A crawler experimental platform for simulating downhole exploration

Abstract

The present invention discloses a crawler experimental platform for simulating downhole detection, comprising: a simulation pipeline, comprising several pipe bodies connected end to end in sequence; a plurality of fixing components installed on the simulation pipeline, for fixing the simulation pipeline; a plurality of connectors for connecting two adjacent pipe bodies; an obstacle component, arranged in the simulation pipeline, for simulating downhole obstacles; a positioning component, for positioning the crawler in the simulation pipeline; a data acquisition component, for collecting data of the crawler in the simulation pipeline; the present invention simulates the oil well pipeline by setting a simulation pipeline, and uses the obstacle component to simulate the obstacles in the downhole pipeline, so as to simulate the environment of the downhole pipeline for verification of the crawler, and can use the collected data to analyze and improve the crawler, without the need to use simulation software to simulate the downhole pipeline, and can set a complex environment according to its own needs, and obtain verification data quickly.

Description

Technical Field

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

[0002] As a vital strategic resource and material reserve in my country, oil has a profound impact on economic development and social stability. As demand for oil grows, so too do the requirements for oil extraction and storage. Horizontal well technology, one of the most advanced technologies in oilfield development, effectively increases well production capacity and development efficiency by expanding the drainage area of ​​underground reservoirs, demonstrating significant advantages in oil production practice.

[0003] During the various stages of drilling, logging, and production in horizontal wells, logging instruments or workover tools often need to be lowered into the well to perform tasks. Traditionally, instrument lowering or equipment operation in vertical wells relies primarily on the instrument's own gravity. The instrument is connected to a power source via a cable, and its own weight lowers the instrument to the operating area. However, for highly deviated wells (generally referring to wells with a well inclination exceeding 60°) and horizontal wells (generally referring to wells with a maximum well inclination of 90° or closer), the operating area is often outside the vertical section, and traditional gravity lowering methods cannot meet these requirements.

[0004] To address this problem, a number of new technologies have emerged, with crawling robots (crawlers) being a prominent example. Some of these robots are powered by cables, while others rely on their own electric motors or utilize the wellbore fluid as a power source, enabling them to actively navigate downhole pipelines. The primary task of a crawler robot is to secure logging instruments to them, "crawling" them to a desired location, and then retrieving them via cables or automatically retracting, depending on their 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 in horizontal underground pipelines.

[0006] Crawling robots can be categorized by their propulsion method: rotating wheel crawling (wheeled) traction robots, grasping arm telescopic (telescopic) traction robots, high-pressure jet recoil traction robots, and propeller-propelled traction robots. Wheeled robots, due to their lower friction, are more energy-efficient than tracked crawlers, consuming less energy and suitable for extended operations. Furthermore, compared to other complex traction methods, wheeled crawlers have a simpler structure and lower maintenance costs.

[0007] There are various forms of obstacles in downhole pipelines, such as pipe joints, casing damage, wax deposition, perforations, 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 a robot becomes stuck in a pipeline due to an obstacle, not only is it difficult to recover the robot and its detection equipment, but it also significantly hinders underground work. Therefore, designing a crawling robot's obstacle-crossing capabilities is crucial. Most approaches to testing a crawling robot's obstacle-crossing capabilities use simulation software such as MATLAB to simulate the robot's movements within the pipeline. However, most simulations simplify the real-world situation and fail to accurately replicate the complex conditions of underground pipelines. Simulating complex environments often requires a significant computational effort.

[0009] Chinese invention patent publication number CN110321572A discloses a pipeline crawling robot system analysis and verification method. A three-dimensional model of the robot body structure is established in three-dimensional modeling software; the three-dimensional model is meshed using a hexahedral grid, and the resulting 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 produce a forward displacement; in MATLAB, a voltage signal is applied to the piezoelectric ceramic driver to cause the robot body finite element model to produce a forward displacement, 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 complex environments, it requires a huge amount of calculation and the simulation verification speed is slow. Summary of the Invention

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

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

[0013] A crawler experimental platform for simulating downhole exploration, 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 a simulated pipeline;

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

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

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

[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, this 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 its own needs, and the verification data can be obtained quickly.

