Underwater lifting tool with emergency release function

Abstract

The application discloses an underwater lifting tool with an emergency release function and relates to the technical field of underwater Christmas tree equipment. The underwater lifting tool comprises a taking and delivering tool body, and a fixing sleeve and a bearing sleeve are sequentially arranged on the outer side of the taking and delivering tool body along a first direction. A trigger sleeve is arranged between the taking and delivering tool body and the fixing sleeve and is slidably connected to the taking and delivering tool body along the first direction. A first connecting part is arranged on the trigger sleeve. A first driving channel and a second driving channel are arranged between the trigger sleeve and the fixing sleeve along the first direction. A locking ring is arranged between the fixing sleeve and the bearing sleeve and is located on the moving track of the trigger sleeve. A second connecting part is arranged on the outer side of the locking ring. An external lifting device applies a second force to the second connecting part, the trigger sleeve releases the extrusion on the second connecting part, the underwater lifting tool is separated from the underwater Christmas tree, and the risk of "locking and hanging" of the underwater lifting tool and the underwater Christmas tree is reduced.

Description

Technical Field

[0001] This invention relates to the field of underwater production tree technology, and in particular to an underwater lifting tool with an emergency release function. Background Technology

[0002] The subsea wellhead consists of tubing hangers, valve assemblies, and a safety system. It is an inlet and outlet control device that connects the oil well to the external pipeline. It controls the flow rate and pressure of fluids entering and leaving the oil well through various valves, monitors the flow status of the fluid in real time, and enables rapid shutdown in emergencies.

[0003] Conventional underwater Christmas tree lifting tools typically employ a single hydraulic locking mechanism with spring unlocking or a purely mechanical locking system, resulting in a single unlocking circuit. Under harsh conditions of deep water, high pressure, seawater corrosion, and siltation, problems such as locking mechanism jamming, spring corrosion failure, and main hydraulic line malfunctions can easily occur, preventing the lifting tool from properly separating from the underwater Christmas tree, leading to a "locked-in" or "stuck" malfunction. Forcing lifting under these conditions can easily damage the Christmas tree itself, wellhead equipment, and even lifting pipelines, potentially causing a major underwater operation accident.

[0004] Therefore, how to reduce the probability of underwater lifting tools getting "locked up" and "stuck" with underwater production trees, and thus improve the reliability of underwater lifting tools for underwater production trees, has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater lifting tool with an emergency release function to reduce the risk of the underwater lifting tool getting "locked up" with the underwater production tree, thereby improving the reliability of the underwater lifting tool.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides an underwater lifting tool with an emergency release function. The underwater lifting tool includes a lifting tool body, and a fixing sleeve and a bearing sleeve are sequentially arranged on the outer side of the lifting tool body along a first direction. An excitation sleeve is provided between the lifting tool body and the fixed sleeve, and is slidably connected to the lifting tool body along the first direction. The excitation sleeve is provided with a first connecting part for connecting to external lifting equipment. A first driving channel and a second driving channel are provided between the excitation sleeve and the fixed sleeve along the first direction. The first driving channel and the second driving channel are respectively connected to external hydraulic pipelines and are used to inject hydraulic medium. A locking ring is provided between the fixed sleeve and the bearing sleeve, located on the moving trajectory of the excitation sleeve. A second connecting part is provided on the outside of the locking ring for connecting with the third connecting part of the subsea tree. Wherein, the first direction is arranged parallel to the axis of the retrieval tool body and is arranged from the retrieval tool body toward the subsea oil production tree; When the underwater lifting tool is switched to the locked state, the excitation sleeve moves along the first direction under the first force applied by the hydraulic medium in the first drive channel, squeezing the locking ring so that the second connecting part protrudes outward and connects with the third connecting part; When the underwater lifting tool is switched to the free state, the excitation sleeve moves in the opposite direction of the first direction under the second force applied by the hydraulic medium in the second drive channel, and the locking ring retracts under its own elastic restoring force, so that the second connecting part and the third connecting part are arranged to avoid each other.

