquisition component also includes an infrared camera, which is installed on the crawler and is used to collect infrared images during the crawler verification process.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention simulates the oil well pipeline by setting up a simulated pipeline, uses the set fixing component to simulate the fixation of the pipeline, and uses the set connecting piece to connect adjacent pipe bodies; uses the set obstacle component to simulate the obstacle in the downhole pipeline, uses the set positioning component to realize the positioning of the crawler, and uses the set data acquisition component to collect data for subsequent analysis. Through the above-mentioned settings, the present device can simulate the environment of the downhole pipeline for the verification of the crawler, and can use the collected data to analyze and improve the crawler. There is no need to use simulation software to simulate the downhole pipeline, and a complex environment can be set according to one's own needs, and the speed of obtaining verification data is fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the structure of a crawler experimental platform for simulating downhole detection in this embodiment;

[0035] In the figure: 1. Simulation pipeline; 101. Pipe body; 2. Fixing assembly; 201. U-shaped hoop; 202. Base body; 3. Connector; 301. First connecting pipe; 302. Second connecting pipe; 303. First obstacle part; 4. Obstacle assembly; 401. First obstacle pipe; 402. Second obstacle pipe; 403. Obstacle block; 5. Positioning assembly; 501. Scanning camera; 502. Positioning QR code; 6. Data acquisition assembly; 601. Photoelectric detector; 602. Infrared camera; 7. Crawler. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0037] like Figure 1 As shown, this embodiment provides a crawler experimental platform for simulating downhole detection, including:

[0038] The simulated pipeline 1 includes a plurality of pipe bodies 101 connected end to end in sequence. The simulated pipeline 1 is formed by combining a plurality of pipe bodies 101. For example, the simulated pipeline 1 can be formed by connecting 10 pipe bodies 101 end to end.

[0039] A plurality of fixing components 2, installed on the simulated pipeline 1, and used for fixing the simulated pipeline 1;

[0040] A plurality of connectors 3, used for connecting two adjacent pipe bodies 101;

[0041] The obstacle component 4 is arranged in the simulation pipeline 1 and is used to simulate the obstacles in the well;

[0042] A positioning component 5, used for positioning the crawler 7 in the simulation pipeline 1;

[0043] The data acquisition component 6 is used for collecting data of the crawler 7 in the simulation pipeline 1.

[0044] The present invention simulates the oil well pipeline by setting a simulated pipeline 1, and uses the set fixing component 2 to simulate the fixation of the pipeline 1, and uses the set connecting piece 3 to connect adjacent pipe bodies 101; the set obstacle component 4 is used to simulate the obstacles in the downhole pipeline, the set positioning component 5 is used to realize the positioning of the crawler 7, and the set data acquisition component 6 is used for data acquisition to facilitate subsequent analysis. Through the above-mentioned settings, the present device can simulate the environment of the downhole pipeline for the verification of the crawler 7, and can use the collected data to analyze and improve the crawler 7. There is no need to use simulation software to simulate the downhole pipeline, and a complex environment can be set according to its own needs, and the speed of obtaining verification data is fast.

[0045] Furthermore, the tube body 101 is a transparent tube body 101, which is convenient for directly observing the situation of the crawler 7 in the simulated pipeline 1. Preferably, the tube body 101 can be a transparent acrylic tube body 101 or a transparent glass tube body 101.

[0046] Specifically, the fixing assembly 2 includes a U-shaped hoop 201 and a long strip-shaped seat body 202. The tube body 101 is fixed to the top of the seat body 202 through the U-shaped hoop 201. The length direction of the seat body 202 is perpendicular to the length direction of the tube body 101. The tube body 101 is fixed to the seat body 202 through the set U-shaped hoop 201, so that the simulated pipeline 1 can remain stable during the crawler 7 verification; the U-shaped hoop 201 and the seat body 202 are fixed by bolts, and a rubber layer is provided on the inner side of the U-shaped hoop 201 to protect the tube body 101; each tube body 101 is fixed by at least one fixing assembly 2; the seat body 202 can be made of aluminum profiles, for example, 4040 aluminum profiles.

[0047] Specifically, the connecting member 3 includes a first connecting tube 301, the outer diameter of the first connecting tube 301 matches the inner diameter of the tube body 101, and the two ends of the first connecting tube 301 are respectively fixed to the ends of the two corresponding tube bodies 101. The first connecting tube 301 is used to connect two adjacent tube bodies 101 and keep the two adjacent tube bodies 101 connected. The first connecting tube 301 and the tube body 101 are fixed by bolts.

[0048] Specifically, the obstacle assembly 4 includes a first obstacle pipe 401, a second obstacle pipe 402 and an obstacle block 403, wherein the obstacle block 403 is used to simulate stones or other block-shaped obstacles in the downhole pipeline;

[0049] The inner diameter of the first obstacle pipe 401 gradually increases from the middle to both ends, so as to simulate the situation that the diameter of the downhole pipeline decreases;

[0050] The second obstacle pipe 402 is a square pipe, which is used to simulate the situation that the shape of the downhole pipeline becomes square.

