CN106194026B - A kind of control method of the well site survey system for marine dynamically-positioned drilling platform - Google Patents
A kind of control method of the well site survey system for marine dynamically-positioned drilling platform Download PDFInfo
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- CN106194026B CN106194026B CN201610712819.XA CN201610712819A CN106194026B CN 106194026 B CN106194026 B CN 106194026B CN 201610712819 A CN201610712819 A CN 201610712819A CN 106194026 B CN106194026 B CN 106194026B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000005553 drilling Methods 0.000 title claims abstract description 35
- 238000011835 investigation Methods 0.000 claims abstract description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000003252 repetitive effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims 1
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- 229930195733 hydrocarbon Natural products 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 238000012806 monitoring device Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
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- 239000007788 liquid Substances 0.000 description 1
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- 239000004575 stone Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/12—Underwater drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/001—Survey of boreholes or wells for underwater installation
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- Engineering & Computer Science (AREA)
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- Mining & Mineral Resources (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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Abstract
The present invention relates to a kind of control methods of well site survey system for marine dynamically-positioned drilling platform, the control method is the following steps are included: S1: after dynamically-positioned drilling platform reaches well location to be measured, hydraulic folding arm device for carrying TSS440 system is installed on the frame of ROV, meanwhile the ROV carries well site survey equipment；S2: the hydraulic folding arm device is adjusted to erected state, operator controls the ROV and enters water, and is moved to seabed predetermined operation position；S3: operator controls the hydraulic folding arm device and is adjusted to balance state, keep the search coil of the TSS440 system parallel with the horizontal median axis of the ROV, it controls the ROV and carries out investigation operation according to default investigation survey line, obtain the survey data of the TSS440 system and the well site survey equipment, and by the survey data real-time Transmission to the platform.The present invention realizes that well site survey system of the preferably control for marine dynamically-positioned drilling platform carries out the investigation work of seabed well site.
Description
Technical field
The present invention relates to offshore petroleum drilling technical fields, bore more specifically to one kind for marine dynamic positioning
The control method of the well site survey system of well platform.
Background technique
With the continuous development of China's economic, petroleum-based energy demand is continuously increased.Single land exploitation oil gas
Resource has been unable to meet needs, and following more and more exploitations will focus on sea.The master of China's Marine oil and gas resource exploitation at present
Continental shelf that will be shallower in coastal waters, however the oil and gas reserves at deep-sea accounts for about the one third of Chinese Petroliferous total resources, with stone
The progress of exploration activity production technique marches deep-sea and has become certainty.
Carrier of the marine dynamically-positioned drilling platform as deep water hydrocarbon resource exploitation, the semi-submersible type drilling well relative to shallow sea
Platform possesses DP dynamic positioning system, provides good operating condition for deep water hydrocarbon resource drilling.General drilling platforms exists
It needs to carry out well site to design well head before spudding in investigate in advance.
Traditional deep water well site investigation method is with dedicated investigation vessel traction tube workpiece, carrying multibeam echosounder, side
Sonar is swept, the equipment such as system, magnetometer is shallowly cutd open well site region is investigated.Due to investigation vessel and tube workpiece higher cost,
In addition the influence of sea situation and operating water depth is limited in blue water, operating efficiency is low, causes the expense of deep water well site survey non-
Chang Gao.Since the depth of water is very big, fact-finding process is difficult by double ship positionnings, data transmission distance is long, at the middle and upper levels flow instability etc. because
Element influences, and obtained data error is larger.To reduce drillng operation risk, generally require drill ship far from the pre- location of well, this
Exploration success ratio is reduced to a certain extent.
