A blowout incident wellhead reset system, method, electronic device and storage medium

Abstract

The application discloses a blowout accident wellhead resetting system and method, an electronic device and a storage medium, and the resetting system comprises a vehicle body and a power unit, a six-degree-of-freedom platform, a Z-direction moving unit, an X-direction moving unit, a resetting system driving unit, a monitoring unit, a guiding unit, a fine positioning unit, a leveling unit and a blowout prevention assembly which are mounted on the vehicle body. The application further discloses a wellhead resetting method, an electronic device and a storage medium based on the above resetting system. The application realizes local automation and local unmanned operation of wellhead resetting operation, realizes automatic operation of center positioning, reduces the frequency and time of rescue personnel approaching the wellhead, and thus efficiently, less people and low risk complete the wellhead resetting operation.

Description

TECHNICAL FIELD

[0001] The present application relates to a well blowout accident handling device and method, in particular to a well blowout accident wellhead resetting system and method, an electronic device and a storage medium. BACKGROUND

[0002] When an oil and gas well blowout is out of control and on fire, the core temperature of the wellhead flame can reach 1500 DEG C, and the thermal radiation around the wellhead far exceeds the human body tolerance limit. The rescue operation of the out-of-control oil and gas well blowout mainly includes wellhead obstacle removal, old wellhead cutting and new wellhead installation, etc., wherein the new wellhead installation, also known as wellhead resetting, is the last key link of the rescue operation. In the wellhead resetting stage of the emergency rescue of the blowout, the blowout preventer device needs to be installed on the old wellhead device to ensure that the lower flange of the blowout preventer device is centered and buckled with the flange of the wellhead device, the blowout preventer is rotated to align the bolt hole, and then the rescue personnel connect the flange bolt near the wellhead.

[0003] The existing common resetting method mainly uses a steel wire rope pressurization method. The steel wire pressurization method connects the new wellhead device, the old wellhead and the engineering machinery together in a specific way through the steel wire rope. When the engineering machinery applies an external force to the steel wire rope, the new wellhead device gradually approaches the old wellhead under the action of the external force, the downward force applied by the steel wire rope offsets the upward impact force of the jet flow on the new wellhead device, avoids the new wellhead device from being unable to be lowered or being overturned, realizes the centering of the new and old wellhead devices, and completes the wellhead resetting. However, the method still has the following disadvantages:

[0004] 1. The steel wire rope cannot work for a long time under direct flame burning or high temperature environment, and the steel wire rope is prone to brittle fracture under high temperature.

[0005] 2. The poor visibility condition of the rescue site caused by the multi-phase fluid composed of the natural gas, crude oil, water and sandstone ejected from the wellhead, and the water mist ejected by the water cannon for reducing the environmental temperature makes the centering and positioning of the flange hole rely on the observation and command of the personnel near the wellhead. The accuracy of information transmission in the harsh environment cannot be guaranteed, the wellhead environmental conditions are complex, the temperature is high, and the safety risk of the personnel is large.

[0006] 3. The posture adjustment of the blowout preventer group relies on the traction of the steel wire rope, and the posture of the blowout preventer group cannot be accurately adjusted through repeated attempts to realize the centering and positioning, and the efficiency is low. SUMMARY

[0007] In view of the problems existing in the prior art, the present application provides a well blowout accident wellhead resetting system and method, an electronic device and a storage medium.

[0008] A blowout accident wellhead resetting system, the resetting system comprising: a vehicle body and mounted on the vehicle body: a power unit, a six-degree-of-freedom platform, a Z-direction moving unit, an X-direction moving unit, a resetting system driving unit, a monitoring unit, a guiding unit, a fine positioning unit, a leveling unit, a blowout preventer assembly;

[0009] The six-degree-of-freedom platform is used to drive the blowout preventer assembly to move and adjust the angle of the blowout preventer assembly.

[0010] The Z-direction moving unit is used to drive the blowout preventer assembly to move in the vertical direction.

[0011] The X-direction moving unit is used to drive the blowout preventer assembly to move in the forward direction of the vehicle body.

[0012] The blowout preventer assembly is mounted on the output member of the six-degree-of-freedom platform.

[0013] The power unit is used to provide power for the six-degree-of-freedom platform, the Z-direction moving unit, the X-direction moving unit, and the leveling unit.

[0014] The resetting system driving unit is mounted at the bottom of the vehicle body and is used to drive the entire resetting system to move.

