Downhole submersible carrier operation device and operation method therefor

Abstract

The present application relates to a downhole submersible carrier operation device and an operation method therefor, and discloses a downhole submersible carrier mechanism (100). The downhole submersible carrier mechanism (100) comprises: a mission cabin, the mission cabin comprising a mission module configured to collect and record downhole data and / or perform non-contact information interaction with downhole electrically controlled devices; a propulsion cabin located at an end of the mission cabin, the propulsion cabin comprising a propeller (44), and the propeller (44) being configured so that the downhole submersible carrier mechanism (100) is capable of autonomous round-trip cruising downhole; and a control cabin connected to the mission cabin, the control cabin being configured to perform bidirectional communication of downhole data with a surface control system (9), so as to transmit mission information of the surface to the downhole in a carrying manner and / or transmit data acquired and recorded by the mission cabin downhole to the surface in a carrying manner. The present application further discloses a downhole submersible carrier operation device and an operation method therefor. The downhole submersible carrier operation device comprises the submersible carrier mechanism (100) and a releasable control mechanism (200) capable of being releasably engaged with a fishing joint (3) of the submersible carrier mechanism (100).

Description

Underground submersible transport equipment and its operation method Technical Field

[0001] This invention relates to the field of oil and gas drilling and completion engineering, and more specifically to a downhole submersible transport vehicle and a method for operating the downhole submersible transport vehicle. Background Technology

[0002] During drilling, completion, and production processes, it is typically necessary to obtain downhole information parameters such as oil / casing integrity, oil and gas flow rate, water cut, temperature, pressure profile, and water production at each formation.

[0003] Currently, under normal circumstances, tubing (such as coiled tubing) and cables are needed as transport tools to deliver and operate logging tools or other related equipment, which requires a long time, high operating costs, and a large amount of manpower. In addition, for complex wells such as ultra-deep wells and ultra-long horizontal wells, factors such as the length, size, trajectory, and inclination of the wellbore limit the depth to which logging tools can enter the wellbore, thus making it impossible to achieve full wellbore intervention.

[0004] Therefore, it is desirable in the art to provide a downhole submersible transport mechanism, a downhole submersible transport operation device, and a method for operating the downhole submersible transport operation device to solve the above-mentioned technical problems.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art.

[0006] Summary of the Invention

[0007] The purpose of this invention is to provide a downhole submersible transport mechanism, a downhole submersible transport operation device, and a method for operating the downhole submersible transport operation device. The downhole submersible transport mechanism and the downhole submersible transport operation device have self-cruising and reciprocating capabilities, enabling high-speed downhole cruising and positioning. They can be equipped with relevant sensing systems to collect, monitor, and interact with information such as downhole temperature, pressure, flow rate, and video, thereby achieving two-way communication with the ground.

[0008] The downhole submersible transport mechanism and the downhole submersible transport operation device according to the present invention can adjust the balance between gravity and buoyancy by increasing or decreasing their own counterweight using a buoyancy adjustment module, thereby ensuring that the downhole submersible transport mechanism can suspend in the wellbore. Furthermore, the navigation and positioning module, wireless communication module, balancing module, and main control module installed in the first electrical control compartment enable the downhole submersible transport mechanism to accurately reach the predetermined position for smooth downhole operations.

[0009] According to one aspect of the present invention, a submersible transport mechanism is provided, wherein the submersible transport mechanism comprises:

[0010] The mission cabin includes a mission module for collecting and recording downhole data and / or for non-contact information interaction with downhole electrical control equipment;

[0011] A propulsion compartment located at the end of the mission module, the propulsion compartment including a thruster configured to enable the downhole submersible vehicle to self-cruise to and from the well.

[0012] The control cabin, connected to the mission cabin, is configured to communicate bidirectionally with the surface control system for downhole data, so as to transmit mission information from the surface to the downhole via a transport mechanism and / or transmit data acquired and recorded by the mission cabin from the downhole to the surface via a transport mechanism.

[0013] In one embodiment of the present invention, the submersible transport mechanism further includes a buoyancy adjustment mechanism disposed in the propulsion compartment. The buoyancy adjuster is configured to adjust the balance between gravity and buoyancy by increasing or decreasing its own counterweight, thereby enabling the submersible transport mechanism to suspend in the wellbore.

[0014] In one embodiment of the invention, the thruster includes a motor disposed within the propulsion compartment, a screw extending axially from the motor to the outside of the propulsion compartment, and a first propeller and a second propeller spaced apart and fitted over the screw, the first propeller and the second propeller having opposite directions of rotation. Preferably, the thruster further includes a thruster housing fitted over the screw, capable of covering the first propeller and the second propeller, the maximum outer diameter of the thruster housing being smaller than the maximum outer diameter of the mission compartment.

[0015] In one embodiment of the present invention, the submersible transport mechanism further includes a guide cabin located at the other end of the mission compartment. The guide cabin is equipped with a sonar module for detecting the distance to obstacles ahead or for detecting the integrity of the wellbore and a camera module for recording the internal working conditions of the wellbore.

[0016] In one embodiment of the present invention, a buoyancy adjustment mechanism is provided in both the propulsion chamber and the guide chamber. The buoyancy adjustment mechanism includes a hydraulic cylinder for communicating with the wellbore, a drive module disposed in the propulsion chamber, and a piston disposed in the hydraulic cylinder and connected to the drive module. The drive module is configured to cause the piston to reciprocate so that the hydraulic cylinder adjusts the balance between its own weight and buoyancy by sucking in or discharging liquid in the wellbore.

[0017] In one embodiment of the present invention, the downhole data includes one or more of downhole temperature, pressure, flow rate, and video. The task module includes a first sensor for measuring downhole temperature, a second sensor for measuring downhole pressure, a third sensor for collecting and recording production and water output data in each production channel, and a transmission device for identifying, locating, and exchanging information with electrical control equipment located downhole or for contactless wireless charging.

[0018] In one embodiment of the present invention, the control cabin is provided with, in sequence, a navigation module connected to the thruster, a communication module for issuing tasks and downloading data, an adjustment module connected to the buoyancy adjustment mechanism for adjusting its own attitude, a motion module connected to the motor for controlling the motion stroke, and a storage module connected to the task module for storing data. The communication module is preferably configured to communicate wirelessly with the ground control system on the ground.

[0019] In one embodiment of the present invention, the submersible transport mechanism further includes an energy compartment disposed between the mission compartment and the guide compartment, and a battery module disposed in the energy compartment and connected to the mission compartment, the control compartment and the guide compartment respectively.

[0020] In one embodiment of the present invention, the propulsion module, the control module, the mission module, the energy module, and the guidance module are all connected in a sealed manner by modular insertion.

[0021] According to another aspect of the present invention, a submersible transport device for well drilling operations is provided, comprising:

[0022] The submersible transport mechanism includes a first electronic control module, a second electronic control module located at the rear end of the first electronic control module, and a third electronic control module located at the front end of the first electronic control module. A salvage joint is provided at the rear end of the second electronic control module.

[0023] A releasable control mechanism capable of releasably engaging with the salvage joint includes a housing, an anchor claw disposed within the housing, and a locking claw disposed at the front end of the housing.

[0024] The releasable control mechanism is configured to connect to a surface control system via a cable located at the rear end of the housing, selectively anchor to the wellbore via the anchor claws, and selectively fix and disconnect from the retrieval joint via the chucks, thereby fixing and releasing the submersible carrier mechanism.

[0025] The submersible transport mechanism is configured to achieve self-cruising reciprocating motion underground via a second and / or third electrical control cabin, and to achieve two-way communication with the ground control system via a first electrical control cabin.

[0026] In one embodiment of the present invention, the submersible carrier mechanism can selectively operate in one of a first operating mode and a second operating mode. In the first operating mode, the submersible carrier mechanism operates independently underground and achieves bidirectional wireless communication with the ground control system on the ground. In the second operating mode, the submersible carrier mechanism is fixed to the releasable control mechanism and wiredly connected to the ground control system via a cable for data transmission and charging.

[0027] In one embodiment of the present invention, the retrieval connector includes a first connector portion configured in the form of a rod, and a second connector portion disposed at the rear end of the first connector portion and configured in the form of a cone. The releasable control mechanism is configured to identify the second connector portion and, after identifying the second connector portion, fix the second connector portion by a claw to perform data transmission and charging operations.