[0051] Specifically, the positioning component 5 includes several scanning cameras 501 and a positioning QR code 502. The several scanning cameras 501 are evenly distributed outside the simulated pipeline 1 along the length direction of the simulated pipeline 1. The positioning QR code 502 is set on the crawler 7 and faces the scanning camera 501. The scanning camera 501 is set to cooperate with the positioning QR code 502 for positioning the crawler 7. The scanning camera 501 can identify the positioning QR code 502. Each scanning camera 501 also corresponds to a scanning range. When the positioning QR code 502 follows the crawler 7 to move into the scanning range of the corresponding scanning camera 501, it is recognized by the scanning camera 501, and the position of the crawler 7 can be determined based on the position of the corresponding scanning camera 501.

[0052] Furthermore, the data acquisition component 6 includes a photoelectric detector 601 , which is installed on the crawler 7 . The photoelectric detector 601 is used to collect optical signals during the verification process of the crawler 7 .

[0053] Furthermore, the data acquisition component 6 also includes an infrared camera 602, which is installed on the crawler 7 and is used to collect infrared images during the verification process of the crawler 7.

[0054] As another preferred embodiment of the present scheme, the connector 3 may further include a second connecting tube 302, the inner diameter of the second connecting tube 302 matches the outer diameter of the tube body 101, and the two ends of the second connecting tube 302 are respectively fixed to the ends of the two corresponding tube bodies 101. The second connecting tube 302 is used to connect two adjacent tube bodies 101, and the two adjacent tube bodies 101 are kept connected. The second connecting tube 302 will not occupy the space inside the tube body 101. The simulation pipeline 1 requires multiple connectors 3 to connect the tube bodies 101, and one part can be connected by the first connecting tube 301, and the other part can be connected by the second connecting tube 302.

[0055] Furthermore, the middle portion of the second connecting pipe 302 may protrude outward to form a first obstacle portion 303 . The first obstacle portion 303 may simulate a situation where the diameter of the downhole pipeline suddenly increases, thereby increasing the verification environment of the crawler 7 .

[0056] It should be noted that although the present invention is disclosed as above by specific embodiments, the above embodiments are not intended to limit the present invention. Ordinary technicians in this field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A crawler experimental platform for simulating downhole detection, characterized in that: include: A simulated pipeline includes several pipes connected end to end; A plurality of fixing components, installed on the simulated pipeline, and used for fixing the simulated pipeline; A plurality of connectors, used for connecting two adjacent pipe bodies; An obstacle component, disposed in the simulated pipeline, for simulating an obstacle in the well; A positioning component, used for positioning the crawler in the simulated pipeline; The data acquisition component is used for collecting data of the crawler in the simulation pipeline.

2. The crawler experimental platform for simulating downhole detection according to claim 1 is characterized in that: The tube body is a transparent tube body.

3. The crawler experimental platform for simulating downhole exploration according to claim 1 is characterized in that: The fixing assembly comprises a U-shaped hoop and an elongated seat body, the tube body is fixed to the top of the seat body through the U-shaped hoop, and the length direction of the seat body is perpendicular to the length direction of the tube body.

4. The crawler experimental platform for simulating downhole exploration according to claim 1 is characterized in that: The connecting member comprises a first connecting pipe, the outer diameter of the first connecting pipe matches the inner diameter of the pipe body, and two ends of the first connecting pipe are respectively fixed to the ends of the two corresponding pipe bodies.

5. The crawler experimental platform for simulating downhole exploration according to claim 1 is characterized in that: The connecting member comprises a second connecting pipe, the inner diameter of the second connecting pipe matches the outer diameter of the pipe body, and two ends of the second connecting pipe are respectively fixed to the ends of the two corresponding pipe bodies.

6. The crawler experimental platform for simulating downhole exploration according to claim 5 is characterized in that: The middle portion of the second connecting pipe protrudes outward to form a first obstacle portion.

7. The crawler experimental platform for simulating downhole exploration according to claim 1 is characterized in that: The obstacle assembly includes a first obstacle pipe, a second obstacle pipe and an obstacle block; The inner diameter of the first obstacle pipe gradually increases from the middle to both ends; The second obstacle pipe is a square pipe.

8. The crawler experimental platform for simulating downhole exploration according to claim 2 is characterized in that: The positioning component includes several scanning cameras and positioning QR codes. The several scanning cameras are evenly distributed outside the simulated pipeline along the length direction of the simulated pipeline. The positioning QR code is set on the crawler and faces the scanning cameras.

9. The crawler experimental platform for simulating downhole exploration according to claim 1, characterized in that: The data acquisition component includes a photoelectric detector, which is installed on the crawler.

10. The crawler experimental platform for simulating downhole exploration according to claim 9, characterized in that: The data acquisition component also includes an infrared camera, which is installed on the crawler.

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