Therefore, it is necessary to preferably control well site survey system to carry out the investigation work of seabed well site.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of for marine dynamic
Power positions the control method of the well site survey system of drilling platforms.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of flat for marine dynamic positioning drilling well
The control method of the well site survey system of platform, comprising the following steps:
S1: after dynamically-positioned drilling platform reaches well location to be measured, installation is for carrying TSS440 system on the frame of ROV
Hydraulic folding arm device, meanwhile, the ROV carries well site survey equipment；
S2: the hydraulic folding arm device is adjusted to erected state, operator controls the ROV and enters water, and is moved to
Seabed predetermined operation position；
S3: operator controls the hydraulic folding arm device and is adjusted to balance state, keeps the spy of the TSS440 system
Test coil is parallel with the horizontal median axis of the ROV, controls the ROV according to default investigation survey line and carries out investigation operation, obtains
The survey data of the TSS440 system and the well site survey equipment, and the survey data real-time Transmission is put down to described
Platform.
In control method of the present invention, further includes:
S4: after completing investigation operation, operator controls the hydraulic folding arm device by the umbilical cables of the ROV and adjusts
For erected state, and the ROV is recycled to the platform；
The hydraulic folding arm device, the TSS440 system and the well site survey equipment under being dismantled from the ROV.
In control method of the present invention, the S4 includes: after completing investigation operation, by the hydraulic folding arm device
Be adjusted to erected state, the ROV returns to the platform from seabed to by the moon pool door of the platform, during which described in hydraulic folding
Arm assembly keeps erected state.
In control method of the present invention, the S1 includes: the afterframe installation hydraulic folding arm in the ROV
Device, installs the TSS440 system on the hydraulic folding arm device, and holded up by controlling the hydraulic folding arm device or
Balance the search coil of the TSS440.
In control method of the present invention, the S2 includes: after the hydraulic folding arm device is adjusted to erected state,
The ROV enters water by the moon pool door of the platform, before the ROV reaches the predetermined operation position, the hydraulic folding
Arm assembly keeps erected state.
In control method of the present invention, the S3 includes: that camera is installed on the ROV, the camera
The working condition of the hydraulic folding arm device is acquired in real time, and is transmitted to the platform by the umbilical cables of the ROV；
Operator's hydraulic folding arm device according to the working condition feedback adjustment of the hydraulic folding arm device.
In control method of the present invention, the S3 further include: operator judges the ROV by monitoring device
Whether the default investigation survey line is deviateed, if so, controlling the ROV returns to the default investigation survey line.
In control method of the present invention, controls the hydraulic folding arm device and be adjusted to erected state or balance state
Include:
Operator issues control signal, and the control signal is transmitted to the liquid of the ROV by the umbilical cables of the ROV
Pressure control valve；
The control signal is transmitted to hydraulic motor by the hydraulic control valve, and the hydraulic motor controls the hydraulic folding
The folding arm of arm assembly is holded up or is balanced.
In control method of the present invention, the default investigation survey line includes a plurality of investigation survey line, and adjacent described
Repetitive rate between survey line is no less than 20%, and the survey line density increases with the reduction apart from the distance of well head.
In control method of the present invention, the well site survey equipment include: multibeam echosounder, side scan sonar,
System is shallowly cutd open, the survey data of the well site survey equipment includes: depth information, earth surface reflection strength information, bottom section letter
Breath.
The control method for implementing the well site survey system for marine dynamically-positioned drilling platform of the invention, has following
The utility model has the advantages that realize in the case where dynamically-positioned drilling platform moon pool insufficient space, at sea dynamically-positioned drilling platform
On preferably control ROV and carry the researching tools such as TSS440 system and be lauched, carry out seabed well site survey operation, and investigate efficiency
High, precision height.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is program circuit of the present invention for the control method of the well site survey system of marine dynamically-positioned drilling platform
Figure；
Fig. 2 is the control principle drawing of the well site survey system in the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
The invention discloses a kind of control methods of well site survey system for marine dynamically-positioned drilling platform, realize
Preferably control carries out the investigation work of seabed well site for the well site survey system of marine dynamically-positioned drilling platform.