[0015] The leveling unit is mounted at the bottom of the vehicle body and is used to support the resetting system after the resetting system driving unit stops moving, and is used to adjust the levelness of the resetting system.

[0016] The monitoring unit is mounted on the vehicle body and is used to obtain the position information of the accident wellhead relative to the resetting system when the relative distance between the resetting system and the accident wellhead is greater than a rated value a.

[0017] The guiding unit is mounted on the vehicle body and is used to obtain the position information of the accident wellhead relative to the resetting system when the relative distance between the resetting system and the accident wellhead is greater than a rated value b and less than the rated value a.

[0018] The fine positioning unit is used to obtain the position information of the accident wellhead relative to the resetting system and the position information of the flange hole of the accident wellhead when the relative distance between the resetting system and the accident wellhead is less than or equal to the rated value b.

[0019] Further, the blowout preventer assembly comprises an ignition cylinder and a blowout preventer; the ignition cylinder and the blowout preventer are connected with each other.

[0020] Further, the six-degree-of-freedom platform is connected with the output member of the Z-direction moving unit, and the Z-direction moving unit is connected with the output member of the X-direction moving unit; or the six-degree-of-freedom platform is connected with the output member of the X-direction moving unit, and the X-direction moving unit is connected with the output member of the Z-direction moving unit.

[0021] Further, the Z-direction moving unit comprises a stand and a lifting platform, and the lifting platform is installed in the stand and can move linearly along the stand.

[0022] Further, the X-direction moving unit comprises a slide rail and a moving platform, and the moving platform is installed on the slide rail and can move linearly along the slide rail.

[0023] Further, the power unit is a hydraulic system.

[0024] The application further provides a wellhead resetting method, which comprises the following steps:

[0025] The monitoring unit is used to acquire position information of the accident wellhead relative to the resetting system, the moving direction of the resetting system is adjusted according to the position information, and the resetting system is controlled to move towards the accident wellhead;

[0026] When the distance between the resetting system and the accident wellhead reaches a rated value a, the guiding unit is used to reacquire the position information of the accident wellhead relative to the resetting system, and the moving direction of the resetting system is re-adjusted according to the newly acquired position information;

[0027] When the distance between the resetting system and the accident wellhead reaches a rated value b, the resetting system stops moving;

[0028] The leveling of the resetting system is performed;

[0029] The position information of the accident wellhead relative to the resetting system and the position information of the flange hole of the accident wellhead are acquired by the fine positioning unit;

[0030] According to the position information of the flange hole of the accident wellhead, the angle of the blowout preventer assembly is adjusted, so that the flange hole of the blowout preventer assembly is consistent with the flange hole of the accident wellhead in the relative angular position;

[0031] The blowout preventer assembly is moved to be concentric with the accident wellhead;

[0032] The blowout preventer assembly is connected with the accident wellhead.

[0033] Further, a wellhead resetting method further comprises the following steps:

[0034] During the process of docking the blowout preventer assembly with the accident wellhead, the position information of the accident wellhead relative to the reset system is obtained again through the precise positioning unit. If the position information obtained this time is different from the position information obtained previously, the docking is stopped, the blowout preventer assembly is removed from above the accident wellhead, and the following steps are repeated:

[0035] Perform reset system leveling;

[0036] The position information of the accident wellhead relative to the reset system and the position information of the flange hole of the accident wellhead are obtained through the precise positioning unit;

[0037] According to the position information of the flange hole of the accident wellhead, adjust the angle of the blowout prevention assembly so that the flange hole of the blowout prevention assembly and the flange hole of the accident wellhead are consistent in relative angular position;

[0038] Move the blowout prevention assembly to be concentric with the accident wellhead;

[0039] Drive the blowout prevention component to connect with the accident wellhead.

[0040] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the wellhead resetting method described above when executing the program.

[0041] The present invention also provides a storage medium having a computer program stored thereon, wherein the computer program implements the wellhead resetting method described above when executed by a processor.

[0042] Technical effects and advantages of the present invention:

[0043] The present invention realizes partial automation and partial unmanned operation of wellhead resetting operation, realizes automated operation of centering positioning, reduces the frequency and time of emergency personnel approaching the wellhead, and thus completes the wellhead resetting operation with high efficiency, less manpower and low risk.

