Coiled tubing automatic tube arrangement compensation control system and method based on image recognition

Abstract

The invention belongs to the field of petroleum drilling and production mechanical equipment, and provides a continuous oil pipe automatic pipe arrangement compensation control system and method based on image recognition, and the system comprises an image recognition module which is arranged on a pipe arrangement transmission structure and is used for monitoring the posture of a continuous oil pipe in the winding or arrangement process in real time to obtain a deflection angle error; the pipe arranging transmission structure is arranged between the retaining seats on the two sides of the roller and is used for guiding, transmitting and supporting the coiled tubing in the winding or arranging process of the coiled tubing on the roller; and the calandria compensation control module is used for performing linkage transmission on a middle compensation shaft in the calandria transmission structure and a compensation motor mounted on a skid-mounted device through a synchronous belt, and controlling the compensation motor to automatically adjust calandria transmission according to the error deflection angle monitored by the image recognition module so as to correct the oil pipe deviation. According to the invention, posture monitoring and automatic correction of the coiled tubing in the winding and arranging process are realized, and the defects of irregular pipe arrangement, high manual adjustment and maintenance cost and the like in the traditional technology are overcome.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil drilling and production mechanical equipment, and particularly relates to a coiled tubing automatic pipe arrangement compensation control system and method based on image recognition. Background Technique

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] In industries such as oil and gas exploitation, coiled tubing systems are widely used in downhole operations. Coiled tubing is usually flexible and prone to problems such as uneven pipe arrangement, uneven stress, and even strain or excessive bending during the process of winding or unwinding on the drum. To ensure that the coiled tubing can be discharged or recovered neatly from the coiled tubing winding drum, precise control of the pipe arrangement process is crucial. However, most traditional coiled tubing drum pipe arrangements rely on manual forced pipe arrangement processes, which not only have high labor intensity and low efficiency but also pose relatively high safety risks. With the rapid development of artificial intelligence technology, especially image processing technology, applying it to the design of coiled tubing drum pipe arrangement devices can greatly improve the automation and intelligence levels of coiled tubing operations, thereby enhancing operation efficiency and safety.

[0004] Currently, the Chinese invention patent with the publication number CN103711448B discloses a coiled tubing operation machine drum pipe arrangement conversion device and its control system, the Chinese patent with the publication number CN212584039U discloses a hydraulic device for controlling forced pipe arrangement in coiled tubing equipment, and the Chinese invention patent with the publication number CN111677467A discloses a heavy-duty coiled tubing pipe inverter. The above Chinese patents all require operators to realize the rapid switching between the automatic pipe arrangement and manual forced pipe arrangement functions through a hydraulic remote control platform, and the operator needs to operate a manual operating handle for the forced pipe arrangement function, and adjust the positions of the pipe arrangement device and the guide assembly at any time according to the position of the coiled tubing extraction point in the width direction of the transport drum to ensure the smooth extraction of the coiled tubing.

[0005] In addition, the Chinese patent with the application number CN202320294784.8 relates to a wireless remote control system for the large drum pipe arrangement arm of coiled tubing equipment. The electromagnetic directional valve controls the telescoping of the lifting device to adjust the rotation of the pipe arrangement arm, and the electric control box controls the rotation of the lead screw and the rotation of the drum. Since the electric control box is connected to the remote controller through a wireless signal, workers can adjust the working states of the drum, pipe arrangement arm, guide, and forced discharge motor through the handheld remote controller, thereby ensuring the neat discharge of the tubing and enabling the winding of more coiled tubing.

[0006] In the process of implementing the above invention, since the current common technical solutions are all manual forced pipe arrangement, on the one hand, many subjective human factors are involved in the process of manual forced pipe arrangement by the operator. It is difficult to observe the optimal position of the guide during the pipe arrangement process of the drum, which increases the operation difficulty of the operators in the operation room. On the other hand, the execution standards for manual forced pipe arrangement in most patents are very vague, lacking a quantitative value to evaluate the pipe arrangement process, further resulting in uneven discharge and incorrect winding of the coiled tubing, which has a serious impact on the subsequent equipment operation. Summary of the Invention

[0007] To solve the above problems, the present invention proposes an automatic coiled tubing pipe arrangement compensation control system and method based on image recognition, which reduces the labor input of manual forced pipe arrangement, evaluates whether the pipe arrangement is neat based on the error deflection angle of the coiled tubing, and realizes the recognition and compensation control of the coiled tubing pipe arrangement process.

[0008] According to some embodiments, the first solution of the present invention provides an automatic coiled tubing pipe arrangement compensation control system based on image recognition, adopting the following technical solutions: The automatic coiled tubing pipe arrangement compensation control system based on image recognition includes: An image recognition module, which is arranged on the pipe arrangement transmission structure to monitor the posture of the coiled tubing during the winding or discharging process in real time and obtain the deflection error; A pipe arrangement transmission structure, which is arranged between the holding seats on both sides of the drum to guide, drive and support the coiled tubing during the winding or discharging process of the coiled tubing on the drum; A pipe arrangement compensation control module, which drives the intermediate compensation shaft in the pipe arrangement transmission structure and the compensation motor installed on the skid through a synchronous belt in a linkage manner, and controls the compensation motor to automatically adjust the pipe arrangement transmission according to the error deflection angle monitored by the image recognition module to correct the pipe deviation.

