Coiled tubing roller tube arrangement state identification method, system, medium and equipment
By identifying the pipe discharge status of the continuous pipe roller and making real-time adjustments, the problems of complex operation and low automation in the development of unconventional reservoirs are solved, and the efficiency and life of the continuous oil pipe are improved.
Patent Information
- Application Number
- CN202311490325.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-09
- Publication Date
- 2025-05-13
AI Technical Summary
In the development of unconventional reservoirs, traditional hydraulically controlled continuous pipe operation machines have problems such as complex operation, low degree of automation, and easy to lead to pipe discharging, which affects the use efficiency and life of continuous oil pipes.
By obtaining the target pipe discharge operation image of the continuous pipe roller, determining the boundary point of each visible continuous pipe, and calculating the horizontal spacing standard deviation value, based on this, judging the current pipe discharge status, real-time identification and adjustment are achieved to avoid pipe discharge disorder.
Real-time identification and adjustment of the pipe discharge status of the continuous pipe roller is achieved, avoiding pipe discharge disorders, and improving the service efficiency and service life of the continuous oil pipe.
Smart Images
Figure CN119991538A_ABST
Abstract
Description
Background Art
[0002] As the application of coiled tubing technology has gradually expanded from conventional operations such as sand flushing, well washing, and fracturing to unconventional fields such as deep reservoir (secondary development), shale (oil) gas, gasification coal mining, and tight gas, traditional hydraulically controlled coiled tubing machines have gradually shown many limitations:
[0003] 1) The operator's skills are high and there is a risk of misoperation.
[0004] 2) Complex processes require long single-well operation time, multiple monitoring points, complex operating procedures, and high labor intensity.
[0005] 3) The identification of abnormal operating conditions such as drainage pipes relies on the operator’s experience, which can easily lead to inaccurate predictions, improper or untimely handling, etc.
[0006] 4) Low automation level, equipment operation and control are all done manually, requiring a large number of people and high labor intensity. As the operation process becomes increasingly complex and the degree of refinement required is getting higher and higher, the importance of developing a more stable and efficient new type of automated operation machine is becoming more and more prominent.
[0007] A typical coiled tubing operation machine is mainly composed of key components such as an injection head, a control room, a drum and coiled tubing. The drum device is one of the core control units of the coiled tubing operation device, and is mainly used to transport the coiled tubing and lay the tubing during the operation. During the pipe lifting operation, the coiled tubing is wound into the drum through the guide under the joint action of the injection head and the drum; during the pipe lowering operation, the drum motor provides a reverse torque to the drum to straighten the tubing, and the injection head pulls the tubing out of the drum. When the position of the tubing loader on the drum deviates, the angle of the winding is too large or too small, which will cause the operation of the tubing to be disordered. In addition, during the operation, several thousand meters of rigid tubing is wound around the drum one circle at a time. When the coiled tubing is winding and changing layers, the size of the left or right deviation angle will directly affect whether the subsequent tubing operation is neat. Once the coiled tubing is wound disorderly, it will cause external wear of the pipe body, reduce the capacity of the drum coil, reduce the service life of the coiled tubing, and cause repeated tubing.
[0008] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention
[0009] In order to solve the above technical problems, the present invention provides a method, system, medium and equipment for identifying the pipe arrangement status of a coiled pipe drum.
[0010] In a first aspect, the present invention provides a method for identifying the state of a coiled tube drum. The technical solution of the method is as follows:
[0011] Acquire a target pipe laying operation image of the coiled pipe drum to be identified at the current moment;
[0012] Determine each visible coiled pipe boundary point in the target pipe arrangement operation image, and calculate a horizontal spacing standard deviation value according to the horizontal spacing between each two adjacent visible coiled pipe boundary points;
[0013] Based on the horizontal spacing standard deviation value, the current pipe arrangement state of the to-be-identified coiled tube drum is determined.
[0014] The beneficial effects of the coiled tube drum arrangement state identification method of the present invention are as follows:
[0015] The method of the present invention can identify the characteristics of the coiled tubing drum arrangement, thereby evaluating the arrangement state of the coiled tubing when it is rolled in in real time, timely predicting and avoiding disorder in the arrangement of the tubing, and improving the use efficiency of the coiled tubing.
[0016] On the basis of the above scheme, the method for identifying the coiled tube drum arrangement state of the present invention can also be improved as follows.
[0017] In an optional manner, the step of determining each visible coiled pipe boundary point in the target pipe arrangement operation image includes:
[0018] A plurality of one-dimensional convolution value areas with zero grayscale values in the target pipe arrangement operation image are obtained, and each one-dimensional convolution value area with zero grayscale value is determined as a visible continuous pipe boundary point.