[0028] In one embodiment of the present invention, the submersible transport mechanism further includes a buoyancy adjustment module disposed between the first and second electrical control compartments and between the first and third electrical control compartments. The buoyancy adjustment module includes a hydraulic cylinder for communicating with the wellbore, a buoyancy adjustment drive device disposed in the corresponding second or third electrical control compartment, and a piston disposed in the hydraulic cylinder and connected to the buoyancy adjustment drive device.

[0029] The buoyancy adjustment drive device is configured to make the piston reciprocate so that the hydraulic cylinder adjusts the balance between its own weight and buoyancy by drawing in or discharging liquid in the wellbore.

[0030] In one embodiment of the present invention, the first electrical control compartment is provided with a navigation and positioning module configured to record the position of the submersible carrier mechanism inside the wellbore, a wireless communication module configured to read and write control ground data and interact with information from downhole intelligent electrical control equipment, a balance module connected to the buoyancy adjustment module and configured to adjust the attitude of the submersible carrier mechanism, a battery module, and a main control module connected to the positioning module, the wireless communication module, the balance module and the battery module respectively.

[0031] In one embodiment of the present invention, both the second and third electrical control modules are propulsion modules.

[0032] In one embodiment of the present invention, the second electrical control compartment is a propulsion compartment, and the third electrical control compartment is a guidance compartment.

[0033] In one embodiment of the present invention, the propulsion compartment includes a driver disposed within the propulsion compartment and connected to a battery module, a fixed base configured in the form of a frustum, a plurality of spaced-apart wing plates disposed circumferentially on the fixed base, and a thruster disposed at the free end of the fixed base, wherein the outer diameter of the fixed base gradually increases toward the first electronic control compartment.

[0034] In one embodiment of the invention, the propulsion unit includes a propulsion housing, a screw extending axially from the driver to the outside of the propulsion compartment, and a first propeller and a second propeller disposed outside the screw and spaced axially apart, the first propeller and the second propeller having opposite directions of rotation, and the outer diameter of the propulsion housing gradually decreasing towards the salvage joint. Preferably, the maximum outer diameter of the propulsion housing is smaller than the maximum outer diameter of the second electrical control compartment.

[0035] In one embodiment of the invention, the propulsion compartment includes a streamlined protective shell, the outer diameter of which gradually increases toward the first electronic control compartment.

[0036] In one embodiment of the present invention, the guide cabin is configured in a streamlined shape and includes a first cabin portion disposed near the front end of the first electronic control cabin and configured in a cylindrical form, and a second cabin portion fixedly connected to the first cabin portion and configured in a conical form.

[0037] In one embodiment of the present invention, the submersible transport mechanism further includes a signal acquisition compartment disposed between the first and third electronic control compartments, and a task module disposed within the signal acquisition compartment and configured to record downhole data. The task module includes a first sensor configured to measure downhole temperature, a second sensor configured to measure downhole pressure, a third sensor configured to collect and record production and water output data within the production channel, and a transmission device configured to identify and locate electronic control equipment and to interact with the electronic control equipment or perform contactless wireless charging.

[0038] Two symmetrically arranged through slots are provided on the side wall of the signal acquisition chamber to allow fluid to pass through the well shaft.

[0039] In one embodiment of the present invention, the first electronic control cabin is further provided with a motion module connected to the driver and used to control the motion stroke, and a storage module connected to the task module and used to store data.

[0040] In one embodiment of the present invention, the third electrical control compartment is provided with a sonar module configured to detect the distance to obstacles ahead or to detect the integrity of the well shaft and / or a camera module configured to record the internal working conditions of the well shaft.

[0041] According to another aspect of the present invention, a method is provided for operating a downhole submersible transport device according to any one of the claims to the present invention, wherein the method comprises:

[0042] The submersible carrier and the releasable control mechanism are deployed into the well by connecting the chuck to the salvage joint;

[0043] The submersible transport vehicle is deployed to a predetermined location underground via the cable. Optionally, the predetermined location is determined via two-way communication between the first electrical control compartment of the submersible transport vehicle and the ground control system.

[0044] Release the anchor claw and anchor it to the wellbore;

[0045] Disconnect the chuck from the salvage connector to release the submersible transport mechanism;

[0046] The submersible transport vehicle operates autonomously within the wellbore, and the autonomous operation is determined by the submersible transport vehicle based on the two-way communication between the first electrical control compartment of the submersible transport vehicle and the ground control system.

[0047] After the ground control system determines that the submersible transport mechanism has completed its operation, the submersible transport mechanism returns to the releasable control mechanism, and the chucks are reconnected to the salvage connector; and

[0048] The anchor claw is retracted into the housing, and the submersible carrier and the releasable control mechanism are removed from the well via the cable.

[0049] In one embodiment of the present invention, the method further includes:

[0050] After completing its self-cruising operation in the wellbore, the submersible carrier returns to the releasable control mechanism for data transmission and charging.

[0051] In one embodiment of the present invention, the method further includes:

[0052] The ground control system determines whether the submersible carrier needs to continue operation based on the data transmitted from the submersible carrier. If it needs to continue operation, the ground control system reissues the command, and the submersible carrier continues operation upon receiving the command. If it does not need to continue operation, the ground control system determines that the submersible carrier has completed the operation.

[0053] This invention can flexibly operate in two different modes as needed. In the first operating mode, the submersible transport mechanism communicates wirelessly with the surface control system; in the second operating mode, the submersible transport mechanism is fixed to the releasable control mechanism and wiredly connected to the surface control system via cable for data transmission and charging. This invention enables autonomous, full-wellbore assisted oil and gas development operations, reducing operating costs and minimizing surface intervention. Simultaneously, this invention effectively solves the technical problems of transporting materials via existing coiled tubing, cables, and other equipment, which require significant time, cost, and manpower, and are difficult to cover the entire wellbore, including ultra-deep and ultra-long horizontal wells.

[0054] This invention utilizes a buoyancy adjustment module to adjust its own weight to regulate the balance between gravity and buoyancy, thereby ensuring that the submersible transport mechanism can suspend within the wellbore. In this way, the submersible transport mechanism remains in contact with the wellbore wall, and the resistance encountered by the submersible transport mechanism is reduced.

[0055] Furthermore, both the second and third electrical control compartments of this invention can be propulsion compartments. The propulsion units located at both ends balance the torque of a single propulsion unit in the prior art, creating a redundant design. This ensures that the submersible transport mechanism can still move smoothly within the wellbore even if one propulsion unit fails, thereby improving the system's reliability and stability.

[0056] Furthermore, the second electrical control compartment is the propulsion compartment, and the third electrical control compartment is the guidance compartment. By placing the guidance compartment at the front of the downhole submersible transport vehicle, along with navigation and positioning modules, it can more easily navigate the complex working conditions inside the wellbore, thereby avoiding damage to the wellbore wall and reducing the incidence of downhole accidents, further effectively protecting its own structure. In addition, the presence of a single propulsion compartment facilitates turning, enabling accurate positioning within the wellbore wall, further effectively protecting its own structure.

[0057] The navigation and positioning module, wireless communication module, motion module, balance module and main control module installed in the first electrical control compartment enable the submersible transport mechanism to accurately reach the predetermined position to carry out downhole operations smoothly.

[0058] Furthermore, this invention can be equipped with different mission modules according to the needs of the downhole mission, enabling operations such as wellbore data monitoring, well-hole photography, downhole information interaction, and downhole tool inspection when navigating to a designated downhole location. When equipped with a camera module, the submersible transport vehicle can activate the camera module through the main control module and record the position of the submersible transport vehicle in the wellbore and the image information inside the wellbore through the camera. When equipped with a sonar module, the submersible transport vehicle can detect the distance to obstacles ahead (e.g., the distance to the bottom of the well) and can also perform integrity checks on the casing (not shown) or drill pipe (not shown) that make up the wellbore. When equipped with a signal acquisition cabin, the submersible transport vehicle can collect and store various downhole data in real time through sensors installed in the signal acquisition cabin.

[0059] Other areas of application of this disclosure will become apparent from the detailed description, claims, and drawings. The detailed description and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0060] This disclosure will be more fully understood from the detailed description and accompanying drawings.

[0061] Figure 1 schematically shows the structure of the submersible transport mechanism of the downhole submersible transport operation device according to the present invention.