[0044] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 shows a schematic structural diagram of a reset system according to an exemplary embodiment of the present invention;

[0046] Figure 2 It is a structural diagram of the blowout prevention assembly;

[0047] Figure 3 It is a schematic diagram of resetting the system more than 10 meters from the wellhead;

[0048] Figure 4 is a schematic view of the reset system within 10 meters of the wellhead;

[0049] Figure 5 is a schematic view of the reset system before docking with the wellhead;

[0050] Figure 6 is a schematic view of the reset system after docking with the wellhead is completed.

[0051] In the figure: 1-vehicle body, 2-power unit, 3-X direction moving unit, 4-reset system driving unit, 5-Z direction moving unit, 6-six degree of freedom platform, 61-transition piece, 7-guide unit, 8-blowout prevention assembly, 81-blowout preventer, 82-ignition tube, 9-monitoring unit, 10-precision positioning unit, 11-accident wellhead, 12-leveling unit. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0053] In addition, in the present application, the terms "first", "second" and other similar terms do not imply any order, quantity and importance, but are only used to distinguish different elements, and the terms "upper", "lower", "left", "right" and other similar terms are only the positional relationship in the drawings.

[0054] In the present application, local automation and local unmanned operation of the accident wellhead reset operation are realized, automatic operation of the center positioning is realized, the frequency and time of the rescue personnel approaching the accident wellhead 11 are reduced, and the accident wellhead reset operation is efficiently, less people and low risk. The following will be illustrated by specific embodiments.

[0055] As shown in Figure 1 The present application provides a blowout accident wellhead reset system, wherein the reset system comprises a vehicle body 1 and a power unit 2, a six degree of freedom platform 6, a Z direction moving unit 5, an X direction moving unit 3, a reset system driving unit 4, a monitoring unit 9, a guide unit 7, a precision positioning unit 10, a leveling unit 12 and a blowout prevention assembly 8 mounted on the vehicle body 1.

[0056] The six degree of freedom platform 6 is used to drive the blowout prevention assembly 8 to move and adjust the angle of the blowout prevention assembly 8.

[0057] The Z-direction moving unit 5 is used to drive the blowout prevention assembly 8 to move in the vertical direction;

[0058] The X-direction moving unit 3 is used to drive the blowout prevention assembly 8 to move in the forward direction of the vehicle body;

[0059] The blowout prevention assembly 8 is mounted on the output component of the six-degree-of-freedom platform 6;

[0060] The power unit 2 is used to provide power for the Z-direction moving unit 5, the X-direction moving unit 3, the leveling unit 12 and the six-degree-of-freedom platform 6;

[0061] The reset system driving unit 4 is installed at the bottom of the vehicle body 1 and is used to drive the entire reset system to move;

[0062] The leveling unit 12 is installed at the bottom of the vehicle body 1 and is used to support the reset system after the reset system driving unit 4 stops moving, and is used to adjust the levelness of the reset system;

[0063] The monitoring unit 9 is mounted on the vehicle body 1 and is used to obtain the position information of the accident wellhead 11 relative to the reset system when the relative distance between the reset system and the accident wellhead 11 is greater than a rated value a. Generally, a is greater than 10 meters.

[0064] The precise positioning unit 10 is used to obtain the position information of the accident wellhead 11 relative to the reset system and the position information of the flange hole of the accident wellhead 11 when the relative distance between the reset system and the accident wellhead 11 is less than or equal to the rated value b. Generally, b is less than 3 meters.

[0065] The guiding unit 7 is mounted on the vehicle body 1 and is used to obtain position information of the accident wellhead 11 relative to the reset system when the relative distance between the reset system and the accident wellhead 11 is greater than the rated value b and less than the rated value a;

[0066] The power unit 2 is a hydraulic system. The six-degree-of-freedom platform 6, the Z-direction moving unit 5 and the X-direction moving unit 3 together constitute a transmission unit capable of driving the blowout prevention assembly 8 to move. The Z-direction moving unit 5 is movably mounted on the slide rail of the X-direction moving unit 3 to enable the blowout prevention assembly 8 to slide back and forth in the horizontal direction (such as Figure 1 For example, in one embodiment of the present invention, the travel of the X-direction moving unit 3 is 3 m.

[0067] For example, in one embodiment of the present invention, the Z-moving unit 5 is a movable stand that can drive the blowout prevention assembly 8 to move up and down in the vertical direction (e.g. Figure 1For example, in one embodiment of the present invention, the Z-moving unit 5 is applicable to a wellhead depth of 300-1000 mm.