[0009] Furthermore, the image recognition module includes a camera three-dimensional adjustment mechanism, and the camera three-dimensional adjustment mechanism is installed above the guide head in the pipe arrangement transmission structure; A laser indicator is arranged on the camera three-dimensional adjustment mechanism, and the laser indicator points to the coiled tubing outlet section to ensure that the coiled tubing outlet section in the collected image is located at the center of the image.

[0010] Furthermore, the pipe arrangement transmission structure includes a forward transmission component, a reverse transmission component and an intermediate compensation shaft connecting the two; The forward transmission component is connected to the first holding seat through the first bearing seat and rotates forward relative to the first holding seat; and the forward transmission component is connected to one end of the intermediate compensation shaft through the first electromagnetic clutch; The reverse transmission assembly is connected to the second holder through the second bearing block and rotates in the reverse direction relative to the second holder; the reverse rotation assembly is connected to the other end of the intermediate compensation shaft through the second electromagnetic clutch; Between the forward transmission assembly and the reverse transmission assembly, a lead screw parallel to the intermediate compensation shaft is further provided.

[0011] Further, the forward transmission assembly includes two meshing forward gears. Among them, the first forward gear is connected to the first electromagnetic clutch, and the second forward gear is sleeved and installed on the lead screw; A passive sprocket is further sleeved on one end of the intermediate compensation shaft close to the first electromagnetic clutch, and the passive sprocket is connected to the central shaft of the drum through a transmission chain.

[0012] Further, the reverse transmission assembly includes three pairwise meshing reverse gears. Among them, the first reverse gear is connected to the second electromagnetic clutch, the third reverse gear is sleeved and installed on the lead screw, and a second reverse gear meshing with both of them is further provided between the first reverse gear and the third reverse gear.

[0013] Further, a guiding device is rotatably connected to the lead screw, and a guiding shaft parallel to the lead screw is further provided above the lead screw. Both ends of the guiding shaft are respectively fixed on the holders on both sides of the drum; The guiding device includes a guiding nut which is threadedly connected to the lead screw; fixing frames are respectively fixed at four corner positions on the upper table surface of the guiding nut, and the fixing frames are connected with a guiding wheel set across the guiding shaft; The guiding wheel set is arranged inside the guiding shaft to move horizontally inside the guiding shaft following the guiding nut.

[0014] Further, a second synchronous pulley is fixed on the intermediate compensation shaft, and a first synchronous pulley is fixed on the output shaft of the compensation motor; A synchronous belt is meshed on the first synchronous pulley and the second synchronous pulley.

[0015] According to some embodiments, the second solution of the present invention provides a continuous coiled tubing automatic pipe laying compensation control method based on image recognition, adopting the following technical solution: The continuous coiled tubing automatic pipe laying compensation control method based on image recognition uses the continuous coiled tubing automatic pipe laying compensation control system described in the first solution, including: The attitude of the continuous coiled tubing during winding or discharging is monitored in real time through an image recognition module to determine the coiled tubing deflection reference and the real-time error deflection angle; If the deflection error between the real-time deflection angle and the deflection reference is greater than the set threshold, the rotation speed of the compensation motor is controlled by a PID controller. The adjustment of the compensation motor drives the intermediate compensation shaft, and then the position of the guiding device is adjusted by the change of the intermediate compensation shaft to control the deflection error within the threshold range.

[0016] Further, the attitude of the coiled tubing during winding or discharging is monitored in real time by the image recognition module to determine the coiled tubing deflection reference and the real-time deflection error angle, specifically as follows: Before the drum starts, the positions of the first cross-section and the second cross-section of the coiled tubing outlet section are collected and fitted, and the deflection reference is recorded. After the drum starts, the real-time deflection error angle of the coiled tubing outlet section is continuously monitored.

[0017] Further, the positions of the first cross-section and the second cross-section of the coiled tubing outlet section are collected and fitted, and the deflection reference is recorded, specifically as follows: Collect the image of the coiled tubing outlet section; Preprocess the image of the coiled tubing outlet section to extract the gray-scale distribution information of the coiled tubing outlet section; Based on the gray-scale distribution information of the coiled tubing outlet section, determine the coiled tubing cross-section close to the drum as the first cross-section, and determine the coiled tubing cross-section close to the guide head as the second cross-section; Perform Gaussian fitting on the first cross-section and the second cross-section to determine the coordinate positions of the centers of the first cross-section and the second cross-section; Perform linear fitting on the coordinate positions of the centers of the first cross-section and the second cross-section to obtain the deflection reference of the coiled tubing outlet section.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention can realize the detection of the coiled tubing deflection error. By adjusting the camera three-dimensional adjustment mechanism and Gaussian fitting, the attitude parameters of both ends of the coiled tubing outlet section in the image can be obtained online in real time, eliminating the detection error caused by the coiled tubing relaxation angle in the middle section, and improving the accuracy of the detected deflection angle.

[0019] The present invention can realize efficient and flexible pipe discharging transmission and layout. By using multiple structures such as jaw electromagnetic clutches, forward and reverse gear meshing, and intermediate compensation shafts, it ensures that the devices do not interfere with each other in space and realizes the controllable adjustment of the pipe discharging transmission and the guiding device commutation process.

[0020] The fast compensation system of the present invention can quickly eliminate the deflection error by real-time adjustment of the compensation motor through a PID controller and a proportional relief valve, ensuring that the coiled tubing can be neatly and effectively discharged during operation and effectively extending the service life of the coiled tubing.