[0062] Figure 2 schematically shows the structure of the releasable control mechanism of the downhole submersible transport device according to the present invention.

[0063] Figure 3 is a structural schematic diagram of the first embodiment of the submersible transport device according to the present invention.

[0064] Figure 4 is a structural schematic diagram of a second embodiment of the submersible transport device according to the present invention.

[0065] Figure 5 schematically illustrates two data transmission operation modes of the downhole submersible transport device according to the present invention.

[0066] Figure 6 shows the first method of entering the well using the downhole submersible transport device according to the present invention.

[0067] Figure 7 shows a second method of entering the well using the downhole submersible transport device according to the present invention.

[0068] Figure 8 schematically shows the structure of the downhole submersible transport device according to the present invention.

[0069] Figure 9 is a cross-sectional view of another embodiment of the downhole submersible transport device according to the present invention.

[0070] Figure 10 shows the descent state of the downhole submersible transport device according to the present invention inside the wellbore.

[0071] Figure 11 shows the upward movement of the downhole submersible transport device according to the present invention inside the wellbore.

[0072] Figure 12 shows the operation of the downhole submersible transport device according to the present invention in the horizontal section of the wellbore.

[0073] Figure 13 shows the downhole submersible transport device according to the present invention in the state of detecting the wellbore.

[0074] Figure 14 shows the state of the downhole submersible transport device according to the present invention in detecting the production channels in each production layer.

[0075] Figure 15 shows the downhole submersible transport device according to the present invention in a state of information interaction with the electrical control equipment.

[0076] In the accompanying drawings, the same parts are referred to by the same or similar reference numerals. The drawings are not necessarily drawn to scale. Detailed Implementation

[0077] To make the technical solutions and advantages of the present invention clearer, exemplary embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not an exhaustive list of all embodiments. Unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0078] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined by "first" and "second" may include one or more of that feature.

[0079] In this document, for ease of description, spatial relative terms such as “below,” “under,” “down,” “above,” “above,” “upper,” etc., are used to describe the relationship of one element or feature to another element or feature in the accompanying drawings. It should be understood that spatial relative terms are intended to encompass different orientations of an object in use or operation, in addition to those depicted in the figures. For example, if an object in the figure is flipped, an element described as “below” or “under” another element or feature would be oriented “above” that element or feature. Thus, the exemplary term “below” can encompass both the downward and upward orientations. Objects may also have other orientations (rotated 90 degrees or other orientations), and the spatial relative terms used herein should be interpreted accordingly.

[0080] In this paper, the terms “front end” and “back end” are defined relative to the wellhead, with “front end” being further away from the wellhead than “back end”.

[0081] In this invention, unless otherwise explicitly specified and limited, the terms "installation", "connection", "fixing", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate element; and they can refer to the internal connection of two elements.

[0082] Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] As shown in Figure 1, the downhole submersible transport device according to the present invention includes a submersible transport mechanism 100. The submersible transport mechanism 100 includes a first electrical control compartment 1, a second electrical control compartment 21, and a third electrical control compartment 22. Preferably, the first electrical control compartment 1 is located in the middle, while the second electrical control compartment 21 and the third electrical control compartment 22 are respectively located on both sides of the first electrical control compartment 1. The second electrical control compartment 21 is located at the rear end of the first electrical control compartment 1, and the third electrical control compartment 22 is located at the front end of the first electrical control compartment 1. The submersible transport mechanism 100 realizes self-cruising reciprocating motion downhole via the second electrical control compartment 21 and the third electrical control compartment 22, and realizes bidirectional communication with the ground control system 9 via the first electrical control compartment 1, thereby enabling the transmission of mission information from the ground to the downhole in a transport manner, and / or the transmission of data acquired and recorded by the first electrical control compartment 1 from the downhole to the ground in a transport manner.

[0084] In one embodiment, a salvage connector 3 is provided at the free end of the second electrical control compartment 21. The salvage connector 3 includes a first connector portion 31 configured as a rod and a second connector portion 32 configured as a cone. Preferably, the first connector portion 31 is located at the free end (rear end) of the thruster 44 (described below), while the second connector portion 32 is located at the free end (rear end) of the first connector portion 31. In a preferred embodiment, the first connector portion 31 is configured as a wet connector.

[0085] According to the present invention, as shown in FIG2, the downhole submersible transport operation device further includes a releasable control mechanism 200 for engaging with the retrieval joint 3. The releasable control mechanism 200 includes a housing 201 and an anchor claw 203. The housing 201 is configured as a hollow sleeve, and a plurality of spaced-apart guide grooves 205 are provided on the wall surface of the housing 201. The anchor claw 203 is located in the middle of the housing 201 and is initially retracted within the housing 201. When it is necessary to release the submersible transport mechanism 100, the anchor claw 203 can extend outward beyond the guide grooves 205 and anchor itself to the wellbore 8, as described below.

[0086] In one embodiment, the releasable control mechanism 200 further includes a cable 202. The cable 202 is disposed at a first end of the housing 201 and is capable of connecting to the ground control system 9.

[0087] In one embodiment, the releasable control mechanism 200 further includes a chuck 204. The chuck 204 is located at the second end of the housing 201 and can engage with the second connector portion 32 in the retrieval connector 3, thereby enabling the submersible carrier mechanism 100 to be smoothly released into the wellbore 8, as described below.

[0088] After the assembled submersible transport mechanism 100 and releaseable control mechanism 200 are deployed into the well, they both descend together in the vertical well section under the influence of gravity and reach the predetermined location under the restraint of cable 202. Then, the releaseable control mechanism 200 controls the anchor claw 203 to extend outward over the guide groove 205, thereby anchoring it to the casing in the wellbore 8. Afterward, the releaseable control mechanism 200 controls the chuck 204 to open, thereby disconnecting the chuck 204 from the retrieval connector 3 and releasing the submersible transport mechanism 100. Thereafter, the submersible transport mechanism 100 can carry out subsequent work in the wellbore 8 according to a predetermined procedure.

[0089] In one embodiment, the releasable control mechanism 200 is configured to identify the retrieval connector 3 and to capture and secure the second connector portion 32 in the retrieval connector 3 via the claw 204 for data transmission and charging operations.

[0090] When the submersible transport vehicle 100 completes its scheduled tasks or its power is insufficient, it will automatically return to the position of the releaseable control mechanism 200. The releaseable control mechanism 200 can then identify the salvage connector 3 and use its claws 204 to capture and secure the second connector portion 32 of the salvage connector 3 (the salvage connector 3 is inserted into the housing 201), thereby reconnecting the submersible transport vehicle 100 and the releaseable control mechanism 200 and establishing communication. At this time, ground personnel can read the data stored in the submersible transport vehicle 100 through the ground control system 9, and simultaneously charge the battery module 14 (described below) in the submersible transport vehicle 100 through the ground control system 9 and the releaseable control mechanism 200.

[0091] In one embodiment, according to the present invention, the downhole submersible transport device further includes a drive mechanism. According to one example, both the second electrical control compartment 21 and the third electrical control compartment 22 are propulsion compartments. The drive mechanisms are respectively located in the third electrical control compartment 22 and the second electrical control compartment 21. It should be understood that the present invention provides two drive mechanisms at the front and rear ends of the submersible transport mechanism 100. This layout design not only improves the operational capability of the submersible transport mechanism 100 within the wellbore 8 but also ensures that the submersible transport mechanism 100 maintains a stable motion attitude within the wellbore 8. In the present invention, the front end is the free end of the third electrical control compartment 22, and the rear end is the free end of the second electrical control compartment 21.

[0092] Furthermore, the aforementioned layout design balances the torque of a single thruster in existing technologies, creating redundancy. Therefore, the device can still operate normally even when some components fail, thereby reducing the probability of failure and improving the overall reliability and stability of the system.

[0093] In one embodiment, the drive mechanism includes a fixed base 41 configured in the form of a frustum. The outer diameter of the fixed base 41 gradually increases towards the first electrical control compartment 1. This effectively reduces the running resistance of the submersible transport mechanism 100 within the wellbore 8, thereby ensuring the operational capability of the submersible transport mechanism 100 within the wellbore 8 and further improving the efficiency and speed of downhole operations.