The well site survey system for marine dynamically-positioned drilling platform includes ROV (Remote Operated
Vehicle, unmanned remotely controlled submersible vehicle) and TSS440 system.Drilling platforms includes bottom founded rig, jack-up rigs
Platform, floating vessel type drilling platforms (drill ship) and semisubmersible drilling platform are primarily used for the offshore structures of probing well, upper dress
There are the equipment such as drilling well, power, communication, navigation.ROV is to can be used for underwater observation, inspection and the underwater robot of construction；TSS440
System is to can be used for the magnetic survey system of pipeline and submarine optical fiber cable detection.Hydraulic folding arm device is installed in ROV afterframe, it is hydraulic
TSS440 system is installed, the search coil of TSS440 system can be bundled in hydraulic folding arm device by installing band on folding arm device
On two armed levers, and with armed lever keeping parallelism state, ROV real-time control hydraulic folding arm device holds up or balances TSS440 system
The search coil of system, at the same ROV carry video camera, multibeam echosounder, side scan sonar, shallowly cut open the well site surveys such as system equipment into
Row well site survey.As shown in Fig. 2, transmitting signal to ROV by the umbilical cables of ROV after ROV operator issues control signal
Hydraulic control valve on, hydraulic control valve makes corresponding movement to hydraulic motor according to signal, and hydraulic motor passes through hydraulic folding
The armed lever swing arm of the steering linkage control hydraulic folding arm device of arm assembly, to control holding up for the search coil of TSS440 system
With balance, when the armed lever of hydraulic folding arm device be erected state when, armed lever is vertical with seabed holding, the detection line of TSS440 system
Circle is also correspondingly holded up, vertical with seabed holding；When the armed lever of hydraulic folding arm device is to balance state, armed lever and seabed are kept
In parallel, the search coil of TSS440 system is also correspondingly balanced, and seabed keeping parallelism and carries out operation.Operator is logical simultaneously
Crossing ROV postposition video camera can be observed in real time the state of hydraulic folding arm device.
The heretofore described well site survey system for marine dynamically-positioned drilling platform can control ROV, hydraulic
Folding arm device and well site survey operation process realize that ROV is carried in the case where dynamically-positioned drilling platform moon pool insufficient space
The researching tools such as TSS440 are lauched, and complete well site survey operation.Namely utilize dynamically-positioned drilling platform and its configuration
ROV realizes deep water well site survey operation.And the time of drilling platforms jointed rod is utilized in the well site survey operation, and
Originally ROV is in rest and reorganization state, so the operation scheme is without additionally increasing the drilling platforms activity duration during this period.This is
System realizes a kind of well site survey mode high-efficient, with high accuracy.
Refering to fig. 1, the control method of the well site survey system for marine dynamically-positioned drilling platform of the invention, including
Following steps:
S1: after dynamically-positioned drilling platform reaches well location to be measured, installation is for carrying TSS440 system on the frame of ROV
Hydraulic folding arm device, meanwhile, ROV carry well site survey equipment.Well site survey equipment includes: that sound is swept in multibeam echosounder, side
, shallowly cut open system, by multibeam echosounder, side scan sonar, shallowly cut open system respectively obtain depth information, earth surface reflection intensity believe
The survey datas such as breath, bottom profile information.
Specifically, S1 includes: that dynamically-positioned drilling platform reaches well location to be measured, and after starting dynamic positioning state, then
Start jointed rod, hydraulic folding arm device is installed in the afterframe of ROV, TSS440 system is installed on hydraulic folding arm device, and
The search coil of TSS440 is holded up or balanced by controlling hydraulic folding arm device.Control hydraulic folding arm device is adjusted to erected state
Or it balances state and includes:
Operator issues control signal, and control signal is transmitted to the hydraulic control valve of ROV by the umbilical cables of ROV；
Hydraulic control valve will control signal and be transmitted to hydraulic motor, and the folding arm of hydraulic motor control hydraulic folding arm device is holded up
Or it balances.
S2: hydraulic folding arm device is adjusted to erected state, operator controls ROV and enters water, and it is predetermined to be moved to seabed
Job position.