[0068] In one embodiment of the present invention, the Z-direction moving unit 5 includes a stand and a lifting platform, and the lifting platform can move linearly along the stand after being installed in the stand; the X-direction moving unit 3 includes a slide rail and a moving platform, and the moving platform can move linearly along the slide rail after being installed on the slide rail.

[0069] For example, in one embodiment of the present invention, the six-degree-of-freedom platform 6 may include an upper platform, a lower platform, an upper ball joint, a lower Hooke's joint, a hydraulic system, a control system, an inclination sensor, etc. The motion index parameters of the six-degree-of-freedom platform 6 mechanism are as follows:

[0070] 1. The platform's vertical translation stroke is 1200mm.

[0071] 2. The platform rotation angle around the center is ±15°.

[0072] 3. The platform can be tilted 360° at an angle of ±10°.

[0073] After the platform drives the clamping mechanism to grasp the 40-ton blowout preventer, it can tilt at any angle within ±10° from a fixed position; move up and down with a vertical displacement greater than 1.2m; and rotate along the platform axis within a fixed position within a ±15° range. All three functions must be available from the same position.

[0074] On the other hand, for example, in one embodiment of the present invention, the reset system drive unit 4 is a crawler chassis system, mounted below the X-axis movement unit 3, capable of driving the reset system. The crawler chassis is chosen for its excellent load-bearing capacity. In one embodiment of the present invention, the reset system components, excluding the crawler chassis, weigh up to 67 tons, and the blowout preventer weighs 40 tons.

[0075] like Figure 2 As shown, illustratively, in one embodiment of the present invention, the blowout prevention assembly 8 includes a ignition tube 82 and a blowout preventer 81; the ignition tube 82 and the blowout preventer 81 are connected to each other.

[0076] Typically, the ignition tube is provided for diversion, diverting the flame ejected from the accident wellhead 11 to high altitude to prevent the flame from concentrating on the blowout preventer, thereby creating safe conditions for personnel to work near the blowout preventer.

[0077] For example, in one embodiment of the present invention, in order to facilitate the installation of the six-degree-of-freedom platform 6, a transition piece 61 is customized and installed, and the six-degree-of-freedom platform 6 is installed on the movable stand through the transition piece 61.

[0078] The upper portion of the transition piece 61 is flanged to the lower portion of the ignition tube, and the lower portion of the transition piece 61 is flanged to the blowout preventer. The six-degree-of-freedom platform 6 is disposed around the transition piece 61, and the upper and lower platforms of the six-degree-of-freedom platform 6 are respectively fixed to the transition piece 61 via flanges.

[0079] like Figure 1 As shown, in one embodiment of the present invention, the reset system further includes: a leveling unit 12. Exemplarily, the leveling unit 12 includes a leveling support leg and an inclination sensor. The inclination sensor can be installed on the front and rear movable rails, but the present invention is not limited thereto. The installation position of the angle sensor can be set according to actual needs.

[0080] When the reset system approaches the accident wellhead 11, the entire accident wellhead reset system is leveled by landing the leveling support legs. Specifically, when the reset system reaches the installation location, the one-button leveling function can be manually or automatically implemented based on the inclination sensor on the equipment to ensure the stability of the equipment during installation.

[0081] In one embodiment of the present invention, illustratively, the monitoring unit 9 includes a camera, which is installed on the front side of the X-direction moving unit 3;

[0082] On the other hand, the processor can analyze the photos sent back by the camera to determine the position of the reset system relative to the accident wellhead 11 and the distance of the reset system relative to the accident wellhead 11.

[0083] In one embodiment of the present invention, for example, the guiding unit 7 includes a laser radar. The laser radar is installed on a movable stand and is located near the six-degree-of-freedom platform 6. At about 1110 meters from the accident wellhead, the monitoring unit 9 is switched to the laser radar based on the distance information fed back by the laser radar. When the reset system is between 10 meters and 3 meters, the laser radar can be used to achieve precise positioning, such as Figure 3 and Figure 4 shown.

[0084] like Figure 5 and Figure 6 As shown, Figure 5 and Figure 6 The process of connecting the blowout prevention assembly 8 to the accident wellhead 11 is shown.