[0007] The present invention achieves the following technical effects compared to the prior art: The underwater lifting tool with emergency release function in this invention includes a lifting tool body. A fixed sleeve and a bearing sleeve are sequentially arranged on the outer side of the lifting tool body along a first direction. An activation sleeve is provided between the lifting tool body and the fixed sleeve, and is slidably connected to the lifting tool body along the first direction. The activation sleeve has a first connecting part for connecting to external lifting equipment. A first drive channel and a second drive channel are provided between the activation sleeve and the fixed sleeve along the first direction at intervals. The first and second drive channels are respectively connected to corresponding external hydraulic lines and used for injecting hydraulic drive medium. A locking ring is provided between the fixed sleeve and the bearing sleeve, located on the moving trajectory of the activation sleeve. A second connecting part is provided on the outer side of the locking ring for connecting to a third connecting part of the underwater production tree. The first direction is parallel to the axial direction of the lifting tool body and is oriented from the lifting tool body towards the underwater production tree. When the underwater lifting tool, driven by the connected feeding equipment such as drill pipe, enters the corresponding position inside the underwater production tree, the second and third connecting parts are at the same height and aligned. At this time, the underwater lifting tool begins to switch from the free state to the locked state. During this process, the external hydraulic line injects the required hydraulic driving medium into the first drive channel. The hydraulic driving medium in the first drive channel applies a first force to the excitation sleeve, causing the excitation sleeve to move along the first direction and squeeze the locking ring, causing the second connecting part to protrude outward and connect with the third connecting part. At this time, the connection between the underwater lifting tool and the underwater production tree is realized, and the underwater lifting tool is in the locked state. Once the subsea production tree is positioned, the underwater lifting tool begins to switch from a locked state to a free state. During this process, the hydraulic drive medium in the first drive channel is discharged outward through an external hydraulic line, while the corresponding external hydraulic line injects hydraulic drive medium into the second drive channel. The hydraulic drive medium in the second drive channel applies a second force to the drive sleeve, causing the drive sleeve to move in the opposite direction of the first direction, releasing the compression on the locking ring. The locking ring retracts under its own elastic restoring force, allowing the second and third connecting parts to avoid each other. At this point, the underwater lifting tool and the subsea production tree are positioned to avoid each other. The delivery equipment can then lift the underwater lifting tool upward, thereby separating the underwater lifting tool from the subsea production tree. Furthermore, if, under harsh conditions such as deep-water pressure, seawater corrosion, and siltation, the first drive channel and / or the second drive channel experience blockages or other malfunctions, the second connection will be unable to detach from the third connection under the second force. In this case, a second force can be applied to the second connection using external lifting equipment, allowing the drive sleeve to still move in the opposite direction of the first direction until the compression on the second connection is released. This allows the second and third connections to avoid each other, and the underwater lifting tool to avoid the underwater production tree. Subsequently, after the underwater lifting tool detaches from the underwater production tree, the underwater lifting tool can be moved in the opposite direction of the first direction. This not only reduces the risk of the underwater lifting tool and the underwater production tree "locking up" but also reduces the probability of underwater operation accidents caused by forcibly lifting the underwater lifting tool before it has detached from the underwater production tree, resulting in damage to the underwater production tree, wellhead equipment, or even lifting pipelines. This, in turn, improves the reliability of the underwater lifting tool. In summary, the underwater lifting tool with emergency release function in this invention can reduce the risk of the underwater lifting tool and the underwater production tree being "locked up" and improve the reliability of the underwater lifting tool with emergency release function. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 A schematic diagram of the underwater lifting tool in a free state; Figure 2 A schematic diagram of the underwater lifting tool in the locked state; Figure 3 This is a structural diagram of the retrieval and delivery tool body; Figure 4 A schematic diagram of the structure of the first and third seals for a sling; Figure 5 This is a schematic diagram of the structure of the first and third sealing elements; Figure 6 This is a schematic diagram of the underwater production tree structure; Figure 7 This is a flowchart illustrating the operation of the control component of the present invention. The components include: 1. the body of the delivery tool; 2. the activating sleeve; 3. the limiting sleeve; 4. the fixing sleeve; 5. the locking ring; 6. the bearing sleeve; 7. the first bushing; 8. the short section; 9. the second bushing; 10. the subsea production tree; 11. the screw; 12. the delivery plate; 13. the sling; 14. the first seal; 15. the third seal; 16. the first abutment part; and 17. the second abutment part. Detailed Implementation