Specifically, S2 includes: after hydraulic folding arm device is adjusted to erected state, and operator controls ROV and passes through platform
Moon pool door enters water, and before ROV reaches predetermined operation position, hydraulic folding arm device keeps erected state.
S3: operator controls hydraulic folding arm device and is adjusted to balance state, keep the search coil of TSS440 system with
The horizontal median axis of ROV is parallel, and control ROV carries out investigation operation according to default investigation survey line, obtains TSS440 system and well
The survey data of investigation apparatus, and by survey data real-time Transmission to platform.
Specifically, S3 includes: that camera is installed on ROV, and camera acquires the working condition of hydraulic folding arm device in real time,
And platform is transmitted to by the umbilical cables of ROV；
Operator is according to the working condition feedback adjustment hydraulic folding arm device of hydraulic folding arm device.
In control method of the present invention, S3 further include: operator judges whether ROV deviates by monitoring device
The default investigation survey line, if so, control ROV returns to default investigation survey line.
In the control method of the invention, further includes:
S4: after completing investigation operation, operator controls the hydraulic folding arm device by the umbilical cables of ROV and is adjusted to perpendicular
The state of rising, and ROV is recycled to the platform；
The hydraulic folding arm device, TSS440 system and well site survey equipment under being dismantled from ROV.
Specifically, S4 includes: that after completing investigation operation, hydraulic folding arm device is adjusted to erected state, ROV from seabed to
Platform is returned to by the moon pool door of platform, during which hydraulic folding arm device keeps erected state.
In control method of the present invention, presetting investigation survey line includes a plurality of investigation survey line, and between adjacent survey line
Repetitive rate be no less than 20%, survey line density increases with the reduction apart from the distance of well head.
It should be understood that above embodiments only express the preferred embodiment of the present invention, description is more specific and detailed
Carefully, but it cannot be understood as limitations on the scope of the patent of the present invention；It should be pointed out that for the common skill of this field
For art personnel, without departing from the inventive concept of the premise, above-mentioned technical characterstic can be freely combined, can also be done
Several modifications and improvements out, these are all within the scope of protection of the present invention；Therefore, all to be done with scope of the invention as claimed
Equivalents and modification, should belong to the covering scope of the claims in the present invention.
Claims (10)
1. a kind of control method of the well site survey system for marine dynamically-positioned drilling platform, which is characterized in that including with
Lower step:
S1: dynamically-positioned drilling platform reaches well location to be measured, and after starting dynamic positioning state, then starts jointed rod；?
Hydraulic folding arm device for carrying TSS440 system is installed on the frame of ROV, meanwhile, the ROV carries well site survey equipment；
S2: during the drilling platforms jointed rod, the hydraulic folding arm device is adjusted to erected state, operator
It controls the ROV and enters water, and be moved to seabed predetermined operation position；
S3: operator controls the hydraulic folding arm device and is adjusted to balance state, keeps the detection line of the TSS440 system
It encloses parallel with the horizontal median axis of the ROV, controls the ROV according to default investigation survey line and carry out investigation operation, described in acquisition
The survey data of TSS440 system and the well site survey equipment, and by the survey data real-time Transmission to the platform.
2. control method according to claim 1, which is characterized in that further include:
S4: after completing investigation operation, operator controls the hydraulic folding arm device by the umbilical cables of the ROV and is adjusted to perpendicular
The state of rising, and the ROV is recycled to the platform；
The hydraulic folding arm device, the TSS440 system and the well site survey equipment under being dismantled from the ROV.
3. control method according to claim 2, which is characterized in that the S4 includes: after completing investigation operation, will be described
Hydraulic folding arm device is adjusted to erected state, and the ROV returns to the platform, phase from seabed to by the moon pool door of the platform
Between the hydraulic folding arm device keep erected state.
4. control method according to claim 1, which is characterized in that the S1 includes: the afterframe installation in the ROV
The hydraulic folding arm device installs the TSS440 system on the hydraulic folding arm device, and by controlling the hydraulic folding
The search coil of the TSS440 is holded up or balanced to arm assembly.