[0094] In one embodiment, the drive mechanism further includes a thruster 44 disposed at the free end of the fixed base 41. Furthermore, both the second electrical control compartment 21 and the third electrical control compartment 22 are equipped with a drive unit 23 adapted to the thruster 44. According to one example, the drive unit 23 is an electric motor; however, it should be understood that the submersible transport mechanism 100 may include any suitable type of drive unit 23 without departing from the scope of the invention.

[0095] It should be understood that the actuator 23 in the second electrical control compartment 21 can control the thruster 44 located at the rear end of the submersible transport mechanism 100, while the actuator 23 in the third electrical control compartment 22 can control the thruster 44 located at the front end of the submersible transport mechanism 100. This allows the submersible transport mechanism 100 to move forward or backward smoothly within the shaft 8.

[0096] Preferably, the thruster 44 includes a thruster housing 441 configured in a ring shape, and drive wheels (not shown) concentrically arranged within the thruster housing 441. The outer diameter of the thruster housing 441 gradually decreases towards the retrieval joint 3. This effectively reduces the operating resistance of the submersible transport mechanism 100 within the wellbore 8, thereby ensuring the operational capability of the submersible transport mechanism 100 within the wellbore 8 and further improving the efficiency and speed of downhole operations.

[0097] In one embodiment, a plurality of spaced-apart wing plates 42 are arranged circumferentially on the fixed base 41. It should be understood that in this invention, the wing plates 42 can be used to overcome the torque of the thruster 44, thereby ensuring that the submersible transport mechanism 100 can operate smoothly within the wellbore 8.

[0098] According to a preferred embodiment of the present invention, the fixing seat 41 can not only be used to fix the position of the wing plate 42, but also provide a certain degree of protection for the motor (not shown) of the thruster 44.

[0099] In one embodiment, both the second electrical control compartment 21 and the third electrical control compartment 22 include a streamlined protective shell 24, the outer diameter of which gradually increases toward the first electrical control compartment 1. It should be understood that this arrangement also reduces the operating resistance of the submersible transport mechanism 100 within the wellbore 8, thereby ensuring the operational capability of the submersible transport mechanism 100 within the wellbore 8.

[0100] Preferably, the second electrical control compartment 21 and the third electrical control compartment 22 are configured as dry compartments. The term "dry compartment" refers to a compartment with a dry internal environment, while the term "wet compartment" refers to a compartment whose interior is connected to the downhole environment. Furthermore, the protective shells 24 of both are made of lightweight and high-strength materials, such as carbon fiber or titanium alloy.

[0101] In one embodiment, the outer diameter of the fixed base 41 is continuous with the outer diameter of the protective shell 24. Therefore, the submersible carrier mechanism 100 can have less running resistance when running in the wellbore 8, thereby increasing the running speed of the submersible carrier mechanism 100 in the wellbore and further improving the efficiency and speed of downhole operations.

[0102] According to the present invention, the submersible transport mechanism 100 further includes a pair of buoyancy adjustment modules 5. The buoyancy adjustment modules 5 are respectively disposed between the first electrical control compartment 1 and the second electrical control compartment 21, and between the first electrical control compartment 1 and the third electrical control compartment 22. By adjusting the balance between its own weight and buoyancy, the buoyancy adjustment modules 5 enable the downhole submersible transport device to smoothly ascend or descend in the vertical section of the wellbore 8 based on changes in buoyancy. Furthermore, under the adjustment action of the buoyancy adjustment modules, the downhole submersible transport device can maintain the required attitude state in the skew section or horizontal section of the wellbore 8, thereby achieving the purpose of stable navigation.

[0103] In one embodiment, the buoyancy adjustment module 5 is made of lightweight and high-strength materials, such as carbon fiber and titanium alloy. The length of the buoyancy adjustment module 5 can be customized according to the magnitude of the buoyancy. Preferably, wet connectors are installed at both ends of the buoyancy adjustment module 5 to facilitate electrical connection with adjacent electrical control compartments (first electrical control compartment 1, second electrical control compartment 21, or third electrical control compartment 22).

[0104] Preferably, the buoyancy adjustment module 5 and the adjacent electrical control compartment (first electrical control compartment 1, second electrical control compartment 21 or third electrical control compartment 22) are fixedly connected by screws.

[0105] According to the present invention, the submersible transport mechanism 100 further includes a navigation and positioning module 11, a wireless communication module 12, a balancing module 13, a battery module 14, and a main control module 15 disposed in the first electronic control compartment 1. Preferably, the first electronic control compartment 1 is the control center of the submersible transport mechanism 100 and is a dry compartment.

[0106] In one embodiment, the main control module 15 is the control core of the submersible transport mechanism 100. It is connected to the navigation and positioning module 11, the wireless communication module 12, the balancing module 13 and the battery module 14 respectively, and has functions such as real-time monitoring of the status of the submersible transport mechanism 100, motion control, positioning calculation, navigation planning and operation planning.

[0107] In one embodiment, the navigation and positioning module 11 is configured to determine and record the position of the submersible transport vehicle 100 within the wellbore 8 in real time, facilitating subsequent analysis of downhole data. In one embodiment of this application, the submersible transport vehicle 100 can acquire and record measurements while traversing the wellbore 8 and at different measurement locations within the wellbore 8. Preferably, the navigation and positioning module 11 is, for example, a coupling locator (not shown) or a fiber optic inertial navigation system (not shown). A coupling locator is a magnetic logging instrument that measures the coupling position (depth) of the steel casing (or tubing) in the well based on the principle of electromagnetic induction. In one embodiment, the first electrical control room 1 is capable of autonomously acquiring and recording downhole data. In one embodiment, the first electrical control room 1 is capable of non-contact information interaction with downhole electrical control equipment. In one embodiment, the submersible transport vehicle 100 operates independently downhole, and after acquiring and recording downhole data and other information, it reaches the surface by means of a transport vehicle, where it conducts bidirectional wireless communication with the surface control system 9.

[0108] In one embodiment, the wireless communication module 12 is configured for the submersible carrier 100 to read and write ground data, and when the submersible carrier 100 is applied to an intelligent well completion system, it can interact with downhole intelligent devices.

[0109] In one embodiment, the balance module 13 is connected to the buoyancy adjustment module 5 and is configured to adjust its own weight and buoyancy balance by controlling the buoyancy adjustment module 5 to increase or decrease its own counterweight. This ensures that the submersible transport vehicle 100 has a stable traveling attitude within the wellbore 8, thereby optimizing the propulsion system of the submersible transport vehicle 100 and ensuring that the submersible transport vehicle 100 can operate at high speed within the wellbore 8. In one embodiment, the submersible transport vehicle 100 can cruise at a high speed of approximately 30 meters per minute within the wellbore 8.

[0110] In one embodiment, the battery module 14 is configured to power the buoyancy adjustment drive, the driver 23, and other related electronic components in the electrical control compartment, thereby ensuring that the submersible carrier 100 has a stable power supply within the wellbore 8, so as to ensure that the submersible carrier 100 can carry out downhole operations smoothly.

[0111] The first embodiment of the present invention is described with reference to Figure 3, which presents a submersible transport mechanism 100 equipped with a camera module 32.

[0112] In one embodiment, the submersible transport vehicle 100 further includes a camera module 32. The camera module 32 includes a support rod 61 fixed to the free end of the thruster 44 located in the third electronic control compartment 22, a camera 62 disposed at the free end of the support rod 61 and concentrically arranged with the thruster 44, and a plurality of support frames 64 spaced circumferentially between the thruster 44 and the camera 62. The camera 62 is connected to the battery module 14 via a cable (not shown). In this embodiment, the camera 62 is preferably a camera with an illumination device (not shown), and the camera module 32 is controlled by the main control module 15.

[0113] After the submersible transport vehicle 100 navigates to the designated position via the navigation and positioning module 11, the camera module 32 is activated via the main control module 15, and the camera 62 records the position of the submersible transport vehicle 100 in the wellbore 8 and the image information inside the wellbore 8.

[0114] The submersible carrier 100 also includes a sonar module (not shown) configured to detect the distance to obstacles ahead (e.g., the distance to the bottom of the well) and to perform integrity checks on the casing (not shown) or drill pipe (not shown) that make up the wellbore 8.

[0115] The second embodiment of the present invention is described with reference to Figure 4, which presents a submersible transport mechanism 100 equipped with a signal acquisition cabin 7.