[0021] The present invention is based on image recognition technology, combined with a flexible pipe arrangement drive structure and an intelligent compensation control system, realizing attitude monitoring and automatic correction of coiled tubing during the winding and pipe arrangement processes, overcoming the defects of uneven pipe arrangement, high manual adjustment and maintenance costs in traditional technologies, and can be widely applied to oil and gas downhole operations and other industrial fields that require the use of coiled tubing or similar flexible pipes, with high economic and social value. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings forming a part of this invention are used to provide a further understanding of the invention. The schematic embodiments and descriptions thereof of the invention are used to explain the invention and do not constitute an improper limitation of the invention.

[0023] Figure 1 FIG. 1 is a schematic structural diagram of a perspective view one of an automatic coiled tubing pipe arrangement compensation control system based on image recognition in an embodiment of the present invention; Figure 2 FIG. 2 is a schematic structural diagram of a perspective view two of an automatic coiled tubing pipe arrangement compensation control system based on image recognition in an embodiment of the present invention; Figure 3 FIG. 3 is a schematic position diagram of an image recognition module in an embodiment of the present invention; Figure 4 FIG. 4 is a schematic principle flow chart of an image recognition module in an embodiment of the present invention; Figure 5 FIG. 5 is a schematic diagram of an angle error in an embodiment of the present invention; Figure 6 FIG. 6 is a schematic structural diagram of a coiled tubing drive structure in an embodiment of the present invention; Figure 7 FIG. 7 is a schematic diagram of a guiding device in an embodiment of the present invention; Figure 8 FIG. 8 is a schematic cross-sectional diagram of a pipe arrangement compensation control module in an embodiment of the present invention; Figure 9 FIG. 9 is a schematic principle flow chart of a pipe arrangement compensation control module in an embodiment of the present invention; In the figures: 1 - Image recognition module, 101 - Three - dimensional camera adjustment mechanism, 102 - Guide head, 103 - Laser indicator, 104 - Coiled tubing export section, 105 - First cross - section 1, 106 - Second cross - section 2, 107 - Drum, 108 - Capture range, 116 - Coiled tubing deflection reference, 117 - Real - time error deflection, 118 - Deflection error, 2 - Pipe - arranging drive structure, 201 - Intermediate compensation shaft, 202 - Second electromagnetic clutch, 203 - First electromagnetic clutch, 204 - Passive sprocket, 205 - First positive gear, 206 - Second positive gear, 207 - First reverse gear, 208 - Second reverse gear, 209 - Third reverse gear, 210 - Lead screw, 211 - First holder, 212 - Second holder, 213 - 217 - Bearing seats, 218 - Second reverse gear shaft, 250 - Guide device, 251 - Guide nut, 252 - Guide shaft, 253 - 256 - Fixing brackets, 257 - 260 - Connecting rods, 261 - 264 - Rollers, 3 - Pipe - arranging compensation control module, 301 - Compensation motor, 302 - First synchronous pulley, 303 - Second synchronous pulley, 304 - Timing belt, 305 - PID controller, 306 - Proportional relief valve, 307 - Motion error or external interference, 400 - Skid - mounted unit. Detailed implementation manners

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0026] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0027] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0028] Embodiment 1 As Figure 1 and Figure 2 shown, this embodiment provides a coiled tubing automatic pipe - arranging compensation control system based on image recognition, including: The image recognition module 1 is arranged on the pipe arranging transmission structure to monitor the posture of the coiled tubing in the winding or discharging process in real time and obtain the deflection angle error; it is used for real-time acquisition and processing of the images of the coiled tubing outlet section; a camera three-dimensional adjustment mechanism is arranged above the coiled tubing guide head and is equipped with a laser indicator to accurately align the image acquisition area with the coiled tubing outlet section, so that the coiled tubing is located in the middle area of the image acquisition. The pipe arranging transmission structure 2 is arranged between the holding seats on both sides of the drum to guide, drive and support the tubing during the winding or discharging of the coiled tubing on the drum; through the cooperation of transmission components such as the intermediate compensation shaft, clutch, and gear with the guiding device, it provides mechanical support and synchronous guidance for the winding and pipe arranging of the coiled tubing on the drum. The pipe arranging compensation control module 3 drives the intermediate compensation shaft in the pipe arranging transmission structure and the compensation motor installed on the skid through a synchronous belt for linkage transmission. According to the deflection angle error monitored by the image recognition module, it controls the compensation motor to automatically adjust the pipe arranging transmission to correct the deflection angle error of the tubing; it automatically adjusts and compensates the error deflection angle according to the image recognition result to ensure the neatness of the pipe arrangement.

[0029] As Figure 2 and Figure 6 shown, the drum motor is located on one side of the drum 107 and drives the drum to rotate through the sprocket group 1. On the other side of the drum, the power is transmitted to the intermediate compensation shaft 201 through the sprocket group 2, that is, the passive sprocket 204. The process of the drum motor transmitting power to the intermediate compensation shaft through the sprocket group 1 and the sprocket group 2 is only for introducing the power source of the intermediate compensation shaft and is not what this case intends to protect, so it will not be elaborated in detail here.

