Horizontal well underground television lens angle adjusting device

Abstract

The utility model belongs to the technical field of logging cables, and relates to a horizontal well underground television lens angle adjusting device which comprises a gyroscope, a camera module and an annular electromagnetic control unit which are electrically connected with one another, and the camera module is cylindrical and is rotatably nested in an inner cavity of the annular electromagnetic control unit. The annular electromagnetic control unit is fixedly arranged in the logging cable, the annular electromagnetic control unit is cylindrical, electromagnets evenly distributed around the circumference of the inner wall of the cylinder of the annular electromagnetic control unit are arranged in the annular electromagnetic control unit, and the two electromagnets located on the same diameter are electrically connected with each other to form a controllable electromagnet characteristic unit set; two adsorption blocks are arranged on the cylinder of the camera module, the adsorption blocks are made of iron or magnetic adsorption materials, and the adsorption direction of the electromagnet faces the adsorption blocks; according to the utility model, the data quality of the self-storage instrument is improved, and the necessity of software algorithm compensation of an upper computer is reduced through a picture physical compensation mode.

Description

Technical Field

[0001] The utility model belongs to the technical field of well logging cables and relates to an angle adjustment device for a downhole television camera in a horizontal well. Background Art

[0002] Logging cables are specialized cables used to connect downhole measuring instruments (logging instruments) to surface control equipment in oil and gas exploration and geological surveys. They primarily transmit data collected by downhole instruments to the surface and provide power for the instruments. Adaptive high-speed transmission with logging cables and downhole high-definition video capture and storage are two important technological advancements in modern logging technology. They address data transmission speed and image quality challenges, respectively, significantly improving the accuracy and efficiency of downhole exploration. Third-generation downhole visualization technology, featuring adaptive high-speed transmission with logging cables and downhole high-definition video capture and storage, can capture high-definition video of the wellbore after fracturing. This technology can be used to study the impacts of casing failure, perforation erosion, bridge plug slippage, and leakage on fracturing effectiveness. This technology improves understanding of the wellbore after horizontal well fracturing and enables monitoring and evaluation of the quality of fracturing tools and fracturing results. This technology provides an intuitive view of the downhole environment, assisting technicians in downhole operations, oil and gas production, and safety response. This technology uses high-temperature, high-pressure downhole cameras and armored logging cable high-speed transmission systems to directly obtain real-time video images from the well, and performs related processing such as enhancement, transformation, quantitative analysis, and real-scene modeling on the video images to maximize the acquisition of wellbore information and eliminate the uncertainty of downhole conditions.

[0003] However, when using logging equipment to record downhole video while advancing a short sub, uncontrollable factors can affect the sub's stability, causing changes in the video angle and reducing the usability of the footage. This is especially true for self-storage equipment, where image correction cannot be achieved using a host computer (algorithmic image stabilization).

[0004] Therefore, a device is needed to ensure the stability of the visual axis of the device to ensure the quality of the captured video to solve the above technical problems. Utility Model Content

[0005] The technical solution adopted by the utility model to solve the technical problem is: a horizontal well downhole television lens angle adjustment device, comprising: a gyroscope, a camera module, and a ring-shaped electromagnetic control unit, wherein the gyroscope, the camera module, and the ring-shaped electromagnetic control unit are electrically connected to each other; the gyroscope is used to output the six-axis data of the sensor in real time, and the ring-shaped electromagnetic control unit is used to adjust the rotation angle of the camera module in real time through magnetic adsorption to ensure that the video frame angle rotation vector of the camera module corresponds to the gyroscope data;

[0006] The camera module is cylindrical and can be rotatably nested in the inner cavity of the annular electromagnetic control unit, which is fixedly arranged in the logging cable;

[0007] The annular electromagnetic control unit is cylindrical in shape and is provided with 2n radially arranged electromagnets, where 2≤n≤10, and the 2n electromagnets are evenly distributed 360° around the inner cylindrical wall of the annular electromagnetic control unit; two electromagnets located on the same diameter are electrically connected to each other to form a controllable electromagnetic characteristic unit group;

[0008] Two adsorption blocks are provided on the cylinder of the camera module. The adsorption blocks are made of iron or magnetic adsorption material. The two adsorption blocks are located on the same diameter of the cylinder of the camera module and are annularly symmetrical.