[0085] In one embodiment of the present invention, the fine positioning unit 10 includes a line laser scanner. For example, the LJ-X8900 blue line laser can achieve an accuracy of ±0.25mm at 1.38m, meeting the precision requirements of the device. Using a blue laser, a 2D Ernostar objective lens is used to focus the 405nm short-wavelength laser light to the extreme, resulting in a clear image on the light-receiving component, forming a stable, high-precision profile.

[0086] The linear laser scanner can scan the flange of the accident well mouth 11 and the lower flange of the blowout preventer, and the relative positions of X / Y / Z can be obtained. The system processes the detection results, and the differences in various directions of the two flanges and the offset angle of the flange hole can be calculated.

[0087] The fine positioning unit 10 and the six-degree-of-freedom platform 6 are pre-set relative positions, and the positioning function can be completed through the form of relative coordinate values in work. After each use, it automatically returns to the initial point.

[0088] In an embodiment of the present application, the blowout assembly 8 is only provided with a blowout preventer, and no ignition cylinder is provided. The difference from the above embodiment is that the blowout assembly 8 further includes an ignition cylinder in the above embodiment. The function of the ignition cylinder is to guide the flow, and the flame sprayed from the accident well mouth 11 is guided to a high altitude to avoid the flame concentrating on the blowout preventer, thereby creating a safe condition for personnel to approach the blowout preventer for operation. When the flame sprayed from the accident well mouth 11 is small, the ignition cylinder can also not be provided.

[0089] In an embodiment of the present application, the six-degree-of-freedom platform 6 is connected with the output member of the X-direction moving unit 3, and the X-direction moving unit 3 is connected with the output member of the Z-direction moving unit 5. The difference from the above embodiment is that the six-degree-of-freedom platform 6 is connected with the output member of the Z-direction moving unit 5, and the Z-direction moving unit 5 is connected with the output member of the X-direction moving unit 3 in the above embodiment. There is no essential difference between the two connection modes.

[0090] In an embodiment of the present application, based on the above embodiment about the reset system, an accident well mouth resetting method is provided, and the accident well mouth resetting method comprises the following steps:

[0091] S1: positioning the accident well mouth 11, adjusting the moving direction of the reset system, and controlling the reset system to move towards the accident well mouth 11;

[0092] S2: when the distance between the reset system and the accident well mouth 11 reaches a rated value A, the moving direction of the reset system is adjusted again by using the guide unit 7;

[0093] S3: when the distance between the reset system and the accident well mouth 11 reaches a rated value B, the reset system stops moving;

[0094] S4: the reset system is leveled;

[0095] S5: fine positioning of the accident well mouth 11, and driving the blowout assembly 8 to move to a specified position;

[0096] S6: adjusting the angle and position of the blowout assembly 8;

[0097] S7: the blowout preventer assembly 8 is brought into alignment with the blowout wellhead 11.

[0098] Specifically,

[0099] In step S1, when the blowout wellhead 11 is located, the monitoring unit 9 is used to determine the position of the blowout wellhead 11 according to the video image returned by the monitoring unit 9, so as to adjust the moving direction of the reset system and control the reset system to move towards the blowout wellhead 11.

[0100] The adjustment of the moving direction of the reset system and the control of the movement of the reset system are realized by the reset system driving unit 4.

[0101] In step S2, the purpose of setting the rated value A is to reduce the influence of the fire of the blowout wellhead 11 on the determination of the position of the blowout wellhead 11. Specifically, when the distance between the reset system and the blowout wellhead 11 reaches the rated value A, the monitoring unit 9 is too close to the fire source, the image returned by the monitoring unit 9 will be disturbed by the blowout flame and smoke mist, and the image quality cannot be guaranteed. At this time, using the guiding unit 7 to locate the blowout wellhead 11 will achieve higher accuracy.

[0102] For example, the main component of the guiding unit 7 in the embodiment is a laser radar, and the rated value A is 10 m. After reaching a position 10 m away from the blowout wellhead 11, a high-resolution laser radar is started to scan, collect front image point cloud data for data modeling to realize three-dimensional imaging, and generate a data map combined with software algorithm calibration; the radar processor combines the algorithm to calculate, analyze and store the front point cloud data detected by the radar, and obtains the high-precision position and distance information of the blowout wellhead 11. Finally, the three-dimensional data is transmitted to the equipment operation controller to guide the reset system to continue moving.

