# US 2021/0277765 A1 · Movement-synchronized wellbore inspection system and movement synchronization control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0277765 A1 - Document ID: US20210277765A1 - Status: Published application - Kind: A1 - Application number: 17/043,682 - Filed: 2019-11-11 - Published: 2021-09-09 - Earliest claimed: 2019-09-23 - Assignees: China University of Mining and Technology - Applicants: China University of Mining and Technology - Inventors: Chaoquan TANG; Gongbo ZHOU; Hongwei TANG; Zhenzhi HE; Gang ZHANG; Wei LI; Fan JIANG - Web page: https://patentgrep.com/patent/US20210277765A1 ## CPC - E21B 34/06: in wells - E21B 47/00: Survey of boreholes or wells (monitoring pressure or flow of drilling fluid E21B21/08) - B25J 11/00: Manipulators not otherwise provided for - G01M 3/005: {using pigs or moles (G01M3/246, G01M3/2823 take precedence)} - G01M 3/38: by using light (G01M3/02 takes precedence) - G01M 5/0075: {by means of external apparatus, e.g. test benches or portable test systems (G01M5/005 takes precedence)} - G01M 11/081: {by using a contact-less detection method, i.e. with a camera} - F16L 55/30: of the propulsion means, e.g. towed by cables - F16L 2101/30: Inspecting, measuring or testing - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The movement-synchronized wellbore inspection system according to claim 1, wherein the underground wire rope moving device and the ground wire rope moving device are identical in structure, and each comprises a housing, a drive motor and a plurality of moving rollers; a wire rope locking mechanism capable of firmly clamping the wire rope is provided on the housing; and the moving rollers comprise a driving roller and one or more driven rollers; and each of the moving rollers is positioned and supported by a roller shaft which is mounted in the housing via a bearing; a drive motor base is fixedly mounted on the housing, and a power output end of the drive motor is connected via a reducer to the roller shaft which supports the driving roller; and the control device controls, according to the included angle, operation states of the drive motors of the underground wire rope moving device and the ground wire rope moving device, such that the underground wire rope moving device and the ground wire rope moving device move in synchronization. ### Claim 3 (depends on 2) The movement-synchronized wellbore inspection system according to claim 2, wherein the underground wire rope moving device and the ground wire rope moving device are each provided with a guide mechanism; the guide mechanism comprises a transverse guide mechanism and a longitudinal guide mechanism; the transverse guide mechanism comprises a transverse guide support and a transverse guide roller; the transverse guide support is connected to the housing at one end and further connected to the transverse guide roller at the other end, and the transverse guide roller is axially parallel to a rolling surface where the moving rollers are located; the longitudinal guide mechanism comprises a longitudinal guide support and a longitudinal guide roller; the longitudinal guide support is connected to the housing at one end and further connected to the longitudinal guide roller at the other end, and the longitudinal guide roller s axially perpendicular to a rolling surface where the moving rollers are located; and driven by the drive motor, the driving roller operates in cooperation with the transverse guide mechanism and the longitudinal guide mechanism to implement positioning and guiding, so as to drive each of the driven rollers to always move along the ground wire rope moving track and the underground wire rope moving track. ### Claim 4 (depends on 3) The movement-synchronized wellbore inspection system according to claim 3, wherein the ground wire rope moving track or the underground wire rope moving track further comprises a transverse guide surface and a longitudinal guide surface; one side of the rolling surface is provided with the longitudinal guide surface perpendicular to the rolling surface, and the other side of the rolling surface is provided with an L-shaped groove at a turning portion, the L-shaped groove is formed by a vertical part and a transverse part; an extension direction of the vertical part is perpendicular to the rolling surface, and an opening of the vertical part is flush with the rolling surface; an extension direction of the transverse part is parallel to the rolling surface, and the transverse part has the transverse guide surface parallel to the rolling surface; the moving rollers are directly provided above the rolling surface; the transverse guide support is disposed in the vertical part of the groove, and the transverse guide roller is disposed in the transverse part; one end of the transverse guide support extends out of the vertical part and is then connected to the housing, and the other end of the transverse guide support is connected to the transverse guide roller hooked onto the transverse guide surface; the transverse guide roller is connected to the transverse guide surface via a wire, and the longitudinal guide roller is connected to the longitudinal guide surface via a wire; and driven by the drive motor, the driving roller is able to drive the transverse guide roller to roll along the transverse guide surface, drive the longitudinal guide roller to roll along the longitudinal guide surface, and drive the driven rollers to roll along the rolling surface. ### Claim 5 (depends on 4) The movement-synchronized wellbore inspection system according to claim 4, wherein the housing is designed in a circular sector shape, and the roller shafts are distributed in a radial direction of the circular-sector-shaped housing; two radial section ends of the circular-sector-shaped housing are both provided with a fixing rack, and each fixing rack is provided with one longitudinal guide mechanism and one transverse guide mechanism; the longitudinal guide mechanism is provided on an end of the fixing rack adjacent to an inner circular surface of the circular-sector-shaped housing; and the transverse guide mechanism is provided on an end of the fixing rack adjacent to an outer circular surface of the circular-sector-shaped housing; the two longitudinal guide mechanisms respectively provided on the two radial section ends of the circular-sector-shaped housing are symmetrically arranged, and the two transverse guide mechanisms respectively provided on the two radial section ends of the circular-sector-shaped housing are symmetrically arranged; an axis of the longitudinal guide roller is perpendicular to the circular-sector-shaped surface of the circular-sector-shaped housing, and an axis of the transverse guide roller is parallel to the circular-sector-shaped surface of the circular-sector-shaped housing; positions where the longitudinal guide support and the transverse guide support are disposed on the fixing rack are adjustable in the radial direction of the circular-sector-shaped housing. ### Claim 6 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.