[0010] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0012] like Figures 1-6 As shown, this invention discloses an underwater lifting tool with an emergency release function. The underwater lifting tool with an emergency release function includes a lifting tool body 1. A fixed sleeve 4 and a bearing sleeve 6 are sequentially arranged on the outer side of the lifting tool body 1 along a first direction. An excitation sleeve 2 is provided between the lifting tool body 1 and the fixed sleeve 4 and is slidably connected to the lifting tool body 1 along the first direction. The excitation sleeve 2 is provided with a first connecting part for connecting to external lifting equipment. A first driving channel and a second driving channel are provided between the excitation sleeve 2 and the fixed sleeve 4 along the first direction. The first driving channel and the second driving channel are respectively connected to corresponding external hydraulic lines and are used to inject hydraulic driving medium. A locking ring 5 is provided between the fixed sleeve 4 and the bearing sleeve 6, located on the moving trajectory of the excitation sleeve 2. A second connecting part is provided on the outer side of the locking ring 5 for connecting to a third connecting part of the underwater production tree 10. The first direction is parallel to the axial direction of the lifting tool body 1 and is arranged from the lifting tool body 1 toward the underwater production tree 10. When the underwater lifting tool enters the corresponding position inside the underwater production tree 10 under the drive of the connected feeding equipment such as drill pipe, the second connecting part and the third connecting part are at the same height and aligned. At this time, the underwater lifting tool begins to switch from the free state to the locked state. During this process, the external hydraulic pipeline injects the required hydraulic driving medium into the first drive channel. The hydraulic driving medium in the first drive channel applies a first force to the excitation sleeve 2, causing the excitation sleeve 2 to move along the first direction and squeeze the locking ring 5, causing the second connecting part to protrude outward and connect with the third connecting part. At this time, the connection between the underwater lifting tool and the underwater production tree 10 is realized, and the underwater lifting tool is in the locked state. After the subsea production tree 10 is placed into the appropriate position, the underwater lifting tool begins to switch from the locked state to the free state. During this process, the hydraulic driving medium in the first drive channel is discharged to the outside through the external hydraulic pipeline, and the corresponding external hydraulic pipeline injects hydraulic driving medium into the second drive channel. The hydraulic driving medium in the second drive channel applies a second force to the drive sleeve, causing the drive sleeve to move in the opposite direction of the first direction, releasing the compression on the locking ring 5. The locking ring 5 retracts under its own elastic restoring force, so that the second connection part and the third connection part are set to avoid each other. At this time, the underwater lifting tool and the subsea production tree 10 are set to avoid each other. The sending equipment can lift the underwater lifting tool upward, thereby realizing the separation of the underwater lifting tool and the subsea production tree 10. Furthermore, if, under harsh conditions such as deep-water pressure, seawater corrosion, and siltation, the first drive channel and / or the second drive channel experience blockages or other malfunctions, the second connecting part will be unable to detach from the third connecting part under the second force. In this case, a second force can be applied to the second connecting part using external lifting equipment, allowing the drive sleeve to move in the opposite direction of the first direction until the pressure on the second connecting part is released, allowing the second and third connecting parts to avoid each other, thus ensuring that the underwater lifting tool and the underwater production tree 10 are properly aligned. The avoidance mechanism allows the underwater lifting tool to move in the opposite direction of the first direction after it has detached from the subsea production tree 10. This not only reduces the risk of the underwater lifting tool and the subsea production tree 10 becoming "locked up" but also reduces the probability of underwater operation accidents caused by forcibly lifting the underwater lifting tool before it has detached from the subsea production tree 10, resulting in damage to the subsea production tree 10, wellhead equipment, or even lifting pipelines. This, in turn, improves the reliability of the underwater lifting tool. In summary, the underwater lifting tool with emergency release function in this invention can reduce the risk of the underwater lifting tool and the underwater production tree 10 being "locked up" and improve the reliability of the underwater lifting tool with emergency release function.

[0013] The "emergency release function" refers to the fact that the underwater lifting tool in this invention has a first connecting part on the excitation sleeve 2 for connecting to external lifting equipment. Therefore, even if the second drive channel fails and hydraulic medium cannot be injected, the underwater lifting tool can still be detached from the underwater wellhead 10 via external lifting equipment. The fixed sleeve 4 and the bearing sleeve 6 are fixedly connected to the lifting tool body 1, and the limiting sleeve 3 is fixedly connected to the fixed sleeve 4.

[0014] The equipment to be fed in can be a drill pipe or similar device. The external lifting equipment can be an ROV lifting tool or a winch on a surface platform, with the winch connected to the top of the excitation sleeve 2 via sling 13. The locking ring 5 can be made of titanium alloy or high-elasticity copper alloy.

[0015] like Figures 1-6 As shown, the first connecting part includes a screw 11 located at the top of the excitation sleeve 2 and a delivery plate 12 fixed to the outside of the delivery tool body 1. The top of the screw 11 passes through the delivery plate 12 and is fixed to the delivery plate 12 by a nut. The delivery plate 12 is connected to the external lifting equipment by a sling 13.