[0103] Arrive at a specified position 3 m away from the oil well 3. At this time, the detection error between the equipment center and the blowout wellhead 11 is ± 15 cm.

[0104] In step S3, for example, in the embodiment, the rated value B is 3 m. The purpose of leveling the reset system is to ensure the stability of the reset system during resetting.

[0105] In step S4, for example, after reaching a position about 3 m away from the blowout wellhead 11, whether the equipment is horizontal is determined according to the data of the inclination sensor on the equipment, and the leveling of the equipment is completed by controlling the extension amount of the outrigger oil cylinder.

[0106] In step S5, the accurate positioning of the blowout wellhead 11 is achieved by the accurate positioning unit 10. Exemplarily, the blowout wellhead 11 and the four-way flange opening are scanned by the line laser scanner in the accurate positioning unit 10, a space coordinate system based on the blowout wellhead 11 is established according to the scanned data, the relative position of the blowout preventer assembly 8 in the space coordinate system is judged, and the scanned results are processed to calculate the difference in each direction of the two flanges, the offset angle of the flange hole, etc.

[0107] In step S6, the angle of the blowout preventer assembly 8 is adjusted. The angle includes the angle in the circumferential direction and the angle in the radial direction. According to the results in step S5, the radial angle of the blowout preventer assembly 8 is adjusted and the position of the blowout preventer assembly 8 is adjusted to make it concentric with the blowout wellhead 11, and the circumferential angle of the blowout preventer assembly 8 is adjusted and the position of the blowout preventer assembly 8 is adjusted to make the flange hole of the blowout preventer assembly 8 aligned with the flange hole of the blowout wellhead 11.

[0108] In step S7, the blowout preventer assembly 8 is brought into abutment with the blowout wellhead 11. After the angle of the blowout preventer assembly 8 is adjusted, the Z-direction moving unit 5 drives the blowout preventer assembly 8 to move to the specified position, and then the six-degree-of-freedom platform 6 completes the pressing action.

[0109] In addition, in an embodiment of the present application, the blowout wellhead resetting method further comprises the following steps:

[0110] S8: During the abutment of the blowout preventer assembly 8 and the blowout wellhead 11, the blowout wellhead 11 is scanned in real time using the accurate positioning unit 10. If there is a large change between the scanning results and the positioning results, it is considered that the equipment as a whole has moved relative to the ground, at which time all actions return to the original position and steps S4-S7 are performed again.

[0111] According to the exemplary embodiments of the present application, since it is applied to a high-temperature scene, there is a high-temperature flame at the flange of the blowout wellhead 11. The present application first performs S5 and S6, and then performs S7, which can reduce the abutment time between the blowout preventer and the flange of the blowout wellhead 11, and reduce the impact and damage of the flame and airflow of the blowout wellhead 11 on the sensors, the six-degree-of-freedom platform 6, and other core components.

[0112] It should be noted that the distances of 10 meters and 3 meters are selected based on the fact that when a blowout occurs, the visibility is relatively good at a distance of 10 meters or more, and the position of the blowout wellhead 11 can be identified by the naked eye through the camera screen. When the distance is within 10 meters, the line of sight is blocked by the blowout flame, smoke, and water mist, and the human eye cannot identify the position of the blowout wellhead 11. At this time, the position of the blowout wellhead 11 can be scanned by the laser radar to further determine the position of the blowout wellhead 11. When the position of 3 meters of the blowout wellhead 11 is reached, the laser radar is used again for secondary scanning to further ensure the accuracy of the centering.

[0113] In one embodiment of the present application, based on the above embodiments of the reset system and the reset method, an electronic device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned wellhead accident reset method when executing the program.

[0114] In one embodiment of the present application, based on the above embodiments of the reset system and the reset method, a computer readable storage medium is provided, having a computer program stored thereon, the computer program being executable by a processor to implement the above-mentioned wellhead accident reset method.