[0116] In one embodiment, the submersible transport mechanism 100 further includes a signal acquisition chamber 7 disposed between the first electrical control chamber 1 and the third electrical control chamber 22, and multiple sensors (not shown) disposed within the signal acquisition chamber 7 for acquiring downhole data. Preferably, the sensors are capable of acquiring and storing various downhole data in real time. For example, the sensors are a temperature sensor 701 for acquiring downhole temperature data, a pressure sensor 702 for acquiring downhole pressure data, and a flow sensor 703 for acquiring downhole flow rate data. Two symmetrically arranged through slots 71 are provided on the side wall of the signal acquisition chamber 7 to allow fluid from the wellbore 8 to enter the signal acquisition chamber 7.

[0117] Preferably, the signal acquisition chamber 7 is a wet chamber, and its shell is made of lightweight and high-strength materials, such as carbon fiber or titanium alloy.

[0118] Figure 5 illustrates two operating modes of the underwater transport mechanism 100 and the ground control system 9 of the present invention.

[0119] The communication methods between this invention and the ground control system 9 can be divided into two types: wired and wireless communication.

[0120] In the first operating mode, the submersible transport mechanism 100 operates independently underground and communicates directly with the ground control system 9 on the ground via the wireless communication module 12 installed in the first electrical control cabin 1.

[0121] In the second operating mode, the submersible carrier mechanism 100 is fixed to the releasable control mechanism 200 and wired to the ground control system 9 via cable 202 for data transmission and charging. When the submersible carrier mechanism 100 reaches the predetermined location, the releasable control mechanism 200 controls the anchor claw 203 to extend outward beyond the guide groove 205, thereby anchoring it to the casing in the wellbore 8; then, the releasable control mechanism 200 controls the chuck 204 to open, thereby disconnecting the chuck 204 from the retrieval connector 3 to release the submersible carrier mechanism 100. Afterward, the submersible carrier mechanism 100 can carry out subsequent work in the wellbore 8 according to a predetermined program. When the submersible carrier mechanism 100 completes the predetermined work or its power is insufficient, it will automatically return to the position of the releasable control mechanism 200. Thus, the releaseable control mechanism 200 can identify the salvage connector 3 and capture and fix the second connector portion 32 in the salvage connector 3 through the claw 204 (the salvage connector 3 is inserted into the housing 201), thereby enabling the submersible carrier mechanism 100 to reconnect with the releaseable control mechanism 200 and establish communication.

[0122] The two methods of entering the well of the submersible transport mechanism 100 of the present invention are described with reference to Figures 6 and 7.

[0123] In the first well entry method, the submersible transport mechanism 100 is used alone for downhole operations, which only needs to be deployed through the wellhead. Inside the wellbore 8, the balance module 13 of the submersible transport mechanism 100 will increase or decrease its own counterweight by controlling the buoyancy adjustment module 5 to adjust the balance between its own weight and buoyancy, thereby ensuring that the submersible transport mechanism 100 can have a stable traveling posture inside the wellbore 8.

[0124] It should be understood that when the submersible transport mechanism 100 moves from the wellhead to the bottom of the well, the rear thruster 44 propels forward and the front thruster 44 propels backward to achieve forward operation of the submersible transport mechanism 100; when the submersible transport mechanism 100 moves from the bottom of the well to the wellhead, the rear thruster 44 propels backward and the front thruster 44 propels forward to achieve reverse operation of the submersible transport mechanism 100.

[0125] In the second well entry method, the submersible transport mechanism 100 and the releaseable control mechanism 200 are used together for downhole operations. Before entering the well, the submersible transport mechanism 100 and the releaseable control mechanism 200 need to be assembled first, and then the cable 202 is dropped into the well together.

[0126] It should be understood that in the vertical well section, the submersible transport mechanism 100 and the releaseable control mechanism 200 descend as a single unit under the influence of gravity. After the submersible transport mechanism 100 has reached the predetermined location via cable 202, the anchor claw 203 on the releaseable control mechanism 200 is released via the ground control system 9. At this time, the anchor claw 203 extends outward beyond the guide groove 205 and anchors itself onto the casing in the wellbore 8. Then, the chuck 204 is opened to disconnect from the retrieval connector 3, thereby releasing the submersible transport mechanism 100. Subsequently, the submersible transport mechanism 100 can carry out subsequent work within the wellbore 8 according to a predetermined procedure.

[0127] When the submersible transport mechanism 100 has completed its intended task or the battery module 14 in the submersible transport mechanism 100 needs charging, the submersible transport mechanism 100 can return to the releasable control mechanism 200. The releasable control mechanism 200 is configured to recognize the salvage connector 3 and to capture and secure the second connector portion 32 in the salvage connector 3 via the claw 204 for data transmission and charging.

[0128] As shown in Figure 8, according to one example, the second electrical control compartment 21 is a propulsion compartment, and the third electrical control compartment 22 is a guidance compartment. The downhole submersible transport device according to the present invention includes a signal acquisition compartment 7 and a propulsion assembly. The propulsion assembly is disposed within the second electrical control compartment 21, i.e., installed at the tail of the downhole submersible transport device.

[0129] In one embodiment, the propulsion assembly includes a drive 23 disposed within a second electrical control compartment 21, a screw 222 extending axially from the drive 23 to the outside of the second electrical control compartment 21, and a spaced-apart first propeller 223 and second propeller 224 sleeved around the screw 222. According to one example, the drive 23 is an electric motor; however, it should be understood that the submersible transport mechanism 100 may include any suitable type of drive 23 without departing from the scope of the invention. It should be understood that the drive 23 drives the screw 222 to rotate, which in turn drives the first propeller 223 and the second propeller 224 to provide power for the forward and return movement of the downhole submersible transport operation device.

[0130] Preferably, the first propeller 223 and the second propeller 224 are designed to be coaxial and opposite to each other. In other words, the first propeller 223 and the second propeller 224 are on the same screw 222, but they have opposite directions of rotation. This can prevent the downhole submersible transport device from rolling during operation and further improve the stability of the downhole submersible transport device in the wellbore 8.

[0131] Furthermore, since the first propeller 223 and the second propeller 224 can rotate simultaneously, the propulsion load of the downhole submersible transport device in the well can be further increased, thereby ensuring its moving speed in the wellbore 8 and achieving the purpose of efficient operation.

[0132] According to the present invention, the propulsion assembly further includes a protective cover / propeller housing 441. The propeller housing 441 is fitted over the screw 222; in other words, the propeller housing 441 is coaxial with the first propeller 223 and the second propeller 224. Preferably, the propeller housing 441 can cover the first propeller 223 and the second propeller 224, thereby effectively protecting the first propeller 223 and the second propeller 224 downhole to prevent irreparable damage caused by scratching the inner wall of the wellbore 8 during operation.

[0133] In one embodiment, the outer diameter of the thruster housing 441 gradually increases towards the second electrical control compartment 21. This allows the outer surface of the thruster housing 441 to have a large tilt angle, effectively guiding the downhole submersible transport vehicle back to its original position and effectively reducing the resistance experienced by the vehicle during the return journey, thereby increasing its travel speed.

[0134] In a preferred embodiment, the maximum outer diameter of the thruster housing 441 is smaller than the outer diameter of the housing 111 of the signal acquisition cabin 7. This allows the thruster housing 441 to fully cover the exterior of the first propeller 223 and the second propeller 224, thus protecting them from irreparable damage caused by scratching against the inner wall of the wellbore 8 during operation.

[0135] In this embodiment, a propulsion assembly is provided only at the tail end, which, together with the navigation and positioning module 11 (described below), allows for easier passage through the complex working conditions within the wellbore 8, thereby avoiding damage to the inner wall of the wellbore 8 and reducing the incidence of downhole accidents. Compared to the prior art, the single propulsion module makes steering easier, enabling accurate positioning of the inner wall of the wellbore 8 and further effectively protecting its own structure.

[0136] According to the present invention, the third electrical control compartment 22 of the submersible transport mechanism 100 is a guide compartment. The guide compartment is located at the second end of the signal acquisition compartment 7; in other words, the guide compartment is installed at the head / front end of the downhole submersible transport operation device. In one embodiment, a sonar module 131 and a camera module 132 are provided inside the guide compartment.