[0030] Among them, as Figure 3 and Figure 4 shown, the image recognition module 1 includes a camera three-dimensional adjustment mechanism 101. The camera three-dimensional adjustment mechanism 101 is arranged above the guide head 102 of the coiled tubing. The camera three-dimensional adjustment mechanism 101 is equipped with a laser indicator 103, and the laser indicator 103 points to the flexible coiled tubing outlet section 104 to ensure that the coiled tubing outlet section 104 in the acquired image is located at the center of the image and correctly extracts the gray scale distribution 111 of the coiled tubing to ensure that the coiled tubing outlet section in the acquired image is located at the center of the image.

[0031] In this embodiment, the installation position of the camera three-dimensional adjustment mechanism 101 is not limited to directly above the guiding device 250. According to the needs of the on-site space and structural layout, the camera three-dimensional adjustment mechanism 101 can also be installed on the side or at a moderately offset position. Any structure of the camera three-dimensional adjustment mechanism 101 that can adjust the angle of the camera is acceptable. It is well-known to those skilled in the art and is not the focus of protection in this case, so it will not be elaborated in detail here. Moreover, the camera is fixed on the camera three-dimensional adjustment mechanism.

[0032] The laser indicator 103 is arranged coaxially or parallel to the camera three-dimensional adjustment mechanism 101, and is used to quickly locate the tubing outlet section 104, so that the image acquisition area 108 is centered and aligned with the coiled tubing outlet section 104.

[0033] The installation position of the camera three-dimensional adjustment mechanism 101 is not limited to directly above the guide head 102. As long as the camera can capture the flexible coiled tubing outlet section 104 and it is located in the center of the image, it falls within the protection scope of this claim. The camera three-dimensional adjustment mechanism can be flexibly arranged and is not limited to being installed on the guiding device, as long as it meets the requirement that the camera can capture the coiled tubing outlet section.

[0034] The image recognition module 1 further includes a processor. The processor is electrically connected to the camera to obtain the image of the coiled tubing outlet section collected by the camera, and processes the image of the coiled tubing outlet section to obtain the final real-time deflection error. It can be understood that the processor can adopt a conventional product in the prior art. The specific processing process of the processor includes: An image preprocessing and recognition method, which extracts the gray-scale distribution of the flexible coiled tubing outlet section through the image preprocessing method, and uses Gaussian fitting to determine the central position parameters of the first cross-section 1 and the second cross-section 2 of the flexible coiled tubing. The first cross-section 1 is the cross-section of the coiled tubing close to the drum, and the second cross-section 2 is the cross-section of the coiled tubing close to the guide head.

[0035] After the image captured by the camera three-dimensional adjustment mechanism 101 is preprocessed, the gray-scale distribution of the outer shape of the tubing outlet section can be obtained. The specific steps of the image preprocessing are well-known to those skilled in the art and are not the focus of protection in this case, so it will not be elaborated in detail here.

[0036] Such as Figure 4As shown in the figure, the processing of the processor includes three recognition processes: image acquisition 110, preprocessing 111, and recognition section 112. The image acquisition 110 is to acquire the export section of the coiled tubing. The image preprocessing 111 is used to extract the gray-scale distribution information of the flexible coiled tubing export section. The image recognition section 112 performs Gaussian fitting 113 on the first cross-section 1 and the second cross-section 2 of the gray-scale distribution of the coiled tubing export section, determines the coordinate positions 114 of the center of the first cross-section 1 and the center of the second cross-section 2 of the gray-scale distribution of the coiled tubing export section, and performs linear fitting 115 on the position parameters of the center of the first cross-section 1-105 and the center of the second cross-section 2-106 to obtain the deflection angle reference 116 of the coiled tubing export section before the device starts. The first cross-section 1-105 is close to the guide head 102, and the second cross-section 2-106 is close to the drum 107. During the real-time operation process, whenever the coiled tubing is wound unevenly and causes the attitude deformation of the export section, the deflection angle error 118 can be calculated by comparing the reference line 116 with the current real-time error deflection angle 117.

[0037] The image recognition module 1 can, after the device starts, online detect the real-time error deflection angle 117 generated when the export section of the coiled tubing is unevenly wound due to external interference or relative motion errors of the drum and the guiding device or external interference 307. As Figure 5 shown, the deflection angle error 118 is determined by the difference between the deflection angle reference 116 recorded before the coiled tubing starts and the real-time error deflection angle 117, and is affected by the camera shooting range. By adjusting the position of the camera three-dimensional adjustment mechanism 101 to enlarge the capture range 108, a longer coiled tubing export section can be obtained, so that the detected deflection angle error is more accurate 119.

[0038] The connection line between the center of cross-section 1 and the center of cross-section 2 is regarded as the deflection angle reference 116 of the coiled tubing export section. This baseline is recorded before the device starts and used as the deflection angle calibration reference.

[0039] When the tightness of the coiled tubing changes or a slack angle appears, the Gaussian fitting can still be used to reduce the positioning error caused by external deformation and improve the accuracy of the real-time deflection angle detection of the tubing.

[0040] Online detect the deflection angle difference of the coiled tubing relative to the baseline before startup. The deflection angle error is affected by the coiled tubing export section captured by the camera. By appropriately increasing the shooting range, a longer coiled tubing export section can be captured, improving the accuracy and authenticity of the measurement of the deflection angle error.

[0041] The deflection angle error of the coiled tubing export section occurs when there is external interference or relative misalignment of the drum and the guiding device, that is, the phenomenon of uneven pipe arrangement is caused.