[0016] The hydraulic medium can specifically be hydraulic oil or seawater, which can apply a first force and a second force to the excitation sleeve 2. The locking ring 5 being located on the movement trajectory of the excitation sleeve 2 means that when the excitation sleeve 2 moves along a first direction under the first force applied by the hydraulic medium in the first drive pipe, the excitation sleeve 2 can abut against the locking ring 5, causing the second connecting part to protrude outwards. The second connecting part can specifically be a locking tooth provided on the outside of the locking ring 5, and the third connecting part can specifically be a locking groove provided on the inner wall of the corresponding area of ​​the underwater production tree 10. The locking tooth can mesh with the locking tooth to achieve the connection between the underwater lifting tool and the underwater production tree 10.

[0017] Depending on the needs, the first direction can be set from top to bottom, or along the horizontal direction, or along a direction inclined to the horizontal direction; it should be noted that when the first direction changes, the descriptions of the corresponding directions of other structures mentioned above, such as the bottom and top directions, should also be adjusted accordingly.

[0018] like Figures 1-6As shown, the underwater lifting tool includes a limiting assembly, which includes a limiting sleeve 3 located on the outside of the lifting tool body 1. The limiting sleeve 3 and the fixing sleeve 4 are arranged sequentially along a first direction. The limiting sleeve 3 has a first limiting part, the lifting sleeve 2 has a second limiting part on the side away from the lifting tool body 1, and the fixing sleeve 4 has a third limiting part on the side facing the lifting tool body 1. The first, second, and third limiting parts are arranged sequentially along the first direction, and both the first and third limiting parts are located within the second limiting part. When the first limiting part abuts against the second limiting part on the movement trajectory, the underwater lifting tool is in a free state; when the first limiting part abuts against the third limiting part, the underwater lifting tool is in a locked state. The cooperation of the first limiting part, the third limiting part, and the second limiting part restricts the movement stroke of the drive sleeve, preventing the drive sleeve from not moving fully in the first direction, which would prevent the second connecting part from protruding outward and connecting with the third connecting part. It also prevents the drive sleeve from moving excessively in the opposite direction of the first direction, which could lead to failure of the sealing assembly. The first limiting part, the second limiting part, and the third limiting part can specifically be a limiting block or a limiting pin with sufficient strength.

[0019] like Figures 1-6 As shown, the underwater lifting tool sealing assembly includes several first seals 14 disposed between the activating sleeve 2 and the fixed sleeve 4, several second seals disposed between the limiting sleeve 3 and the lifting tool body 1, and several third seals 15 disposed between the fixed sleeve 4 and the limiting sleeve 3. The sealing performance of the underwater lifting tool is ensured by setting the first seals 14, second seals, and third seals 15. The first seals 14, second seals, and third seals 15 can be sealing rings or gaskets or other sealing structures.

[0020] The underwater lifting tool includes a first bushing 7 located at the end of the bearing sleeve 6 away from the locking ring 5. The corresponding area of ​​the underwater production tree 10 is provided with a guide channel that can form a guide pair with the first bushing 7. The guide pair refers to the guide channel being slidably connected to the first bushing 7 in a first direction, and playing a guiding role in the underwater lifting tool entering the underwater production tree 10, thereby reducing the probability of the underwater lifting tool hitting the underwater production tree 10 and causing damage to the underwater production tree 10 when it enters the underwater production tree 10 due to the lack of a guide pair.

[0021] The bottom end of the first bushing 7 is provided with a first abutment portion 16, and the inner wall of the guide channel is provided with a second abutment portion 17. When the underwater lifting tool reaches the corresponding position of the underwater production tree 10, the first abutment portion 16 and the second abutment portion 17 abut against each other. By abutting the first abutment portion 16 and the second abutment portion 17, the movement stroke of the lifting tool body 1 is limited, reducing the probability of the lifting tool body 1 moving excessively in the first direction and colliding and damaging the underwater production tree 10. The first abutment portion 16 may be provided on the bottom end face of the first bushing 7, and the second abutment portion 17 may specifically be the corresponding inner wall surface of the underwater production tree 10.

[0022] The underwater lifting tool includes a short section 8. The first end of the short section 8 is connected to the bottom end of the lifting tool body 1 and is located inside the first bushing 7. The second end of the short section 8 extends out of the first bushing 7 and is fixedly fitted with a second bushing 9. The second bushing 9 forms a guide pair with the corresponding area of ​​the underwater production tree 10. The second bushing 9 protects the lifting tool body 1 and reduces the probability of damage from collision between the lifting tool body 1 and the underwater production tree 10. The short section 8 is prior art, and its specific structure will not be described in detail.