5. control method according to claim 1, which is characterized in that the S2 includes: the hydraulic folding arm device adjustment
After erected state, the ROV enters water by the moon pool door of the platform, the ROV reach the predetermined operation position it
Before, the hydraulic folding arm device keeps erected state.
6. control method according to claim 1, which is characterized in that the S3 includes: to install camera shooting on the ROV
Head, the camera acquires the working condition of the hydraulic folding arm device in real time, and is transmitted to institute by the umbilical cables of the ROV
State platform；
Operator's hydraulic folding arm device according to the working condition feedback adjustment of the hydraulic folding arm device.
7. control method according to claim 1, which is characterized in that the S3 further include: operator is set by monitoring
It is standby to judge whether the ROV deviates the default investigation survey line, if so, controlling the ROV returns to the default investigation survey line.
8. control method according to claim 1, which is characterized in that control the hydraulic folding arm device and be adjusted to hold up shape
State balances state and includes:
Operator issues control signal, and the control signal is transmitted to the hydraulic control of the ROV by the umbilical cables of the ROV
Valve processed；
The control signal is transmitted to hydraulic motor by the hydraulic control valve, and the hydraulic motor controls the hydraulic folding arm dress
The folding arm set is holded up or is balanced.
9. control method according to claim 1, which is characterized in that the default investigation survey line includes that a plurality of investigation is surveyed
Line, and the repetitive rate between the adjacent survey line is no less than 20%, the survey line density with the distance apart from well head reduction
And increase.
10. control method according to claim 1, which is characterized in that the well site survey equipment includes: multibeam echosounding
Instrument, shallowly cuts open system at side scan sonar；
The survey data of the well site survey equipment includes: depth information, earth surface reflection strength information, bottom profile information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610712819.XA CN106194026B (en) | 2016-08-23 | 2016-08-23 | A kind of control method of the well site survey system for marine dynamically-positioned drilling platform |
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| CN201610712819.XA CN106194026B (en) | 2016-08-23 | 2016-08-23 | A kind of control method of the well site survey system for marine dynamically-positioned drilling platform |
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| CN106194026B true CN106194026B (en) | 2019-01-04 |
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| CN108413926B (en) * | 2018-01-31 | 2020-12-04 | 上海荟蔚信息科技有限公司 | High-precision measurement method for underwater topography elevation of pile foundation of offshore wind farm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
| CN203786566U (en) * | 2014-03-21 | 2014-08-20 | 中国海洋石油总公司 | Submarine cable maintenance underwater robot system |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN105020538A (en) * | 2015-08-04 | 2015-11-04 | 浙江水利水电学院 | Sewage pipe network diving robot and detection method |
-
2016
- 2016-08-23 CN CN201610712819.XA patent/CN106194026B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
| CN203786566U (en) * | 2014-03-21 | 2014-08-20 | 中国海洋石油总公司 | Submarine cable maintenance underwater robot system |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN105020538A (en) * | 2015-08-04 | 2015-11-04 | 浙江水利水电学院 | Sewage pipe network diving robot and detection method |
Non-Patent Citations (2)
| Title |
|---|
| TSS440在海管检测中的应用;宋春娜;《中国石油和化工标准与质量》;20140610;第15-17页 |
| 水下机器人在渤海海底光缆调查中的应用;陶林等;《石油钻采工艺》;20090415;第31卷(第2期);第118-120页 |
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Address after: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing Applicant after: China Offshore Oil Group Co., Ltd. Applicant after: CNOOC (China) Co., Ltd. Shenzhen Branch Applicant after: China Oilfield Services Limited Applicant after: CNOOC Deepwater Development Limited Address before: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing Applicant before: China National Offshore Oil Corporation Applicant before: CNOOC (China) Co., Ltd. Shenzhen Branch Applicant before: China Oilfield Services Limited Applicant before: CNOOC Deepwater Development Limited |
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