[0042] The image processing module is also connected to the pipe arrangement compensation control module through a wireless connection, and is used to send the deflection error obtained after image processing to the pipe arrangement compensation control module.

[0043] As Figure 6 shown, the pipe arrangement transmission structure 2 includes a forward transmission assembly, a reverse transmission assembly, and an intermediate compensation shaft 201 connecting the two; The forward transmission assembly is connected to the first holder 211 through the first bearing block and rotates forward relative to the first holder; and the forward transmission assembly is connected to one end of the intermediate compensation shaft through the first electromagnetic clutch 203; the first bearing block includes two bearing blocks 213, 214.

[0044] The reverse transmission assembly is connected to the second holder 212 through the second bearing block and rotates in the reverse direction relative to the second holder; the reverse rotation assembly is connected to the other end of the intermediate compensation shaft through the second electromagnetic clutch 202; the second bearing block includes three bearing blocks 215, 216, 217.

[0045] It can be understood that this embodiment includes five bearing blocks 213-217, where the bearing blocks 213 and 214 are the first bearing blocks, and the bearing blocks 215, 216, and 217 are the second bearing blocks.

[0046] Between the forward transmission assembly and the reverse transmission assembly, a lead screw 210 parallel to the intermediate compensation shaft is also provided.

[0047] The forward transmission assembly includes two meshing forward gears, where the second forward gear 206 is sleeved on the lead screw 210, and the first forward gear 205 is connected to the first electromagnetic clutch 203; One end of the intermediate compensation shaft 201 close to the first electromagnetic clutch 203 is also sleeved with a passive sprocket 204, and the passive sprocket is connected to the central axis of the drum 107 through a transmission chain. Among them, the first electromagnetic clutch and the second electromagnetic clutch can be, but are not limited to, jaw-type electromagnetic clutches.

[0048] The reverse transmission assembly includes three pairwise meshing reverse gears, where the first reverse gear 207 is connected to the second electromagnetic clutch 202, the third reverse gear 209 is sleeved on the lead screw 210, and a second reverse gear 208 meshing with both is also provided between the first reverse gear 207 and the third reverse gear 209.

[0049] A guiding device 250 is rotatably connected to the lead screw 210, and a guiding shaft 252 parallel to the lead screw is also provided above the lead screw 210, and both ends of the guiding shaft 252 are fixed on the holders on both sides of the drum.

[0050] The first retaining seat 211 has a first bearing seat 1-214 and a first bearing seat 2-213, and the second retaining seat 212 has a second bearing seat 1-217, a second bearing seat 2-216, and a second bearing seat 3-215. Self-aligning roller bearings are installed in all bearing seats to ensure the rotational stability and concentricity of the shaft.

[0051] The intermediate compensation shaft 201 is the core component for realizing the power distribution and compensation of the pipe row. The two ends of the intermediate compensation shaft 201 are respectively fixed in the second electromagnetic clutch 202 and the first electromagnetic clutch 203. A second electromagnetic clutch -202 is installed at the left end of the intermediate compensation shaft 201. A first reverse gear 207 is installed at the left end of the second electromagnetic clutch -202. The left end of the first reverse gear is the second bearing seat 1-217. The first reverse gear -207 meshes with the second reverse gear 208. The second reverse gear shaft 218 of the second reverse gear 208 is fixed in the second bearing seat 2-216 in a cantilever manner. The second reverse gear 208 meshes with the third reverse gear 209. The third reverse gear 209 is installed on the optical axis of the lead screw 210, forming a transmission chain that can reversely transmit the axial power to the lead screw 210 for realizing the reverse transmission of the rotation of the lead screw and introducing the power into the lead screw. It can be understood that the second electromagnetic clutch 202 connects the intermediate compensation shaft and the first forward gear shaft of the first forward gear 207, and the first electromagnetic clutch 203 connects the intermediate compensation shaft and the first reverse gear shaft of the first reverse gear 205. When reversing is required, taking the forward-to-reverse conversion as an example, the intermediate compensation shaft is disconnected from the first forward gear 207 through the second electromagnetic clutch 202, and then the first electromagnetic clutch 203 is connected to the first reverse gear 205.

[0052] A driven sprocket 204 is installed at the right end of the intermediate compensation shaft 201. A first electromagnetic clutch -203 is installed at the right end of the driven sprocket. A first forward gear 205 is installed on the right side of the first electromagnetic clutch 203. The right end of the first forward gear 205 is the first bearing seat 1-214. The first forward gear 205 meshes with the second forward gear 206. The second forward gear 206 is installed on the optical axis of the lead screw 210, thereby completing the forward transmission of the lead screw in the other direction and introducing the power into the lead screw.

[0053] By separating or combining the electromagnetic clutches 202 and 203, the reverse or forward transmission group can be selectively connected to the intermediate compensation shaft to meet the transmission requirements in different directions and different working stages, and the power can also be cut off in case of emergency.

[0054] A guiding device 250 is rotatably connected to the lead screw 210. A guiding shaft 252 parallel to the lead screw is further arranged above the lead screw 210. The two ends of the guiding shaft 252 are respectively fixed on the retaining seats on both sides of the roller 107. As Figure 7 shown, the guiding device 250 includes a guiding nut 251 which is in threaded connection with the lead screw; At four corner positions of the upper end surface of the guiding nut 251, a fixing bracket 253 - 256 is respectively fixed, and the fixing bracket is connected with a guiding wheel set across the guiding shaft 252; The guiding wheel set is arranged in the guiding shaft 252 to move horizontally in the guiding shaft 252 following the guiding nut 251.