[0137] Preferably, during downhole navigation, the submersible transport mechanism 100 can detect the distance to obstacles ahead (e.g., the distance to the bottom of the well) via the sonar module 131, and can also perform integrity checks on the casing (not shown) or drill pipe (not shown) that make up the wellbore 8. Preferably, during downhole navigation, the submersible transport mechanism 100 can capture images of the actual working conditions inside the wellbore 8 via the camera module 132, and can also be used for capturing images of the shape of objects falling into the well, detecting casing / drill pipe deformation or damage, etc. It should be understood that the guide cabin can be configured with any other suitable modules as needed without departing from the scope of the invention.

[0138] According to one embodiment, a buoyancy adjustment module 5 is provided in both the second electrical control compartment 21 (propulsion compartment) and the third electrical control compartment 22 (guide compartment). The buoyancy adjustment module 5 includes a hydraulic cylinder 141 for communicating with the wellbore 8, a buoyancy adjustment drive device 142 disposed in the second electrical control compartment 21 or the guide compartment, and a piston 143 disposed in the hydraulic cylinder 141 and connected to the buoyancy adjustment drive device 142.

[0139] According to one embodiment of the present invention, the buoyancy adjustment drive device 142 is configured to cause the piston 143 to reciprocate within the hydraulic cylinder 141, thereby causing the hydraulic cylinder 141 to adjust the balance between its own weight and buoyancy by drawing in or discharging liquid from the wellbore 8, thereby enabling the submersible transport mechanism 100 to achieve the purpose of going down or up.

[0140] The buoyancy adjustment module 5 adjusts the balance between its own weight and buoyancy, enabling the submersible transport mechanism 100 to smoothly ascend or descend in the vertical section of the wellbore 8 by relying on changes in buoyancy. Furthermore, under the adjustment of the buoyancy adjustment module, the submersible transport mechanism 100 can maintain the required attitude state in the skew section or horizontal section of the wellbore 8, thereby achieving stable navigation.

[0141] The following description, in conjunction with Figure 10, illustrates the descent process of the submersible transport mechanism 100 within the vertical section of the shaft 8.

[0142] First, the submersible transport mechanism 100 is deployed into the vertical section of the wellbore 8. Then, the hydraulic cylinder 141 adjusts the buoyancy of the submersible transport mechanism 100 by drawing in liquid from the wellbore 8. As the amount of liquid in the hydraulic cylinder 141 increases, the buoyancy of the submersible transport mechanism 100 becomes less than its own weight, and thus, the submersible transport mechanism 100 descends under the influence of gravity.

[0143] Then, based on the descent speed of the submersible transport mechanism 100, it is determined whether the propulsion components need to be activated. If activation is required, the first propeller 223 rotates forward and the second propeller 224 rotates in reverse, thereby providing auxiliary forward propulsion for the submersible transport mechanism 100 and further increasing its descent speed.

[0144] It is worth noting that during the descent of the submersible transport mechanism 100, the total amount of liquid in the liquid cylinder 141 in the guide compartment is greater than the total amount of liquid in the liquid cylinder 141 in the second electrical control compartment 21. In this way, the overall center of gravity of the submersible transport mechanism 100 is at the bottom, thereby ensuring that the submersible transport mechanism 100 can maintain a vertical attitude during descent within the wellbore 8.

[0145] The following describes the upward movement of the submersible transport mechanism 100 in the vertical section of the wellbore 8, with reference to Figure 11.

[0146] During the return process of the submersible transport mechanism 100, the liquid in the liquid cylinder 141 needs to be discharged to adjust the buoyancy of the submersible transport mechanism 100. As the liquid in the liquid cylinder 141 decreases, the buoyancy of the submersible transport mechanism 100 exceeds its own weight, thus causing the submersible transport mechanism 100 to rise under the action of buoyancy. This method can effectively reduce the power consumption of the submersible transport mechanism 100 itself.

[0147] The propulsion components can be activated when needed to provide auxiliary forward propulsion for the submersible carrier 100, thereby further increasing the upward speed of the submersible carrier 100.

[0148] It is worth noting that during the ascent of the submersible transport mechanism 100, the total amount of liquid in the liquid cylinder 141 in the guide compartment is greater than the total amount of liquid in the liquid cylinder 141 in the second electrical control compartment 21. In this way, the overall center of gravity of the submersible transport mechanism 100 is at the bottom, thereby ensuring that the submersible transport mechanism 100 can maintain a vertical attitude during descent within the wellbore 8.

[0149] Figure 12 illustrates the operation of the submersible transport mechanism 100 in the horizontal section of the wellbore 8.

[0150] After the submersible carrier mechanism 100 enters the horizontal section inside the wellbore 8, the liquid in the hydraulic cylinder 141 in the guide chamber and the second electrical control chamber 21 is adjusted at the same time. This not only adjusts the attitude of the submersible carrier mechanism 100 in the wellbore 8 in real time, but also increases the buoyancy of the submersible carrier mechanism 100, thereby ensuring that the present invention can float in the downhole liquid medium.

[0151] In this way, the submersible transport vehicle 100 can smoothly pass through the horizontal section inside the wellbore 8, and in conjunction with the sonar module 131 and the camera module 132, the possibility of contact with the inner wall of the wellbore 8 is effectively reduced, further improving the ability of the submersible transport vehicle 100 to navigate underground.

[0152] In one embodiment, the guide cabin is configured in a streamlined shape and includes a first cabin portion 301, which is cylindrical and located at the second end of the signal acquisition cabin 7, and a second cabin portion 302, which is conical and fixedly connected to the first cabin portion 301. In other words, the front end of the guide cabin is configured with a conical structure, which provides effective directional guidance for the submersible transport mechanism 100 to advance within the wellbore 8, ensuring that the submersible transport mechanism 100 can smoothly reach the predetermined position.

[0153] In one embodiment, the signal acquisition chamber 7 includes an outer shell 111 configured as a hollow sleeve. Preferably, the signal acquisition chamber 7 employs a wet chamber design, allowing liquid within the wellbore 8 to enter the signal acquisition chamber 7. Specifically, a plurality of spaced-apart channels (not shown) are provided along the circumference of the outer shell 111, thereby allowing fluid within the wellbore 8 to pass through.

[0154] In one embodiment, the signal acquisition cabin 7 further includes a task module 112 disposed within the outer shell 111 for recording downhole data. In one embodiment, the task module 112 is capable of non-contact information interaction with downhole electrical control equipment.

[0155] Preferably, the task module 112 may include a first sensor 121 (temperature sensor) for measuring downhole temperature, a second sensor 122 (pressure sensor) for measuring downhole pressure, a third sensor 123 (flow sensor) for collecting and recording production and water output data in each production channel 171, and / or a transmission device 124.

[0156] Preferably, the transmission device 124 can not only interact with the underground electrical control equipment 72, issue ground commands, or read stored data, but also perform contactless wireless charging on the electrical control equipment 72, thereby extending the service life of the electrical control equipment 72. It should be understood that the transmission device 124 includes an identification and positioning device, an information / energy transmission device, and a charger, etc.

[0157] It should be understood that the task module 112 can select appropriate measuring equipment for downhole work according to the specific needs of the task.

[0158] Figure 13 illustrates the process by which the submersible transport mechanism 100 performs temperature and pressure checks inside the wellbore 8.

[0159] When it is necessary to obtain downhole temperature and pressure parameters, the first sensor 121 and the second sensor 122 need to be installed inside the outer shell 111 of the signal acquisition cabin 7.

[0160] During the navigation of the submersible transport vehicle 100, the first sensor 121 and the second sensor 122 measure and store the temperature and pressure at different locations inside the wellbore 8. After completing the detection task, it automatically returns to the wellhead and transmits the recorded data to the ground for subsequent analysis.

[0161] Figure 14 illustrates the process by which the submersible transport mechanism 100 detects the flow rate of the production channels 171 in each production layer.

[0162] When it is necessary to determine the production or water output of each production layer in the well, the second sensor 122 and the third sensor 123 need to be installed inside the outer shell 111 of the signal acquisition cabin 7.

[0163] During the navigation of the submersible transport vehicle 100, the flow rate and pressure of each production channel 171 of the segmented wellbore 8 are detected by the second sensor 122 and the third sensor 123, thereby detecting and recording the production data and water output data of each production channel 171, and providing guidance for the production control of each segment and the water blocking and water control of the water-producing layer.