[0019] In an optional manner, the step of determining the current pipe arrangement state of the to-be-identified coiled tube drum based on the horizontal spacing standard deviation value includes:
[0020] When the standard deviation of the horizontal spacing is less than a preset value, it is determined that the current pipe arrangement state of the coiled tube drum to be identified is a normal pipe arrangement state;
[0021] When the standard deviation of the horizontal spacing is greater than or equal to the preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is an abnormal pipe arrangement state.
[0022] In an optional manner, the method further includes:
[0023] When the coiled tube drum to be identified is in an abnormal pipe discharging state, the pipe discharging actuator is controlled to adjust the coiled tube drum to be identified until the coiled tube drum to be identified reaches a normal pipe discharging state.
[0024] The beneficial effects of adopting the above optional method are: further realizing the accurate identification and adjustment of the coiled tube drum laying state, and providing a foundation for subsequent high-precision unmanned automatic pipe laying technology.
[0025] In an optional manner, the method further includes:
[0026] Acquire an initial pipe laying operation image of the to-be-identified coiled pipe drum at the current moment;
[0027] The initial pipe laying operation image is subjected to image grayscale processing and image binarization processing in sequence to obtain the target pipe laying operation image.
[0028] In a second aspect, the present invention provides a coiled tube drum arrangement state recognition system, the technical solution of the system is as follows:
[0029] It includes: an acquisition module, a processing module and an identification module;
[0030] The acquisition module is used to: acquire the target pipe laying operation image of the coiled pipe drum to be identified at the current moment;
[0031] The processing module is used to: determine each visible coiled pipe boundary point in the target pipe arrangement operation image, and calculate the horizontal spacing standard deviation value according to the horizontal spacing between every two adjacent visible coiled pipe boundary points;
[0032] The identification module is used to determine the current pipe arrangement state of the to-be-identified coiled tube drum based on the horizontal spacing standard deviation value.
[0033] The beneficial effects of the coiled tube drum arrangement state recognition system of the present invention are as follows:
[0034] The system of the present invention can identify the characteristics of the coiled tubing drum arrangement, thereby evaluating the arrangement state of the coiled tubing when it is rolled in in real time, timely predicting and avoiding disorder in the arrangement of the tubing, and improving the use efficiency of the coiled tubing.
[0035] On the basis of the above solution, the coiled tube drum arrangement state recognition system of the present invention can also be improved as follows.
[0036] In an optional manner, the processing module is specifically used to:
[0037] A plurality of one-dimensional convolution value areas with zero grayscale values in the target pipe arrangement operation image are obtained, and each one-dimensional convolution value area with zero grayscale value is determined as a visible continuous pipe boundary point.
[0038] In an optional manner, the identification module is specifically used to:
[0039] When the standard deviation of the horizontal spacing is less than a preset value, it is determined that the current pipe arrangement state of the coiled tube drum to be identified is a normal pipe arrangement state;
[0040] When the standard deviation of the horizontal spacing is greater than or equal to the preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is an abnormal pipe arrangement state.
[0041] In a third aspect, the present invention provides a storage medium with the following technical solution:
[0042] The storage medium stores instructions, and when a computer reads the instructions, the computer is caused to execute the steps of a method for identifying the state of a coiled tube drum according to the present invention.
[0043] In a fourth aspect, a technical solution of an electronic device of the present invention is as follows:
[0044] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of a method for identifying the state of a coiled tube drum are implemented as described in the present invention.
[0045] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0046] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:
[0047] Figure 1 It is a schematic flow chart of an embodiment of a method for identifying the state of a coiled tube drum according to the present invention;
[0048] Figure 2 This is a schematic diagram for identifying the boundary points of the coiled tube;
[0049] Figure 3 This is a graph showing the changing trend of the standard deviation with the video frame when the pipes are arranged neatly;
[0050] Figure 4 This is a graph showing the changing trend of the standard deviation with the video frame when the pipes are in disarray;
[0051] Figure 5 It is a schematic diagram of the pipe arrangement state;
[0052] Figure 6 This is the overall working principle diagram;
[0053] Figure 7 The figure is a schematic structural diagram of an embodiment of a coiled tube drum arrangement state recognition system of the present invention. DETAILED DESCRIPTION
[0054] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.