[0055] As Figure 6 and Figure 7 shown, the guiding device 250 includes a guiding nut 251, a guiding head 25, fixing brackets 1 - 4 (253 - 256), connecting rods 1 - 4 (257 - 260), and rollers 1 - 4 (261 - 264); The guiding nut 251 is a special-shaped structure that is narrower at the bottom and wider at the top. At the four corners of the wider surface of the guiding nut 251, there are four bosses and holes for the fixing brackets 1 - 4 (253 - 256) to be inserted or fastened. The guiding head 252 is connected through a cylindrical boss in front of the guiding nut 251, and the pitching adjustment of the guiding head 252 relative to the guiding nut 251 can be realized.

[0056] The guiding wheel set includes connecting rods 1 - 4 (257 - 260). The fixing brackets 1 - 4 (253 - 256) are respectively connected to the connecting rods 1 - 4 (257 - 260). Between the connecting rods 1 - 2 (257 - 258), rollers 1 - 2 (261 - 262) are provided. Between the connecting rods 3 - 4 (259 - 260), rollers 3 - 4 (263 - 264) are provided. The rollers 1 - 4 (261 - 264) move horizontally on the guiding shaft 252 following the guiding nut 251. The connecting rods and the guiding wheel set move synchronously on the guiding shaft 252 to guide the flexible coiled tubing to pass through smoothly and wind or discharge with the drum. Among them, the structures of the guiding shaft and the rollers are adapted to enable the rollers to move within the guiding shaft.

[0057] The cooperation of two pairs of positive gears and three pairs of reverse gears in the pipe arranging transmission structure and the electromagnetic clutch realize the commutation of the guiding device on the lead screw.

[0058] As Figure 8 and Figure 9As shown in the figure, the pipe row compensation control 3 includes a compensation motor 301, a first synchronous pulley 302, a second synchronous pulley 303 and a toothed synchronous belt 304. The compensation motor 301 is installed on the skid-mounted unit 400 of the drum equipment and is linked with the intermediate compensation shaft 201 through the synchronous belt 304. Based on the intermediate compensation shaft 201, the lateral movement of the guiding device 250 on the lead screw 210 is controlled through the gear transmission of the reverse transmission assembly or the forward transmission assembly, so as to correct the deflection angle error 118. There is no interference between the synchronous belt 304 and the special-shaped guiding nut 251, which can ensure the lateral movement of the guiding device 250 on the lead screw 210. A second synchronous pulley 303 is fixed on the intermediate compensation shaft 210, and a first synchronous pulley 302 is fixed on the output shaft of the compensation motor 301; a synchronous belt is engaged on the first synchronous pulley 302 and the second synchronous pulley 303. Among them, the first synchronous pulley and the second synchronous pulley can be, but are not limited to, arc-tooth synchronous pulleys, and the corresponding synchronous belt can also be, but is not limited to, arc-tooth synchronous belts, as long as it is adapted to the synchronous pulley.

[0059] The working principle of the pipe row compensation control is that when the deviation between the real-time error deflection angle 117 of the coiled tubing image recognition and the coiled tubing deflection angle reference 116 before the device starts reaches a preset threshold, the proportional overflow valve 306 is adjusted through the PID controller 305, so as to control the forward and reverse rotation of the compensation motor 301 to correct the pipe row deviation.

[0060] Install a compensation motor on the skid-mounted platform of the drum equipment, and connect it to the intermediate compensation shaft through the first synchronous pulley, the second synchronous pulley and the synchronous belt to realize the forward and reverse drive compensation of the intermediate compensation shaft.

[0061] Compare the real-time error deflection angle obtained by image recognition with the reference deflection angle recorded before starting. If the deflection angle error exceeds a certain threshold, the proportional overflow valve is adjusted through PID control, so as to control the forward and reverse rotation speed and direction of the compensation motor. The cooperation between the action of the compensation motor and the intermediate compensation shaft and the electromagnetic clutch can realize the precise correction of the coiled tubing angle under different working conditions. The above process can quickly eliminate the cumulative error of the tubing deflection angle, improve the flatness of the pipe row, and avoid damage to the tubing due to excessive pulling or extrusion, affecting the use of subsequent equipment.

[0062] The deflection angle error 118 is affected by the length 104 of the coiled tubing export section captured by the camera. The longer the length of the coiled tubing covered in the camera's field of view, the more sufficient gray-scale distribution information can be obtained, and the recognition accuracy of the real-time error deflection angle 117 of the coiled tubing can be improved. If there are restrictions on the space size at the operation site, the recognition effect can also be ensured by configuring a camera with a higher resolution or a better angle.

[0063] When the deviation angle error 118 detected by the image recognition module 1 exceeds the preset threshold, the compensation motor 301 can rotate forward or backward under the control signal instruction, enabling the intermediate compensation shaft 201 to achieve corresponding adjustments, adjusting the relative position between the adjustment guiding device 250 and the drum 107, making the real-time error deviation angle reach the deviation angle reference line, and making the pipe arrangement neat.