[0021] Furthermore, the tube body is a transparent tube body, which facilitates direct observation of 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 by 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 member includes a second connecting tube, the inner diameter of the second connecting tube matches the outer diameter of the tube body, and the two ends of the second connecting tube are respectively fixed to the ends of the two corresponding tube bodies. 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. The first obstacle portion can simulate a situation where the diameter of the downhole pipeline suddenly increases, thereby increasing 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 the two ends, so as to simulate the situation where the diameter of the downhole pipeline decreases;

[0028] The second obstacle pipe is a square pipe, which is used to simulate the situation where 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 provided photoelectric detector is used to collect optical signals during the crawler verification process.

[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, this 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 its own needs, and the verification data can be obtained quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the structure of a crawler experimental platform for simulating downhole exploration 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 following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 exploration, including:

[0038] The simulated pipeline 1 includes a plurality of tubes 101 connected end to end. The simulated pipeline 1 is formed by combining multiple tubes 101. For example, the simulated pipeline 1 can be formed by connecting 10 tubes 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 connecting pieces 3, used for connecting two adjacent pipe bodies 101;

[0041] The obstacle assembly 4 is provided in the simulation pipeline 1 and is used to simulate the obstacle 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 up a simulated pipeline 1, the set fixing component 2 is used to simulate the fixation of the pipeline 1, and the set connecting piece 3 is used 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, this 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 verification data can be obtained quickly.

[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 simulation 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 an elongated 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 by 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 inside 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 profile, for example, 4040 aluminum profile.

[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 maintain communication between the two adjacent tube bodies 101. The first connecting tube 301 is fixed to the tube body 101 by bolts.

[0048] Specifically, the obstacle assembly 4 includes a first obstacle pipe 401, a second obstacle pipe 402 and an obstacle block 403. 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 the two ends, so as to simulate the situation where the diameter of the downhole pipeline decreases;

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

[0051] Specifically, the positioning component 5 includes several scanning cameras 501 and positioning QR codes 502. Several scanning cameras 501 are evenly distributed outside the simulation pipeline 1 along the length direction of the simulation 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 recognize 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. 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 provided to connect two adjacent tube bodies 101 and keep the two adjacent tube bodies 101 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 above with 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 by the claims.

Claims

1. A crawler experimental platform for simulating downhole exploration, characterized in that: include: The 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 connecting pieces, used for connecting two adjacent pipe bodies; an obstacle component, disposed in the simulated pipeline, for simulating an obstacle downhole; A positioning component, used for positioning the crawler in the simulated pipeline; A data acquisition component, used for collecting data of the crawler in the simulation pipeline; The tube body is a transparent tube body; The connecting member includes a second connecting pipe, the inner diameter of the second connecting pipe matches the outer diameter of the pipe body, and the two ends of the second connecting pipe are respectively fixed to the ends of the two corresponding pipe bodies; The middle portion of the second connecting pipe protrudes outward to form a first obstacle portion, which can simulate the situation where the diameter of the downhole pipeline suddenly increases; The obstacle assembly includes a first obstacle pipe, a second obstacle pipe and an obstacle block; The obstacle block is used to simulate stones or other block-shaped obstacles in the downhole pipeline; The inner diameter of the first obstacle pipe gradually increases from the middle to the two ends, so as to simulate the situation where the diameter of the downhole pipeline decreases; The second obstacle pipe is a square pipe, which is used to simulate the situation where the downhole pipeline becomes square in shape; The positioning assembly includes a plurality of scanning cameras and a positioning QR code. The plurality of 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. The data acquisition component includes a photoelectric detector, which is installed on the crawler; The data acquisition component also includes an infrared camera, which is installed on the crawler.

2. The crawler experimental platform for simulating downhole exploration according to claim 1 is characterized in that: 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.

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

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