[0164] The process of information and energy interaction between the submersible transport mechanism 100 and the electronic control equipment 72 is described with reference to Figure 15.

[0165] When it is necessary for the ground to transmit new instructions to the electrical control equipment 72 located underground, collect the data stored in the electrical control equipment 72, or when the electrical control equipment 72 is about to run out of energy and needs to be extended, the transmission equipment 124 needs to be installed inside the outer shell 111 of the signal acquisition cabin 7.

[0166] When the submersible transport vehicle 100 is in operation, the transmission device 124 (identification and positioning device) can identify and locate the electronic control device 72, thereby ensuring that the submersible transport vehicle 100 can accurately stay near the electronic control device 72.

[0167] When the submersible transport vehicle 100 is near the electronic control equipment 72, its onboard transmission equipment 124 (information / energy transmission device) can achieve information interaction with the electronic control equipment 72, and can issue ground commands to the electronic control equipment 72 or read the data stored in the electronic control equipment 72.

[0168] In addition, the transmission device 124 (charger) can perform contactless wireless charging with the electronic control device 72, thereby extending the service life of the electronic control device 72.

[0169] According to the present invention, a navigation and positioning module 11, a communication module 12, a balancing module 13, a motion module 54, a storage module 55, and a main control module are provided in the first electronic control compartment 1. It should be understood that the first electronic control compartment 1 may be equipped with any other suitable modules as needed, without departing from the scope of the present invention.

[0170] Preferably, the navigation and positioning module 11 is connected to the propulsion component to control the flight path of the submersible carrier 100. The communication module 12 can issue tasks to the submersible carrier 100 in the initial stage and provide data for ground reading, downloading, and analysis after return. The balance module 13 is connected to the buoyancy adjustment module, enabling systematic adjustments to the submersible carrier 100 based on the actual working conditions inside the wellbore 8. The motion module 54 is connected to the actuator 23, controlling the movement of the submersible carrier 100 within the wellbore 8. The storage module 55 stores relevant data collected by the task module 112 onboard the submersible carrier 100 for data download and analysis after return to the ground.

[0171] According to the present invention, the submersible transport mechanism 100 further includes an energy compartment 60 disposed between the signal acquisition compartment 7 and the guidance compartment. The energy compartment 60 includes battery modules 61 connected to the signal acquisition compartment 7, the first electronic control compartment 1, the second electronic control compartment 21, and the third electronic control compartment 22, respectively. Preferably, the battery modules 61 are high-temperature resistant lithium thionyl chloride battery packs, which can withstand the harsh high-temperature environment downhole, thereby ensuring a sufficient power supply for the submersible transport mechanism 100.

[0172] In one embodiment, both the first electrical control compartment 1 and the energy compartment 60 adopt a dry compartment design and can withstand the high pressure at the bottom of the well, thereby preventing liquid from the wellbore 8 from entering the first electrical control compartment 1 or the energy compartment 60, and further ensuring the safety of the electronic components in the first electrical control compartment 1 and the energy compartment 60. The first electrical control compartment 1 and the energy compartment 60 can also be combined into one compartment, that is, the first electrical control compartment 1 includes a battery module 14 (as shown in Figure 1).

[0173] In a preferred embodiment, the second electrical control compartment 21, the first electrical control compartment 1, the signal acquisition compartment 7, the energy compartment 60, and the third electrical control compartment 2 are all made of carbon alloy or carbon fiber materials. While meeting the requirements of high pressure resistance, the overall mass of the submersible transport mechanism 100 can be further reduced, thereby reducing energy consumption during operation and increasing the total voyage range of the submersible transport mechanism 100.

[0174] In one embodiment, the second electrical control compartment 21, the first electrical control compartment 1, the signal acquisition compartment 7, the energy compartment 60, and the guide compartment are all provided with smooth outer surfaces and have no rudder or tail fin, so that they can move smoothly within the limited space of the shaft 8.

[0175] In a preferred embodiment, the second electrical control compartment 21, the first electrical control compartment 1, the signal acquisition compartment 7, the energy compartment 60, and the third electrical control compartment 22 are all connected by modular insertion, and a sealed connection is immediately achieved after insertion via a sealing component 81. Furthermore, the second electrical control compartment 21, the first electrical control compartment 1, the signal acquisition compartment 7, the energy compartment 60, and the guide compartment are also fixedly connected by fastening pins 82 to ensure the safe operation of the submersible transport mechanism 100 within the wellbore 8.

[0176] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art can easily make changes or modifications within the scope of the present invention, and such changes or modifications should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A submersible transport mechanism (100), wherein, The submersible transport mechanism (100) includes: The mission compartment (10) includes a mission module for collecting and recording downhole data and / or for non-contact information interaction with downhole electrical control equipment; The propulsion compartment (20) located at the end of the mission compartment includes a thruster configured to enable the downhole submersible vehicle (100) to self-cruise to and from the well. The control cabin (50) connected to the mission cabin is configured to communicate bidirectionally with the ground control system (9) for downhole data, so as to transmit mission information from the ground to the downhole in a transport manner and / or transmit data acquired and recorded by the mission cabin from the downhole to the ground in a transport manner.

2. The submersible transport mechanism (100) according to claim 1, characterized in that, The downhole submersible transport mechanism (100) also includes a buoyancy adjustment mechanism disposed in the propulsion compartment (20). The buoyancy adjuster (5) is configured to adjust the balance between gravity and buoyancy by increasing or decreasing its own counterweight, thereby enabling the downhole submersible transport mechanism to suspend in the wellbore.

3. The submersible transport mechanism (100) according to claim 2, characterized in that, The thruster includes a motor disposed within the propulsion compartment (20), a screw extending axially from the motor to the outside of the propulsion compartment (20), and a first propeller and a second propeller spaced apart and sleeved on the screw. The first propeller and the second propeller have opposite rotation directions. Preferably, the thruster also includes a thruster housing sleeved on the screw that can cover the first propeller and the second propeller. The maximum outer diameter of the thruster housing is smaller than the maximum outer diameter of the mission compartment.

4. The submersible transport mechanism (100) according to any one of claims 1 to 3, characterized in that, The submersible transport vehicle (100) also includes a guide cabin (30) located at the other end of the mission cabin (10). The guide cabin (30) is equipped with a sonar module for detecting the distance to obstacles ahead or for detecting the integrity of the wellbore and a camera module for collecting and recording the internal working conditions of the wellbore.

5. The submersible transport mechanism (100) according to claim 4, characterized in that, Both the propulsion chamber (20) and the guide chamber (30) are equipped with buoyancy adjustment mechanisms. The buoyancy adjustment mechanism includes a hydraulic cylinder (41) for communicating with the wellbore (70), a drive module (42) disposed in the propulsion chamber (20), and a piston (43) disposed in the hydraulic cylinder (41) and connected to the drive module (42). The drive module (42) is configured to cause the piston (43) to reciprocate so that the hydraulic cylinder (41) adjusts its own weight and buoyancy balance by sucking in or discharging liquid in the wellbore (70).

6. The submersible transport mechanism (100) according to claim 5, characterized in that, The downhole data includes one or more of downhole temperature, pressure, flow rate, and video. The task module (12) includes a first sensor (121) for measuring downhole temperature, a second sensor (122) for measuring downhole pressure, a third sensor (123) for collecting and recording production and water output data in each production channel (71), and a transmission device (124) for identifying, locating, and exchanging information with the electrical control equipment (72) located downhole or for non-contact wireless charging.

7. The submersible transport mechanism (100) according to claim 6, characterized in that, The control cabin (50) is provided with, in sequence, a navigation module (51) connected to the thruster, a communication module (52) for issuing tasks and downloading data, an adjustment module (53) connected to the buoyancy adjustment mechanism for adjusting its own attitude, a motion module (54) connected to the motor (21) for controlling the motion stroke, and a storage module (55) connected to the task module (12) for storing data. The communication module (52) is preferably configured to communicate wirelessly with the ground control system (9) on the ground.

8. The submersible transport mechanism (100) according to claim 7, characterized in that, The submersible transport vehicle (100) further includes an energy compartment (60) disposed between the mission compartment (10) and the guide compartment (30), and a battery module (61) disposed in the energy compartment (60) and connected to the mission compartment (10), the control compartment (50) and the guide compartment (30) respectively.