[0023] See Figure 7 The underwater lifting tool also includes a control component, which is communicatively connected to the first drive channel, the second drive channel and the external hydraulic control system. The control component is configured to acquire the relative position information between the underwater lifting tool and the underwater production tree 10, and determine whether the underwater lifting tool has reached the preset installation position based on the relative position information; When the underwater lifting tool reaches the preset installation position, the external hydraulic control system is controlled to input hydraulic medium into the first drive channel to drive the excitation sleeve 2 to move along the first direction, so that the second connecting part and the third connecting part form a locking connection.

[0024] The control components include a position sensor and a controller. The position sensor is used to monitor the relative displacement between the underwater lifting tool and the underwater wellhead 10 in real time and transmit the collected position signal to the controller. The controller judges the position signal according to the preset installation position. When it is confirmed that the underwater lifting tool has reached the target position, it sends a control command to the external hydraulic control system to start the fluid supply program of the first drive channel, thereby driving the excitation sleeve 2 to move and triggering the locking action.

[0025] The position sensor can be implemented using an acoustic positioning module, an inertial measurement unit, or a pose estimation module based on underwater robot vision recognition. The specific selection depends on the operating water depth, positioning accuracy, and the degree of underwater environmental interference. The controller can be installed on a surface control console or mounted on the underwater robot, and supports switching between remote manual control and automatic control.

[0026] The external hydraulic control system is a hydraulic actuator for locking and releasing underwater lifting tools. It is connected to the first drive channel and the second drive channel through hydraulic lines, and controls the hydraulic medium to be input into or discharged into the first drive channel or the second drive channel according to the control commands output by the control component.

[0027] The control component is also configured to: acquire the working status information of the underwater lifting tool, and determine whether the preset release condition is met based on the working status information; when the preset release condition is met, control the external hydraulic control system to input hydraulic medium into the second drive channel, so that the excitation sleeve 2 moves in the opposite direction of the first direction; The second connecting part is retracted by the elastic restoring force of the locking ring 5, so as to release the connection between the second connecting part and the third connecting part and switch the underwater lifting tool to a free state.

[0028] The working status information includes the lowering depth of the underwater lifting tool, the positioning mark information of the underwater production tree 10, and the hydraulic pressure parameters in the first and second drive channels; the preset release conditions include the underwater production tree 10 being installed and positioned, the difference between the lowering depth and the design depth being within the preset allowable range, the positioning mark information matching the preset positioning mark, and the hydraulic pressure parameters in the first and second drive channels being within the preset normal range.

[0029] When the control component determines that there is an abnormal pressure in the first drive channel or the second drive channel, causing the hydraulic drive to be unable to complete the release action, the controller sends a fault warning message to the surface control console and controls the underwater robot to enter the emergency release process; the underwater robot is connected to the excitation sleeve 2 through the sling 13 and applies a pulling force in the opposite direction of the first direction to the excitation sleeve 2, so that the excitation sleeve 2 moves and releases the compression on the locking ring 5, thereby completing the emergency release.

[0030] The control component is also configured to: acquire displacement status information of the excitation sleeve 2 and hydraulic status information within the first and second drive channels; determine the current working state of the underwater lifting tool based on the displacement status information and hydraulic status information; and adjust the hydraulic input parameters within the first or second drive channel to control the excitation sleeve 2 to move to the corresponding position when the underwater lifting tool has not reached the locked or free state. The displacement status information includes the real-time displacement and speed of the excitation sleeve 2 relative to the lifting tool body 1; the hydraulic status information includes the pressure value, flow rate, and hydraulic medium temperature within the first and second drive channels.

[0031] In this embodiment, adjusting the hydraulic input parameters in the first or second drive channel includes: collecting the positional deviation between the current position and the target position of the excitation sleeve 2, the speed deviation between the current moving speed and the target moving speed of the excitation sleeve 2, the current hydraulic pressure, the current hydraulic flow rate, and the current force state of the locking ring 5 in the corresponding drive channel; constructing a hydraulic input feature group based on the positional deviation, speed deviation, current hydraulic pressure, current hydraulic flow rate, and current force state; performing feature matching between the hydraulic input feature group and historical hydraulic input feature groups to obtain the feature matching degree between the hydraulic input feature group and each historical hydraulic input feature group; when a feature matching degree reaches a preset matching threshold, the corresponding historical hydraulic input feature group is... The associated historical hydraulic input parameters are used as the current hydraulic input parameters. When there is no historical hydraulic input feature group whose feature matching degree reaches the preset matching threshold, the historical hydraulic input feature group with the smallest feature matching degree with the preset matching threshold is determined as the target historical hydraulic input feature group. Based on the differences in position deviation, speed deviation, hydraulic pressure, hydraulic flow, and force state between the hydraulic input feature group and the target historical hydraulic input feature group, the degree of feature change of the hydraulic input feature group relative to the target historical hydraulic input feature group is determined. Based on the degree of feature change and the historical hydraulic input parameters associated with the target historical hydraulic input feature group, the current hydraulic input parameters corresponding to the first drive channel or the second drive channel are determined.