[0064] Combined with the PID controller 305, a closed-loop feedback control is performed on the real-time deviation angle error, and the output signal is used to drive the proportional overflow valve 306 to control the working state of the compensation motor 301. The PID controller 305 can control the real-time error deviation angle to better reach the deviation angle reference line.

[0065] When the deviation angle error 118 is larger and exceeds the set threshold, the control system will increase the compensation intensity of the compensation motor 301 to quickly correct the posture of the oil pipe; when the error 118 decreases to a reasonable range and is less than the threshold, the compensation will be automatically reduced or stopped to save energy consumption and reduce mechanical shock.

[0066] When the coiled tubing is in the winding working condition, the first electromagnetic clutch 203 is disengaged, and the second electromagnetic clutch 202 is engaged. The intermediate compensation shaft 201 transmits the power to the lead screw 210 through the reverse gears 207 - 209, causing the adjustment guiding device 250 to move laterally towards the reverse gears 207 - 209. If there are motion errors due to external interference or the drum and the adjustment guiding device at this time, the image recognition module will detect the real-time error deviation angle 117 online. When the absolute value of the error deviation angle reaches the set threshold, the third electromagnetic clutch is disengaged (the third clutch is on the drum shaft, and its function is to disconnect the transmission with the drum when the pipe arrangement structure is being compensated), and the first electromagnetic clutch and the second electromagnetic clutch remain in their original states. The position of the adjustment guiding device 250 is adjusted by the forward and reverse rotation of the compensation motor 301 through the PID controller 305, thereby correcting the generated deviation angle error 118. If the detected error deviation angle is opposite to the above error deviation angle, the second electromagnetic clutch 202 is disengaged, and the first electromagnetic clutch 203 is engaged to correct the error in the reverse direction. When in the discharging working condition, it is the same as above.

[0067] When the coiled tubing winds one layer on the drum, the position of the second cross-section 2 - 106 will rise relatively. Through the telescoping of the boom arms on both sides of the drum, the first cross-section 1 - 105 and the second cross-section 2 - 106 can rise synchronously, ensuring that the camera can accurately capture the leading section of the coiled tubing. Among them, the specific structure of the telescoping of the boom arms on both sides of the drum is well-known to those skilled in the art and is not the key point to be protected in this case, so it will not be elaborated in detail here.

[0068] When the guide device 250 needs to change direction, the first electromagnetic clutch 203 is closed, the second electromagnetic clutch 202 is disconnected, and the intermediate compensation shaft 201 transmits power to the screw 210 through the forward gears 205 and 206, so that the guide device 250 moves in the opposite direction to the forward gears 205 and 206.

[0069] The compensation control system is as follows Figure 9 As shown, the control system was simulated and analyzed, and it was found that the closed-loop control system involved has a certain reliability.

[0070] Pre-startup stage: the system first collects and fits the position of the first section 1 - 105 and the second interface 2 - 106 of the coiled tubing lead-out section, and records the deflection reference 116 .

[0071] Winding or discharge stage: the image recognition module 1 continuously monitors the real-time error deflection angle 117 of the oil pipe. If there is a significant deviation, the compensation motor 301 is triggered to adjust through signal transmission; the transmission structure 2 synchronously changes the position of the guide device 250 or, thereby controlling the deflection angle error within the threshold range.

[0072] Embodiment 2 This embodiment provides a method for controlling the automatic arrangement and compensation of coiled tubing based on image recognition, using the automatic arrangement and compensation control system of coiled tubing based on image recognition described in Embodiment 1, including: The image recognition module is used to monitor the posture of the coiled tubing in the winding or discharge process in real time, and determine the coiled tubing deflection reference and real-time error deflection; If the deflection error between the real-time error deflection and the deflection reference is greater than the set threshold, the speed of the compensation motor is controlled by the PID controller, the compensation motor is adjusted to drive the intermediate compensation shaft, and the position of the guide device is adjusted using the change in the intermediate compensation shaft to control the deflection error within the threshold range.

[0073] Furthermore, the posture of the coiled tubing during winding or discharging is monitored in real time by the image recognition module to determine the coiled tubing deflection reference and real-time error deflection, specifically: Before the drum is started, the positions of the first and second sections of the coiled tubing lead-out section are collected and fitted, and the deflection reference is recorded; After the drum is started, the real-time error angle of the coiled tubing lead-out section is continuously monitored.

[0074] Furthermore, the positions of the first section and the second section of the coiled tubing lead-out section are collected and fitted, and the deflection reference is recorded, specifically: Collect images of the coiled tubing export section; Preprocess the image of the coiled tubing lead-out section to extract the grayscale distribution information of the coiled tubing lead-out section; Based on the gray-scale distribution information of the coiled tubing export section, determine the coiled tubing cross-section near the drum as the first cross-section, and determine the coiled tubing cross-section near the guide head as the second cross-section; Perform Gaussian fitting on the first cross-section and the second cross-section to determine the coordinate positions of the centers of the first cross-section and the second cross-section; Perform linear fitting on the coordinate positions of the centers of the first cross-section and the second cross-section to obtain the declination reference of the coiled tubing export section.