9. The submersible transport mechanism (100) according to claim 8, characterized in that, The propulsion module (20), the control module (50), the mission module (10), the energy module (60), and the guidance module (30) are all connected in a sealed manner by modular insertion.

10. A submersible transport device for well operations, comprising: The submersible transport mechanism (100) includes a first electrical control compartment (1), a second electrical control compartment (21) located at the rear end of the first electrical control compartment (1), and a third electrical control compartment (22) located at the front end of the first electrical control compartment (1). A salvage joint (3) is provided at the rear end of the second electrical control compartment (21). A releasable control mechanism (200) capable of releasably engaging with the salvage joint (3) includes a housing (201), an anchor claw (203) disposed within the housing (201), and a locking claw (204) disposed at the front end of the housing (201). The releasable control mechanism (200) is configured to connect to the ground control system (9) via a cable (202) located at the rear end of the housing (201), selectively anchored to the wellbore (8) via the anchor claw (203), and selectively fixed and disconnected from the retrieval connector (3) via the chuck (204), thereby fixing and releasing the submersible carrier mechanism (100). The submersible transport mechanism (100) is configured to achieve self-cruising reciprocating motion underground via the second electrical control cabin (21) and / or the third electrical control cabin (22), and to achieve bidirectional communication with the ground control system (9) via the first electrical control cabin (1).

11. The submersible transport device according to claim 10, characterized in that, The submersible carrier (100) can selectively operate in one of a first operating mode and a second operating mode. In the first operating mode, the submersible carrier (100) operates alone underground and achieves two-way wireless communication with the ground control system (9) on the ground. In the second operating mode, the submersible carrier (100) is fixed to the releasable control mechanism (200) and wiredly connected to the ground control system (9) via a cable (202) for data transmission and charging.

12. The submersible transport device according to claim 11, characterized in that, The retrieval connector (3) includes a first connector portion (31) configured in the form of a rod, and a second connector portion (32) configured in the form of a cone at the rear end of the first connector portion (31). The releasable control mechanism is configured to identify the second connector portion (32) and fix the second connector portion (32) by a claw (204) after identifying the second connector portion (32) for data transmission and charging.

13. The submersible transport device according to claim 12, characterized in that, The submersible transport mechanism (200) further includes a buoyancy adjustment module (5) disposed between the first electrical control compartment (1) and the second electrical control compartment (21) and between the first electrical control compartment (1) and the third electrical control compartment (22). The buoyancy adjustment module (5) includes a hydraulic cylinder (141) for communicating with the wellbore (8), a buoyancy adjustment drive device (142) disposed in the corresponding second electrical control compartment (21) or third electrical control compartment (22), and a piston (143) disposed in the hydraulic cylinder (141) and connected to the buoyancy adjustment drive device (142). The buoyancy adjustment drive device (142) is configured to cause the piston (143) to perform... The reciprocating motion allows the cylinder (141) to adjust its own weight and buoyancy balance by drawing in or discharging liquid from the wellbore (8).

14. The submersible transport device according to claim 13, characterized in that, The first electrical control compartment (1) is equipped with a navigation and positioning module (11) configured to record the position of the submersible carrier mechanism in the wellbore (8), a wireless communication module (12) configured to read and write control ground data and interact with the downhole intelligent electrical control equipment (72), a balance module (13) connected to the buoyancy adjustment module (5) and configured to adjust the attitude of the submersible carrier mechanism, a battery module (14), and a main control module (15) connected to the positioning module (11), the wireless communication module (12), the balance module (13) and the battery module (14) respectively.

15. The submersible transport device according to claim 14, characterized in that, The second electrical control module (21) and the third electrical control module (22) are both propulsion modules.

16. The submersible transport device according to claim 14, characterized in that, The second electrical control module (21) is the propulsion module, and the third electrical control module (22) is the guidance module.

17. The submersible transport device according to claim 15 or 16, characterized in that, The propulsion compartment includes a driver (23) disposed inside the propulsion compartment and connected to the battery module (14), a fixed base (41) configured in the form of a frustum, a plurality of spaced-apart wing plates (42) disposed circumferentially on the fixed base (41), and a thruster (44) disposed at the free end of the fixed base (41), the outer diameter of the fixed base (41) gradually increasing toward the first electronic control compartment (1).

18. The submersible transport device according to claim 17, characterized in that, The thruster (44) includes a thruster housing (441), a screw (222) extending axially from the driver (23) to the outside of the propulsion compartment, and a first propeller (223) and a second propeller (224) arranged on the outside of the screw (222) and spaced apart axially, the first propeller (223) and the second propeller (224) having opposite directions of rotation, the outer diameter of the thruster housing (441) gradually decreasing toward the salvage joint (3), preferably, the maximum outer diameter of the thruster housing is smaller than the maximum outer diameter of the second electrical control compartment.

19. The submersible transport device according to claim 18, characterized in that, The propulsion compartment includes a streamlined protective shell (24) whose outer diameter gradually increases toward the first electrical control compartment (1).

20. The submersible transport device according to claim 16, characterized in that, The guide cabin is configured in a streamlined shape and includes a first cabin part (301) disposed near the front end of the first electrical control cabin (1) and configured in a cylindrical form, and a second cabin part (302) fixedly connected to the first cabin part (301) and configured in a conical form.

21. The submersible transport device according to claim 17, characterized in that, The submersible transport mechanism also includes a signal acquisition compartment (7) located between the first electrical control compartment (1) and the third electrical control compartment (22), and a task module (112) located in the signal acquisition compartment (7) and configured to record downhole data. The task module (112) includes a first sensor (121) configured to measure downhole temperature, a second sensor (122) configured to measure downhole pressure, a third sensor (123) configured to collect and record production and water output data in the production channel (171), and a transmission device (124) configured to identify and locate the electrical control equipment (72) and to interact with the electrical control equipment (72) or perform contactless wireless charging. Two symmetrically arranged through slots (71) are provided on the side wall of the signal acquisition chamber (7) to allow fluid to pass through the wellbore (8).

22. The submersible transport device according to claim 21, characterized in that, The first electronic control cabin (1) is also provided with a motion module (54) connected to the driver (23) and used to control the motion stroke, and a storage module (55) connected to the task module (112) and used to store data.

23. The submersible transport device according to claim 14, characterized in that, The third electrical control compartment (22) is equipped with a sonar module (131) configured to detect the distance to obstacles ahead or to check the integrity of the well shaft (8) and / or a camera module (132) configured to record the internal working conditions of the well shaft (8).

24. A method for operating a downhole submersible transport device according to any one of claims 10 to 23, wherein, The method includes: The submersible carrier (100) and the releasable control mechanism (200) are deployed into the well by connecting the claw (204) to the retrieval joint (3); The submersible carrier (100) is deployed to a predetermined location underground via the cable (202). Optionally, the predetermined location is determined via two-way communication between the first electrical control compartment (1) of the submersible carrier (100) and the ground control system (9). Release the anchor claw (203) and anchor it to the wellbore (8); Disconnect the claw (204) from the salvage connector (3) to release the submersible transport mechanism (100); The submersible transport vehicle (100) performs self-cruising operation in the wellbore, and the self-cruising operation is determined by the submersible transport vehicle (100) based on the two-way communication between the first electrical control compartment (1) of the submersible transport vehicle (100) and the ground control system (9); After the ground control system (9) determines that the submersible carrier (100) has completed its operation, it causes the submersible carrier (100) to return to the releasable control mechanism (200) and reconnects the chuck (204) to the salvage connector (3); and The anchor claw (203) is retracted into the housing (201), and the submersible carrier (100) and the releasable control mechanism (200) are removed from the well via the cable (202).

25. The method according to claim 24, characterized in that, The method further includes: After completing its self-cruising operation in the wellbore, the submersible carrier (100) returns to the releasable control mechanism (200) for data transmission and charging.

26. The method according to claim 24 or 25, characterized in that, The method further includes: The ground control system (9) determines whether the submersible carrier (100) needs to continue operating based on the data transmitted from the submersible carrier (100). If it needs to continue operating, the ground control system (9) issues a new instruction, and the submersible carrier (100) continues operating upon receiving the instruction. If it does not need to continue operating, the ground control system (9) determines that the submersible carrier (100) has completed its operation.

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