[0032] Specifically, the feature matching method is a multi-dimensional feature matching algorithm based on Euclidean distance or cosine similarity. After normalizing the parameters of each dimension in the hydraulic input feature group, it is vectorized and the similarity between the parameter and each record in the historical hydraulic input feature group library is calculated. When the similarity is higher than the preset matching threshold, such as 0.92, it is considered a valid match, and the corresponding historical hydraulic input parameters are called. If there is no valid match, the one with the highest similarity is selected as the benchmark, and the current hydraulic input parameters are dynamically generated by using linear interpolation or weighted correction method in combination with the degree of feature change. This enables the excitation sleeve 2 to move accurately and smoothly to the target position, thereby maintaining the reliability of the locking or unlocking action of the underwater lifting tool under complex working conditions.

[0033] Specifically, the feature matching degree with the smallest difference refers to the similarity value that is closest to the preset matching threshold in absolute value but does not reach the preset matching threshold. For example, if the preset matching threshold is 0.92, and the highest similarity among all historical hydraulic input feature groups is 0.89, then the historical hydraulic input feature group corresponding to 0.89 is taken as the target historical hydraulic input feature group.

[0034] To determine the degree of characteristic change of the hydraulic input characteristic group relative to the target historical hydraulic input characteristic group, based on the differences in position deviation, speed deviation, hydraulic pressure, hydraulic flow, and force state between the hydraulic input characteristic group and the target historical hydraulic input characteristic group, the following steps are taken: First, normalize each difference item to eliminate the influence of dimensions; second, assign weight coefficients to each difference item according to its sensitivity to hydraulic input parameters to construct a weighted difference vector; then, calculate the magnitude or comprehensive evaluation value of the weighted difference vector as a quantitative indicator of the degree of characteristic change.

[0035] In this embodiment, the preferred weighting coefficients are 0.3 for position deviation difference, 0.2 for speed deviation difference, 0.2 for hydraulic pressure difference, 0.15 for hydraulic flow difference, and 0.15 for force state difference, and can be adjusted according to the actual working environment. For example, in deep-water operation scenarios with large water flow disturbances, the weights corresponding to speed deviation difference and force state difference can be appropriately increased to improve the adaptability of parameter correction to complex working conditions.

[0036] In this embodiment, determining the current hydraulic input parameters corresponding to the first drive channel or the second drive channel based on the degree of feature change and the historical hydraulic input parameters associated with the target historical hydraulic input feature group includes: determining the position deviation adjustment amount, speed deviation adjustment amount, hydraulic pressure adjustment amount, hydraulic flow adjustment amount, and force state adjustment amount of the hydraulic input feature group relative to the target historical hydraulic input feature group based on the degree of feature change; determining the comprehensive adjustment amount of the hydraulic input parameters based on the position deviation adjustment amount, speed deviation adjustment amount, hydraulic pressure adjustment amount, hydraulic flow adjustment amount, and force state adjustment amount; and adjusting the historical hydraulic input parameters associated with the target historical hydraulic input feature group based on the comprehensive adjustment amount to obtain the current hydraulic input parameters corresponding to the first drive channel or the second drive channel.

[0037] Specifically, when determining the adjustment amounts for position deviation, speed deviation, hydraulic pressure, hydraulic flow, and stress state of the hydraulic input feature group relative to the target historical hydraulic input feature group based on the degree of feature change, firstly, the differences in position deviation, speed deviation, hydraulic pressure, hydraulic flow, and stress state between the hydraulic input feature group and the target historical hydraulic input feature group are calculated, and each difference is normalized to obtain the corresponding feature change value. Secondly, a basic adjustment range corresponding to each feature parameter is preset, and the basic adjustment amounts for position deviation, speed deviation, hydraulic pressure, hydraulic flow, and stress state are determined according to the proportion of each feature change value within the corresponding basic adjustment range. Then, each basic adjustment amount is multiplied by the corresponding preset adjustment coefficient to obtain the adjustment amounts for position deviation, speed deviation, hydraulic pressure, hydraulic flow, and stress state, where the positive and negative directions of each adjustment amount are determined according to the direction of change of the corresponding feature parameter relative to the target historical hydraulic input feature group.