[0075] Although the specific embodiments of the present invention have been described in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that, based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. The coiled tubing automatic arrangement compensation control system based on image recognition is characterized by: include: An image recognition module is provided on the pipe laying transmission structure to monitor the posture of the coiled tubing in the winding or discharging process in real time to obtain the deflection error; The pipe laying transmission structure is arranged between the retaining seats on both sides of the drum to guide, drive and support the continuous tubing during winding or laying on the drum; The pipe compensation control module drives the intermediate compensation shaft in the pipe transmission structure and the compensation motor installed on the skid through a synchronous belt. According to the error angle monitored by the image recognition module, the compensation motor is controlled to automatically adjust the pipe transmission to correct the oil pipe deviation.

2. The automatic coiled tubing compensation control system based on image recognition according to claim 1, characterized in that: The image recognition module includes a camera three-dimensional adjustment mechanism, and the camera three-dimensional adjustment mechanism is installed above the guide head in the pipe transmission structure; The camera three-dimensional adjustment mechanism is provided with a laser pointer, and the laser pointer points to the coiled tubing lead-out section to ensure that the coiled tubing lead-out section in the captured image is located at the center of the image.

3. The automatic coiled tubing compensation control system based on image recognition according to claim 1, characterized in that: The pipe transmission structure includes a forward transmission component, a reverse transmission component and an intermediate compensation shaft connecting the two; The forward transmission assembly is connected to the first retaining seat via the first bearing seat and rotates in the forward direction relative to the first retaining seat; and the forward transmission assembly is connected to one end of the intermediate compensation shaft via the first electromagnetic clutch; The reverse transmission assembly is connected to the second retaining seat via the second bearing seat and rotates in the opposite direction relative to the second retaining seat; the reverse rotation assembly is connected to the other end of the intermediate compensation shaft via the second electromagnetic clutch; A screw rod parallel to the intermediate compensation shaft is also arranged between the forward transmission assembly and the reverse transmission assembly.

4. The automatic coiled tubing compensation control system based on image recognition as claimed in claim 3 is characterized in that: The forward transmission assembly includes two mutually meshing forward gears, wherein the first forward gear is sleeved and mounted on the lead screw, and the second forward gear is connected to the first electromagnetic clutch; A passive sprocket is sleeved on one end of the intermediate compensation shaft close to the first electromagnetic clutch, and the passive sprocket is connected to the central axis of the drum through a transmission chain.

5. The automatic coiled tubing compensation control system based on image recognition as claimed in claim 3, characterized in that: The reverse transmission assembly includes three reverse gears meshing with each other, wherein the first reverse gear is connected to the second electromagnetic clutch, the third reverse gear is sleeved and mounted on the screw rod, and a second reverse gear meshing with the first reverse gear and the third reverse gear is arranged between the two.

6. The automatic coiled tubing compensation control system based on image recognition according to claim 3 is characterized in that: The screw rod is rotatably connected with a guide device, and a guide shaft parallel to the screw rod is also arranged above the screw rod, and the two ends of the guide shaft are respectively fixed on the retaining seats on both sides of the drum; The guide device comprises a guide nut, which is threadedly connected to the lead screw; a fixing frame is fixed to the four corner positions of the upper end table of the guide nut, and the fixing frame is connected to a guide wheel group across the guide shaft; The guide wheel set is arranged in the guide shaft to follow the guide nut to move laterally in the guide shaft.

7. The automatic coiled tubing compensation control system based on image recognition according to claim 1, characterized in that: A second synchronous pulley is fixed on the intermediate compensation shaft, and a first synchronous pulley is fixed on the output shaft of the compensation motor; The first synchronous belt pulley and the second synchronous belt pulley are meshed with a synchronous belt.

8. The automatic coiled tubing compensation control method based on image recognition is characterized in that: The automatic coiled tubing compensation control system based on image recognition according to any one of claims 1 to 7 comprises: The image recognition module is used to monitor the posture of the coiled tubing in the winding or discharge process in real time, and determine the coiled tubing deflection reference and real-time error deflection; If the deflection error between the real-time error deflection and the deflection reference is greater than the set threshold, the speed of the compensation motor is controlled by the PID controller, the compensation motor is adjusted to drive the intermediate compensation shaft, and the position of the guide device is adjusted using the change in the intermediate compensation shaft to control the deflection error within the threshold range.

9. The method for controlling the automatic coiled tubing arrangement compensation based on image recognition according to claim 8, characterized in that: The image recognition module is used to monitor the posture of the coiled tubing in the winding or discharging process in real time to determine the coiled tubing deflection reference and real-time error deflection, specifically: Before the drum is started, the positions of the first and second sections of the coiled tubing lead-out section are collected and fitted, and the deflection reference is recorded; After the drum is started, the real-time error angle of the coiled tubing lead-out section is continuously monitored.

10. The method for controlling the automatic coiled tubing arrangement compensation based on image recognition according to claim 9, characterized in that: Collect and fit the positions of the first and second sections of the coiled tubing lead-out section, and record the deflection reference, specifically: Collect images of the coiled tubing export section; Preprocess the image of the coiled tubing lead-out section to extract the grayscale distribution information of the coiled tubing lead-out section; Based on the grayscale distribution information of the coiled tubing lead-out section, a coiled tubing section close to the drum is determined as a first section, and a coiled tubing section close to the guide head is determined as a second section; Performing Gaussian fitting on the first cross section and the second cross section to determine the coordinate positions of the center of the first cross section and the center of the second cross section; A straight line fitting is performed on the coordinate positions of the center of the first section and the center of the second section to obtain the deflection angle reference of the coiled tubing lead-out section.

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