[0055] Figure 1 The figure shows a flow chart of an embodiment of a method for identifying the state of a coiled tube drum provided by the present invention, which is executed by a coiled tube identification terminal. Figure 1 As shown, the following steps are included:
[0056] S1. Obtain the target pipe arrangement operation image of the coiled pipe drum to be identified at the current moment. Wherein:
[0057] ① The coiled tube drum to be identified is: the coiled tube drum that needs to be identified in the pipe arrangement state in this embodiment. The coiled tube has different specifications and the drum has different models. The coiled tube drum to be identified in this embodiment can be a coiled tube drum of any specification and model. It is only necessary to correct the internal model parameters according to the specification and model in the pipe arrangement identification terminal, thereby ensuring the compatibility and practicality of the pipe arrangement identification terminal.
[0058] ② The target pipe laying operation image is: a binary image containing the coiled pipe drum to be identified during the pipe laying operation after image processing.
[0059] S2, determining each visible coiled pipe boundary point in the target pipe arrangement operation image, and calculating the horizontal spacing standard deviation value according to the horizontal spacing between each two adjacent visible coiled pipe boundary points. Where:
[0060] ① Visible coiled tubing boundary points are: coiled tubing boundary points that can be seen by naked eyes in the target tubing operation image. During coiled tubing operation, several thousand meters of rigid oil tubing is wound around the drum one by one, so the coiled tubing drum to be identified contains multiple coiled tubing boundary points.
[0061] ②Horizontal spacing is: the horizontal spacing between two adjacent visible continuous pipe boundary points.
[0062] ③The standard deviation of horizontal spacing is: the standard deviation between all horizontal spacings.
[0063] S3, based on the horizontal spacing standard deviation value, determine the current pipe arrangement state of the coiled tube drum to be identified. Wherein:
[0064] The current pipe drainage status includes: normal pipe drainage status and abnormal pipe drainage status.
[0065] Preferably, the step of determining each visible coiled pipe boundary point in the target pipe arrangement operation image comprises:
[0066] A plurality of one-dimensional convolution value areas with zero grayscale values in the target pipe arrangement operation image are obtained, and each one-dimensional convolution value area with zero grayscale value is determined as a visible continuous pipe boundary point.
[0067] The one-dimensional convolution value area is the area with gray value zero (black). Figure 2 The schematic diagram of the identification of the continuous tube boundary point is shown. Since the horizontal distance between two adjacent continuous tube boundary points is calculated, any one-dimensional convolution value area on a continuous boundary can be taken as a visible continuous tube boundary point.
[0068] Preferably, S3 includes:
[0069] When the standard deviation of the horizontal spacing is less than a preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is a normal pipe arrangement state.
[0070] When the standard deviation of the horizontal spacing is greater than or equal to the preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is an abnormal pipe arrangement state.
[0071] The default value is 2, and can also be set according to actual needs.
[0072] It should be noted that:
[0073] 1) If Figure 3 As shown in Figure 2, for neatly arranged continuous pipes, the standard deviation of horizontal spacing is usually between 1 and 2; Figure 4 As shown, for irregularly arranged continuous pipes, the standard deviation of horizontal spacing is usually between 3 and 7.
[0074] 2) If Figure 5 As shown on the left, for neatly arranged coiled tubes, the extracted horizontal spacing remains roughly uniform except for the layer transitions; Figure 5 As shown on the right, for the chaotically arranged continuous tubes, the extracted horizontal spacing is discretely distributed.
[0075] 3) Among them, con(x) represents the one-dimensional convolution value field, Gray(i, H) is the grayscale matrix, order is the order, and std(x) represents the standard deviation value.
[0076] Preferably, it also includes:
[0077] S4. When the coiled tube drum to be identified is in an abnormal pipe discharging state, controlling the pipe discharging actuator to adjust the coiled tube drum to be identified until the coiled tube drum to be identified reaches a normal pipe discharging state.
[0078] Specifically, when the coiled tube drum to be identified is in an abnormal pipe arrangement state, the pipe arrangement actuator is controlled to move axially in the reverse direction of the pipe winding direction of the coiled tube drum to be identified to tighten the pipes in the coiled tube drum to be identified until the coiled tube drum to be identified reaches a normal pipe arrangement state.
[0079] Figure 6 The overall working principle diagram of this embodiment is shown in FIG. Figure 6 As shown, in this embodiment, the action of the pipe laying actuator is automatically adjusted by the calibrated pipe laying state. If the pipe laying is determined to be neat (in a normal pipe laying state), the pipe laying actuator is kept to execute the action according to the original setting. If the pipe laying is determined to be disordered (in an abnormal pipe laying state), the pipe laying actuator is pushed to move in the opposite direction along the axial direction of the pipe winding direction to tighten the pipe laying in the continuous pipe drum. After the pipe laying is determined to be neat (in a normal pipe laying state), the pipe laying intervention is released to realize the automatic adjustment of the drum pipe laying closed loop.