[0038] In this embodiment, the basic adjustment ranges corresponding to position deviation, speed deviation, hydraulic pressure, hydraulic flow, and stress state can be preset according to the structural dimensions of the underwater lifting tool, the rated working parameters of the hydraulic system, and the target movement characteristics of the excitation sleeve 2. Preferably, the basic adjustment range corresponding to position deviation is 0-10mm, the basic adjustment range corresponding to speed deviation is 0-5mm / s, the basic adjustment range corresponding to hydraulic pressure is 0-5MPa, the basic adjustment range corresponding to hydraulic flow is 0-10L / min, and the basic adjustment range corresponding to stress state is 0-10kN. The upper limit of each basic adjustment range is used to limit the maximum basic adjustment amount allowed by the change of the corresponding characteristic parameter, so that the basic adjustment amount calculated based on the change value of each characteristic is within the preset range, avoiding excessive adjustment amplitude of the hydraulic input parameters.

[0039] When determining the comprehensive adjustment amount of hydraulic input parameters based on the position deviation adjustment amount, speed deviation adjustment amount, hydraulic pressure adjustment amount, hydraulic flow adjustment amount, and force state adjustment amount, the individual adjustment amounts are weighted and summed according to their influence weight on the hydraulic input parameters to obtain the comprehensive adjustment amount. The corresponding historical hydraulic input parameters are then corrected based on the comprehensive adjustment amount to obtain hydraulic input parameters suitable for the current motion state of the excitation sleeve 2.

[0040] In this document, "several" refers to at least one. "And / or" refers to text content preceding and / or following it, which can exist simultaneously or individually. For example, A and / or B includes either only A or B, or both A and B. This invention discloses multiple technical solutions, but does not provide any contrary technical teachings. Any content not covered in this invention is applicable to existing technologies.

[0041] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An underwater lifting tool with an emergency release function, characterized in that, The underwater lifting tool includes a lifting tool body, and a fixing sleeve and a bearing sleeve are sequentially arranged on the outer side of the lifting tool body along a first direction; An excitation sleeve is provided between the lifting tool body and the fixed sleeve, and is slidably connected to the lifting tool body along the first direction. The excitation sleeve is provided with a first connecting part for connecting to external lifting equipment. A first driving channel and a second driving channel are provided between the excitation sleeve and the fixed sleeve along the first direction. The first driving channel and the second driving channel are respectively connected to external hydraulic pipelines and are used to inject hydraulic medium. A locking ring is provided between the fixed sleeve and the bearing sleeve, located on the moving trajectory of the excitation sleeve. A second connecting part is provided on the outside of the locking ring for connecting with the third connecting part of the subsea tree. Wherein, the first direction is arranged parallel to the axis of the retrieval tool body and is arranged from the retrieval tool body toward the subsea oil production tree; When the underwater lifting tool is switched to the locked state, the excitation sleeve moves along the first direction under the first force applied by the hydraulic medium in the first drive channel, squeezing the locking ring so that the second connecting part protrudes outward and connects with the third connecting part; When the underwater lifting tool is switched to the free state, the excitation sleeve moves in the opposite direction of the first direction under the second force applied by the hydraulic medium in the second drive channel, and the locking ring retracts under its own elastic restoring force, so that the second connecting part and the third connecting part are arranged to avoid each other.

2. The underwater lifting tool according to claim 1, characterized in that, The first direction is set from top to bottom; the underwater lifting tool includes a limiting component, the limiting component includes a limiting sleeve provided on the outside of the lifting tool body, the limiting sleeve is provided with a first limiting part, the excitation sleeve is provided with a second limiting part on the side away from the lifting tool body, and the fixing sleeve is provided with a third limiting part on the side facing the lifting tool body. The first limiting part, the second limiting part and the third limiting part are arranged sequentially along the first direction, and the first limiting part and the third limiting part are both located on the movement trajectory of the second limiting part; When the first limiting part abuts against the second limiting part, the underwater lifting tool is in the free state; when the first limiting part abuts against the third limiting part, the underwater lifting tool is in the locked state.

3. The underwater lifting tool according to claim 2, characterized in that, The underwater lifting tool includes a sealing assembly, which includes a plurality of first sealing elements disposed between the excitation sleeve and the fixed sleeve, a plurality of second sealing elements disposed between the limiting sleeve and the lifting tool body, and a plurality of third sealing elements disposed between the fixed sleeve and the limiting sleeve. The underwater lifting tool includes a first bushing located at the end of the bearing sleeve away from the locking ring, and a guide channel is provided in the corresponding area of ​​the underwater wellhead, which can form a guide pair with the first bushing.