[0115] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although in the foregoing embodiments of the present application have been described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A blowout accident wellhead reset system, characterized in that: The reset system includes: a vehicle body and installed on the vehicle body: a power unit, a six-degree-of-freedom platform, a Z-direction moving unit, an X-direction moving unit, a reset system drive unit, a monitoring unit, a guiding unit, a precision positioning unit, a leveling unit, and a blowout prevention component; The six-degree-of-freedom platform is used to drive the blowout prevention assembly to move and adjust the angle of the blowout prevention assembly; The Z-direction moving unit is used to drive the blowout prevention assembly to move in the vertical direction; The X-direction moving unit is used to drive the blowout prevention assembly to move in the forward direction of the vehicle body; The blowout prevention assembly is mounted on the output component of the six-degree-of-freedom platform; The power unit is used to provide power for the six-degree-of-freedom platform, the Z-direction moving unit, the X-direction moving unit, and the leveling unit; The reset system driving unit is installed at the bottom of the vehicle body and is used to drive the entire reset system to move; The leveling unit is mounted on the bottom of the vehicle body and is used to support the reset system after the reset system driving unit stops moving, and is used to adjust the levelness of the reset system; The monitoring unit is mounted on the vehicle body and is used to obtain position information of the accident wellhead relative to the reset system when the relative distance between the reset system and the accident wellhead is greater than a rated value a; The guiding unit is mounted on the vehicle body and is used to obtain position information of the accident wellhead relative to the reset system when the relative distance between the reset system and the accident wellhead is greater than a rated value b and less than a rated value a; The precise positioning unit is used to obtain the position information of the accident wellhead relative to the reset system and the position information of the flange hole of the accident wellhead when the relative distance between the reset system and the accident wellhead is less than or equal to the rated value b.

2. A blowout accident wellhead reset system according to claim 1, characterized in that: The blowout preventer assembly includes a ignition tube and a blowout preventer; the ignition tube and the blowout preventer are connected to each other.

3. A blowout accident wellhead reset system according to claim 1, characterized in that: The six-degree-of-freedom platform is connected to the output component of the Z-direction moving unit, and the Z-direction moving unit is connected to the output component of the X-direction moving unit; or the six-degree-of-freedom platform is connected to the output component of the X-direction moving unit, and the X-direction moving unit is connected to the output component of the Z-direction moving unit.

4. A blowout accident wellhead reset system according to claim 1, characterized in that: The Z-direction moving unit includes a stand and a lifting platform. After the lifting platform is installed in the stand, it can move linearly along the stand.

5. A blowout accident wellhead reset system according to claim 1, characterized in that: The X-direction moving unit includes a slide rail and a moving platform. After the moving platform is mounted on the slide rail, it can move linearly along the slide rail.

6. A blowout accident wellhead reset system according to claim 1, characterized in that: The power unit is a hydraulic system.

7. A wellhead resetting method, characterized in that: The wellhead resetting method comprises the following steps: Using the monitoring unit to obtain the position information of the accident wellhead relative to the reset system, adjusting the moving direction of the reset system according to the position information, and controlling the reset system to move toward the accident wellhead; When the distance between the reset system and the accident wellhead reaches the rated value a, the guidance unit is used to re-acquire the position information of the accident wellhead relative to the reset system, and the moving direction of the reset system is readjusted according to the newly acquired position information; When the distance between the reset system and the accident wellhead reaches the rated value b, the reset system stops moving; Perform reset system leveling; The position information of the accident wellhead relative to the reset system and the position information of the flange hole of the accident wellhead are obtained through the precise positioning unit; According to the position information of the flange hole of the accident wellhead, adjust the angle of the blowout prevention assembly so that the flange hole of the blowout prevention assembly and the flange hole of the accident wellhead are consistent in relative angular position; Move the blowout prevention assembly to be concentric with the accident wellhead; Drive the blowout prevention component to connect with the accident wellhead.

8. A wellhead resetting method according to claim 7, characterized in that: The following steps are also included: During the process of docking the blowout preventer assembly with the accident wellhead, the position information of the accident wellhead relative to the reset system is obtained again through the precise positioning unit. If the position information obtained this time is different from the position information obtained previously, the docking is stopped, the blowout preventer assembly is removed from above the accident wellhead, and the following steps are repeated: Perform reset system leveling; The position information of the accident wellhead relative to the reset system and the position information of the flange hole of the accident wellhead are obtained through the precise positioning unit; According to the position information of the flange hole of the accident wellhead, adjust the angle of the blowout prevention assembly so that the flange hole of the blowout prevention assembly and the flange hole of the accident wellhead are consistent in relative angular position; Move the blowout prevention assembly to be concentric with the accident wellhead; Drive the blowout prevention component to connect with the accident wellhead.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the wellhead reset method as described in claim 7 or 8 is implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the wellhead resetting method according to claim 7 or 8 is implemented.

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