[0080] Preferably, it also includes:
[0081] S01, obtaining the initial pipe arrangement operation image of the coiled tube drum to be identified at the current moment. Wherein:
[0082] The initial pipe laying operation image is a pipe laying operation image collected in real time by using multiple wide-angle cameras arranged in the operation area of the coiled pipe drum to be identified.
[0083] It should be noted that the wide-angle camera will collect real-time images of the pipe laying operation and send them to the pipe laying identification terminal for storage and image processing.
[0084] S02, performing image grayscale processing and image binarization processing on the initial pipe laying operation image in sequence to obtain the target pipe laying operation image.
[0085] ①The principle of image grayscale processing is:
[0086] [R(x, y)+G(x, y)+B(x, y)] / 3=Gray(x, y); wherein R(x, y) represents the pixel value of the pixel point (x, y) in the R channel, G(x, y) represents the pixel value of the pixel point (x, y) in the G channel, B(x, y) represents the pixel value of the pixel point (x, y) in the B channel, and Gray(x, y) represents the grayscale value corresponding to the pixel point (x, y).
[0087] ②The principle of image binarization processing is:
[0088] Among them, Threshold is a preset pixel value, such as 128; Binary(x, y) represents the pixel value of the pixel point (x, y) after binary processing.
[0089] It should be noted that image grayscale processing specifically includes: histogram equalization, mask cropping, filtering and noise reduction, etc.
[0090] The technical solution of this embodiment can identify the characteristics of the coiled tubing drum, thereby evaluating the coiled tubing state when the coiled tubing is wound in real time, timely predicting and avoiding disorder in the coiled tubing, and improving the use efficiency of the coiled tubing.
[0091] Figure 7 FIG. 2 is a schematic diagram showing a structure of an embodiment of a coiled tube drum arrangement state recognition system 200 provided by the present invention. Figure 7 As shown, the system 200 includes: an acquisition module 210, a processing module 220 and an identification module 230;
[0092] The acquisition module 210 is used to: acquire a target pipe laying operation image of the coiled pipe drum to be identified at the current moment;
[0093] The processing module 220 is used to: determine each visible coiled pipe boundary point in the target pipe arrangement operation image, and calculate the horizontal spacing standard deviation value according to the horizontal spacing between each two adjacent visible coiled pipe boundary points;
[0094] The identification module 230 is used to determine the current pipe arrangement state of the coiled tube drum to be identified based on the horizontal spacing standard deviation value.
[0095] Preferably, the processing module 220 is specifically used for:
[0096] A plurality of one-dimensional convolution value areas with zero grayscale values in the target pipe arrangement operation image are obtained, and each one-dimensional convolution value area with zero grayscale value is determined as a visible continuous pipe boundary point.
[0097] Preferably, the identification module 230 is specifically used for:
[0098] When the standard deviation of the horizontal spacing is less than a preset value, it is determined that the current pipe arrangement state of the coiled tube drum to be identified is a normal pipe arrangement state;
[0099] When the standard deviation of the horizontal spacing is greater than or equal to the preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is an abnormal pipe arrangement state.
[0100] Preferably, it also includes: an adjustment module;
[0101] The adjustment module is used to: when the coiled tube drum to be identified is in an abnormal pipe discharging state, control the pipe discharging actuator to adjust the coiled tube drum to be identified until the coiled tube drum to be identified reaches a normal pipe discharging state.
[0102] Preferably, the method further comprises: a preprocessing module; the preprocessing module is used for:
[0103] Acquire an initial pipe laying operation image of the to-be-identified coiled pipe drum at the current moment;
[0104] The initial pipe laying operation image is subjected to image grayscale processing and image binarization processing in sequence to obtain the target pipe laying operation image.
[0105] The technical solution of this embodiment can identify the characteristics of the coiled tubing drum, thereby evaluating the coiled tubing state when the coiled tubing is wound in real time, timely predicting and avoiding disorder in the coiled tubing, and improving the use efficiency of the coiled tubing.
[0106] The parameters and steps of each module implementing the corresponding functions in the coiled tube drum arrangement state identification system 200 of the present embodiment can refer to the parameters and steps in the embodiment of the coiled tube drum arrangement state identification method above, and will not be described in detail here.