4. The underwater lifting tool according to claim 3, characterized in that, The bottom end of the first bushing is provided with a first abutment part, and the inner wall of the guide channel is provided with a second abutment part; when the underwater lifting tool reaches the corresponding position of the underwater oil production tree, the first abutment part and the second abutment part abut against each other.

5. The underwater lifting tool according to claim 3, characterized in that, The underwater lifting tool includes a short section. The first end of the short section is connected to the bottom end of the lifting tool body and is located inside the first bushing. The second end of the short section extends out of the first bushing and is fixedly fitted with a second bushing.

6. The underwater lifting tool according to claim 1, characterized in that, It also includes control components that are communicatively connected to the first drive channel, the second drive channel, and the external hydraulic control system, respectively. The control component is configured to acquire the relative position information between the underwater lifting tool and the underwater wellhead, and to determine whether the underwater lifting tool has reached the preset installation position based on the relative position information. When the underwater lifting tool reaches the preset installation position, the external hydraulic control system is controlled to input hydraulic medium into the first drive channel to drive the excitation sleeve to move along the first direction, so that the second connecting part and the third connecting part form a locking connection.

7. The underwater lifting tool according to claim 6, characterized in that, The control component is also configured to: Obtain the working status information of the underwater lifting tool, and determine whether the preset release conditions are met based on the working status information; When the preset release condition is met, the external hydraulic control system is controlled to input hydraulic medium into the second drive channel, causing the excitation sleeve to move in the opposite direction of the first direction; The second connecting part is retracted by the elastic restoring force of the locking ring, thereby releasing the connection between the second connecting part and the third connecting part and switching the underwater lifting tool to a free state.

8. The underwater lifting tool according to claim 7, characterized in that, The control component is also configured to: Obtain the displacement state information of the excitation sleeve and the hydraulic state information within the first drive channel and the second drive channel; The current working state of the underwater lifting tool is determined based on the displacement state information and the hydraulic state information. When the underwater lifting tool is not in the locked or free state, adjust the hydraulic input parameters in the first or second drive channel to control the excitation sleeve to move to the corresponding position.

9. The underwater lifting tool according to claim 8, characterized in that, Adjusting the hydraulic input parameters within the first drive channel or the second drive channel includes: The system collects the positional deviation between the current position and the target position of the excitation sleeve, the speed deviation between the current moving speed of the excitation sleeve and the target moving speed, the current hydraulic pressure in the corresponding drive channel, the current hydraulic flow rate, and the current force state of the locking ring. A hydraulic input feature set is constructed based on the position deviation, speed deviation, current hydraulic pressure, current hydraulic flow, and current force state; The hydraulic input feature group is matched with the historical hydraulic input feature group to obtain the feature matching degree between the hydraulic input feature group and each historical hydraulic input feature group. When the feature matching degree reaches the preset matching threshold, the historical hydraulic input parameters associated with the corresponding historical hydraulic input feature group are used as the current hydraulic input parameters. When there is no historical hydraulic input feature group whose feature matching degree reaches the preset matching threshold, the historical hydraulic input feature group with the smallest difference between the feature matching degree and the preset matching threshold is determined as the target historical hydraulic input feature group. Based on the differences in position deviation, speed deviation, hydraulic pressure, hydraulic flow, and force state between the hydraulic input feature group and the target historical hydraulic input feature group, the degree of feature change of the hydraulic input feature group relative to the target historical hydraulic input feature group is determined. Based on the degree of feature change and the historical hydraulic input parameters associated with the target historical hydraulic input feature group, the current hydraulic input parameters corresponding to the first drive channel or the second drive channel are determined.

10. The underwater lifting tool according to claim 9, characterized in that, When determining the current hydraulic input parameters corresponding to the first drive channel or the second drive channel based on the degree of feature change and the historical hydraulic input parameters associated with the target historical hydraulic input feature group, the following steps are included: Based on the degree of change in the characteristics, determine the adjustment amount of the position deviation, speed deviation, hydraulic pressure, hydraulic flow, and force state of the hydraulic input characteristic group relative to the target historical hydraulic input characteristic group; The comprehensive adjustment amount of the hydraulic input parameters is determined based on the position deviation adjustment amount, the speed deviation adjustment amount, the hydraulic pressure adjustment amount, the hydraulic flow adjustment amount, and the force state adjustment amount; The historical hydraulic input parameters associated with the target historical hydraulic input feature group are adjusted according to the comprehensive adjustment amount to obtain the current hydraulic input parameters corresponding to the first drive channel or the second drive channel.

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