[0009] The adsorption direction of the electromagnet is toward the adsorption block.

[0010] Preferably, in the annular electromagnetic control unit, 3≤n≤5.

[0011] More preferably, the annular electromagnetic control unit is provided with 8 electromagnets.

[0012] Preferably, the adsorption direction of the electromagnet is radially inward, and the adsorption block is located in the inner circle of the electromagnet.

[0013] Preferably, the adsorption direction of the electromagnet is axially outward, and the adsorption block is located axially outside the electromagnet.

[0014] The beneficial effects of the utility model are:

[0015] The utility model sets a gyroscope and an annular electromagnetic control unit on the logging cable, and adjusts the rotation angle of the camera module in real time through magnetic adsorption to ensure that the video frame angle of the camera module will not change significantly due to external factors; therefore, the utility model improves the data quality of the self-storage instrument and reduces the necessity of upper computer software algorithm compensation through physical image compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a basic structural framework diagram of a downhole television camera angle adjustment device for a horizontal well according to the utility model;

[0017] Figure 2 This is a cross-sectional schematic diagram of the casing structure of the present utility model;

[0018] Figure 3 This is a schematic cross-sectional view of the rotary adsorption of the camera module of the present invention;

[0019] Figure 4 This is a schematic diagram of the process of adjusting the internal camera module when the sleeve of the utility model rotates and shakes clockwise;

[0020] Figure 5 This is a schematic diagram of the process of adjusting the internal camera module when the sleeve of the utility model rotates counterclockwise and shakes. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the relevant technologies in the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] refer to Figures 1 to 5 As shown, the basic structural framework of this embodiment mainly includes three parts: a ring electromagnetic control unit, a camera module and a circuit control unit. Figure 1 This embodiment installs a high-precision, low-drift gyroscope inside the module that matches the viewing angle. The gyroscope can effectively output the sensor's six-axis data in real time, ensuring that the video frame and the gyroscope data are completely consistent.

[0023] By combining the collected gyroscope data with the annular electromagnetic control unit, the relationship between the coordinate systems is calculated. By estimating and compensating the rotation amount, the rotation vector of the jittered video is estimated and reversely compensated, achieving an adaptive preliminary stabilization effect.

[0024] 1. The annular electromagnetic control unit is composed of eight controllable electromagnetic characteristic units evenly distributed in the cross section of the casing structure, which are specifically divided into four groups, namely four controllable electromagnetic characteristic unit groups: A and A', B and B', C and C', D and D'. When the corresponding unit group is energized, the electromagnet generates a controllable electromagnetic attraction force and magnetic polarity by adjusting the voltage or current intensity. Figure 2 shown.

[0025] 2. There are two fixed iron blocks (or other magnetic materials) at a 180° diagonal angle on the camera module. Through the control algorithm, a group (two) of electromagnets (diagonally 180°) in the annular electromagnetic control unit are selected for effective adsorption, thereby changing the axial rotation angle of the module and ensuring the rigid and stable fixation of the camera module and the housing.

[0026] like Figure 3 As shown, the electromagnets in group B rotate and adsorb the camera module.

[0027] 3. The circuit control unit mainly includes the algorithm analysis of the feedback six-axis data and the on-off selection control of the annular electromagnet control unit.

[0028] like Figure 4As shown, when the sleeve rotates clockwise and shakes, adjust the internal camera module. The initial sleeve position is the ideal state, as shown in Figure 4 The leftmost picture shows the video image of the camera module, which is a horizontal axis view (the electromagnet unit of group A is energized and in the adsorption state) with reference to the earth coordinate system. When the outer sleeve vibrates, it turns clockwise at an angle of 12, as shown in the figure below. Figure 4 In the middle image, if the internal camera module lacks mechanical stabilization compensation, the captured video will rotate at a large angle (angle 12) (non-orthogonal). At this point, after an algorithm calculates the data output by the gyroscope, it is necessary to control the corresponding units (electromagnets in group B) in the ring electromagnetic module to conduct (group A is de-energized, group B is energized) to generate adsorption, causing the camera module to rotate at a small angle (angle 11) to compensate. This completes the angle compensation and minimizes the non-orthogonal angle caused by the shaking.