[0107] A storage medium provided in an embodiment of the present invention includes: instructions stored in the storage medium, and when a computer reads the instructions, the computer executes the steps of the method for identifying the state of a coiled tube drum. For details, reference may be made to the parameters and steps in the embodiment of the method for identifying the state of a coiled tube drum, which will not be described in detail herein.
[0108] Computer storage media such as USB flash drives, mobile hard disks, etc.
[0109] An electronic device provided in an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the computer executes the steps of the method for identifying the state of a coiled tube drum. For details, reference may be made to the parameters and steps in the embodiment of the method for identifying the state of a coiled tube drum, which will not be described in detail herein.
[0110] Those skilled in the art will appreciate that the present invention may be implemented as a method, a system, a storage medium, and an electronic device.
[0111] Therefore, the present invention can be specifically implemented in the following forms, that is, it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Any combination of one or more computer-readable media can be used. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present invention, and those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.
Claims
1. A method for identifying the state of coiled tube drum arrangement, characterized in that: include: Acquire a target pipe laying operation image of the coiled pipe drum to be identified at the current moment; Determine each visible coiled pipe boundary point in the target pipe arrangement operation image, and calculate a horizontal spacing standard deviation value according to the horizontal spacing between each two adjacent visible coiled pipe boundary points; Based on the horizontal spacing standard deviation value, the current pipe arrangement state of the to-be-identified coiled tube drum is determined.
2. The method for identifying the coiled tube drum arrangement state according to claim 1, characterized in that: The step of determining each visible coiled pipe boundary point in the target pipe arrangement operation image comprises: A plurality of one-dimensional convolution value areas with zero grayscale values in the target pipe arrangement operation image are obtained, and each one-dimensional convolution value area with zero grayscale value is determined as a visible continuous pipe boundary point.
3. The method for identifying the coiled tube drum arrangement state according to claim 1, characterized in that: The step of determining the current pipe arrangement state of the coiled tube drum to be identified based on the horizontal spacing standard deviation value comprises: When the standard deviation of the horizontal spacing is less than a preset value, it is determined that the current pipe arrangement state of the coiled tube drum to be identified is a normal pipe arrangement state; When the standard deviation of the horizontal spacing is greater than or equal to the preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is an abnormal pipe arrangement state.
4. The method for identifying the coiled tube drum arrangement state according to claim 3, characterized in that: Also includes: When the coiled tube drum to be identified is in an abnormal pipe discharging state, the pipe discharging actuator is controlled to adjust the coiled tube drum to be identified until the coiled tube drum to be identified reaches a normal pipe discharging state.
5. The method for identifying the coiled tube drum arrangement state according to any one of claims 1 to 4, characterized in that: Also includes: Acquire an initial pipe laying operation image of the to-be-identified coiled pipe drum at the current moment; The initial pipe laying operation image is subjected to image grayscale processing and image binarization processing in sequence to obtain the target pipe laying operation image.
6. A coiled tube drum arrangement state recognition system, characterized in that: include: Acquisition module, processing module and recognition module; The acquisition module is used to: acquire the target pipe laying operation image of the coiled pipe drum to be identified at the current moment; The processing module is used to: determine each visible coiled pipe boundary point in the target pipe arrangement operation image, and calculate the horizontal spacing standard deviation value according to the horizontal spacing between every two adjacent visible coiled pipe boundary points; The identification module is used to determine the current pipe arrangement state of the to-be-identified coiled tube drum based on the horizontal spacing standard deviation value.
7. The coiled tube drum arrangement state identification system according to claim 6 is characterized in that: The processing module is specifically used for: A plurality of one-dimensional convolution value areas with zero grayscale values in the target pipe arrangement operation image are obtained, and each one-dimensional convolution value area with zero grayscale value is determined as a visible continuous pipe boundary point.
8. The coiled tube drum arrangement state identification system according to claim 6, characterized in that: The identification module is specifically used for: When the standard deviation of the horizontal spacing is less than a preset value, it is determined that the current pipe arrangement state of the coiled tube drum to be identified is a normal pipe arrangement state; When the standard deviation of the horizontal spacing is greater than or equal to the preset value, it is determined that the current pipe arrangement state of the to-be-identified coiled tube drum is an abnormal pipe arrangement state.
9. A storage medium, characterized in that: The storage medium stores instructions, and when a computer reads the instructions, the computer executes the method for identifying the coiled tube drum arrangement state according to any one of claims 1 to 5.
10. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the method for identifying the coiled tube drum arrangement state according to any one of claims 1 to 5 are implemented.