US 2021/0277765 A1Published application

Movement-synchronized wellbore inspection system and movement synchronization control method thereof

AssigneeChina University of Mining and Technology

InventorsChaoquan TANG, Gongbo ZHOU, Hongwei TANG, Zhenzhi HE, Gang ZHANG, Wei LI, Fan JIANG

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Abstract

A movement-synchronized wellbore inspection system and a movement-synchronization control method thereof are disclosed. The wellbore inspection system comprises a rope-climbing robot, a wire rope, a ground wire rope moving device, a ground wire rope moving track, an underground wire rope moving device, an underground wire rope moving track, an inertial sensor and a control device. An upper end of the wire rope is connected to the ground wire rope moving device, and an lower end of the wire rope passes through the rope-climbing robot and is then connected to the underground wire rope moving device. The control device controls the underground and ground wire rope moving devices to move in synchronization, and then the inertial sensor carried on the rope-climbing robot detects posture data of the wire rope and transmits the data to the control device.

Claims6

Dependent claims

A movement-synchronized wellbore inspection system, comprising:

a rope-climbing robot, a wire rope, a ground wire rope moving device, a ground wire rope moving track, an underground wire rope moving device, an underground wire rope moving track, an inertial sensor and a control device, wherein the ground wire rope moving device is mounted in the ground wire rope moving track, and the underground wire rope moving device is mounted in the underground wire rope moving track;
an upper end is connected to the ground wire rope moving device, and a lower end of the wire rope passes through the rope-climbing robot and is then connected to the underground wire rope moving device;
the control device controls the underground wire rope moving device and the ground wire rope moving device to move in synchronization, and then the inertial sensor carried on the rope-climbing robot detects posture data of the wire rope and transmits the data to the control device;
the control device firstly calculates, according to the received posture data of the wire rope, an included angle between an axis of a local coordinate system and a horizontal plane in a natural coordinate system;
and then adjusts operation speeds of the ground wire rope moving device and the underground wire rope moving device according to the included angle until the included angle therebetween equals 0;
and in this case, an axis of the wire rope is parallel to an axis of a wellbore, the natural coordinate system is a three-dimensional coordinate system established with a joint between the wire rope and the ground wire rope moving device as an origin;
and the local coordinate system is a three-dimensional coordinate system established with a point on the wire rope corresponding to a center of the rope-climbing robot as an origin.

4 more elements

A movement synchronization control method of a wellbore inspection system, comprising following steps:

step 1:
a preparation phase
wherein the step 1 includes arranging a rope-climbing robot at a preset position on a wire rope, testing the rope-climbing robot to check whether the rope-climbing robot operates normally;
and adjusting a position of a ground wire rope moving device on a ground wire rope moving track, and a position of an underground wire rope moving device on an underground wire rope moving track, to make an axis of the wire rope and an axis of a wellbore parallel to each other;
step 2:
an operation phase
wherein the step 2 includes starting the wellbore inspection system;
at the beginning of operation, driving the ground wire rope moving device and the underground wire rope moving device at a same speed and in a same direction to move the wire rope around the wellbore;
feeding data detected by an inertial sensor carried on the rope-climbing robot back to a control device;
and processing the data by the control device to learn that an included angle is 0, which indicates that the ground wire rope moving device and the underground wire rope moving device move in synchronization,
step 3:
a movement synchronization phase
wherein the step 3 includes after the control device processes the received data detected by the inertial sensor carried on the rope-climbing robot to obtain the included angle is not 0, which indicates that the ground wire rope moving device and the underground wire rope moving device move out of synchronization, controlling the ground wire rope moving device and the underground wire rope moving device according to a geometrical relationship between the included angle and a depth of the wellbore until the included angle equals 0, at this time, the axis of the wire rope and the axis of the wellbore are parallel to each other, wherein the included angle is formed between an axis of a local coordinate system and a horizontal plane in a natural coordinate system;
the natural coordinate system is a three-dimensional coordinate system established with a joint between the wire rope and the ground wire rope moving device as an origin;
and the local coordinate system is a three-dimensional coordinate system established with a point on the wire rope corresponding to a center of the rope-climbing robot as an origin.

12 more elements

Dependencies are inferred from the claim text.