[0029] Similarly, if compared with the initial state, the casing rotates clockwise and shakes at a larger angle (angle 22), such as Figure 4 In the rightmost figure, after the gyroscope output data is calculated by the algorithm, the annular electromagnetic module is controlled to first perform the first compensation process of turning to 1 (rotation angle 11). Then, the corresponding unit (group C electromagnet) is controlled to conduct (group C is energized) to complete the second angle rotation compensation of the camera module, and finally stabilize the adsorption, so that the non-normal image angle (angle 21) caused by the jitter is minimized.

[0030] like Figure 5 As shown, when the sleeve rotates counterclockwise and shakes, the internal camera module is adjusted. Compared with the clockwise compensation, the main difference lies in the control strategy of the annular electromagnetic control unit. When counterclockwise shaking turns to 3 (angle 32), after calculating according to the algorithm of the gyroscope output data, the D group of electromagnet units are selected to complete stable adsorption, so that the non-frontal image angle (angle 31) is minimized; when counterclockwise shaking turns to 4 (angle 42), the same is true. After the adsorption compensation of the D group of electromagnet units, the final compensation of the C group of electromagnet units is transitioned to minimize the non-frontal image angle (angle 41).

[0031] To sum up, the utility model sets a gyroscope and a ring electromagnetic control unit on the logging cable, and adjusts the rotation angle of the camera module in real time through magnetic adsorption to ensure that the video frame angle of the camera module will not change significantly due to external factors. The utility model improves the data quality of the self-storage instrument and reduces the necessity of upper computer software algorithm compensation through physical compensation of the picture. Therefore, the utility model has broad application prospects in well logging cables.

[0032] It should be emphasized that the above are only preferred embodiments of the present invention and do not constitute any form of limitation to the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A device for adjusting the angle of a downhole television camera in a horizontal well, characterized in that: include: A gyroscope, a camera module, and a ring-shaped electromagnetic control unit are electrically connected to each other; the gyroscope is used to output the six-axis data of the sensor in real time, and the ring-shaped electromagnetic control unit is used to adjust the rotation angle of the camera module in real time through magnetic adsorption to ensure that the video frame angle rotation vector of the camera module corresponds to the gyroscope data; The camera module is cylindrical and can be rotatably nested in the inner cavity of the annular electromagnetic control unit, and the annular electromagnetic control unit is fixedly arranged in the logging cable; The annular electromagnetic control unit is cylindrical in shape and is provided with 2n radially arranged electromagnets, where 2≤n≤10, and the 2n electromagnets are evenly distributed around the inner wall of the cylinder of the annular electromagnetic control unit over a 360° circumference; two electromagnets located on the same diameter are electrically connected to each other to form a controllable electromagnetic characteristic unit group; Two adsorption blocks are provided on the cylinder of the camera module, and the adsorption blocks are made of iron or magnetic adsorption material; the two adsorption blocks are located on the same diameter of the cylinder of the camera module and are annularly symmetrical; The adsorption direction of the electromagnet is toward the adsorption block.

2. The device for adjusting the angle of downhole television camera for a horizontal well according to claim 1, characterized in that: In the annular electromagnetic control unit, 3≤n≤5.

3. The device for adjusting the angle of downhole television camera for a horizontal well according to claim 2, characterized in that: The annular electromagnetic control unit is provided with eight electromagnets.

4. The device for adjusting the angle of downhole television camera for a horizontal well according to claim 1, characterized in that: The adsorption direction of the electromagnet is radially inward, and the adsorption block is located on the inner circle of the electromagnet.

5. The device for adjusting the angle of downhole television camera for a horizontal well according to claim 1, characterized in that: The adsorption direction of the electromagnet is axially outward, and the adsorption block is located axially outside the electromagnet.

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