阅读说明：本技术 一种连续油管自动控制系统 (Automatic control system for coiled tubing ) 是由 汪承材 冉翔 李力 张华华 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种连续油管自动控制系统,CCB/PDB自动控制系统电连接于速度控制系统、注入头启动控制系统、自动排管系统、报警配置系统、注入头停止控制系统和低速钻磨控制系统,计算机客户端和远程客户端均通过连续油管控制系统控制台电连接于CCB/PDB自动控制系统。本发明有益效果：本发明可实时调整和监控数据,应对在不同工况下钻头钻进的速度及钻压；操纵杆实现注入头夹紧手动控制；可设置上限和下限参数,可以实现参数报警、机器自动停止；将复杂的操作台精简成两个电压屏幕及一个操纵杆；注入头启动控制系统设置有两种钻头注入模式：以实现电控和计算机自动控制,采用电控式排管,通过可配置的设定,自动追踪滚筒上的油管,确保在各角落紧密缠绕。(The invention discloses a coiled tubing automatic control system, wherein a CCB/PDB automatic control system is electrically connected with a speed control system, an injection head starting control system, an automatic pipe arranging system, an alarm configuration system, an injection head stopping control system and a low-speed drilling and grinding control system, and a computer client and a remote client are electrically connected with the CCB/PDB automatic control system through a coiled tubing control system console. The invention has the beneficial effects that: the invention can adjust and monitor data in real time, and can deal with the drilling speed and the drilling pressure of the drill bit under different working conditions; the operating lever realizes the manual control of the injection head clamping; the upper limit and the lower limit parameters can be set, so that parameter alarm and automatic machine stop can be realized; the complex operation table is simplified into two voltage screens and one control lever; the injection head start control system is provided with two drill bit injection modes: the electric control type pipe bank is adopted, and the oil pipes on the roller are automatically tracked through configurable setting, so that the tight winding at each corner is ensured.)

1. The utility model provides a coiled tubing automatic control system which characterized in that: comprises a continuous oil pipe control system console (1), a CCB/PDB automatic control system (2), a speed control system (3), an injection head starting control system (4), an automatic pipe arranging system (5), an alarm configuration system (6), an injection head stopping control system (7), a low-speed drilling and grinding control system (8), a computer client (9) and a remote client (10), the CCB/PDB automatic control system (2) is electrically connected with the speed control system (3), the injection head starting control system (4), the automatic pipe arrangement system (5), the alarm configuration system (6), the injection head stopping control system (7) and the low-speed drilling and grinding control system (8), the computer client (9) and the remote client (10) are electrically connected with the CCB/PDB automatic control system (2) through a coiled tubing control system console (1).

2. The coiled tubing automatic control system of claim 1, wherein: the CCB/PDB automatic control system (2) comprises a CCB calculation module (21) and a PDB electric control module (22), the coiled tubing control system console (2) is connected with the PDB electric control module (22) through the CCB calculation module (21), and the PDB electric control module (22) is externally connected with an equipment end.

3. The coiled tubing automatic control system of claim 1, wherein: the speed control system is provided with a control lever (3), and the control lever comprises the following working steps:

s31, selecting a mode and setting parameters;

s32, judging whether the current speed is a preset speed threshold value;

s33, if yes, keeping the current speed;

and S34, if not, highlighting the color and sending out an instruction to adjust the coiled tubing speed adjusting valve.

4. The coiled tubing automatic control system of claim 1, wherein: the control steps of the injection head starting control system (4) are as follows:

s41, selecting an injection head mode and setting parameters;

s42, judging whether the current speed is preset with a speed threshold value;

s43, if yes, keeping the current speed;

and S44, if not, stopping immediately.

5. The coiled tubing automatic control system of claim 1, wherein: the automatic pipe arranging system (5) comprises a roller body (502), a mounting support (501), a pipe arranging device (503), a driving motor (504), a pipe arranging motor (505), an adjusting frame (506) and an adjusting motor (507), the driving motor (505) is fixed on the mounting support (501), the roller body (502) is connected with the output end of the driving motor (504) through a mandrel, the adjusting frame (506) is connected to the mounting support (501) through a connecting arm (508), the adjusting frame (506) is provided with a screw rod (509), the pipe arranger (503) is arranged on the screw rod (509) through a moving block (510), the output end of the adjusting motor (507) is fixed on the screw rod (509), the pipe arranger (503) is provided with a driving wheel (511), the output end of the calandria motor (505) is connected with a driving wheel (511), and the roller body is wound with a coiled tubing (512).

6. The coiled tubing automatic control system of claim 1, wherein: an alarm configuration step of the alarm configuration system (6):

s61, setting a monitoring parameter threshold and executing an instruction;

s62, judging whether the current numerical value is a preset threshold value;

s63, if yes, keeping working;

and S64, if not, alarming and executing a preset instruction.

7. The coiled tubing automatic control system of claim 1, wherein: the low-speed drilling and grinding control system (8) comprises an oil injection pump, a flow control module, a reversing valve and an oil injector motor, wherein the oil injection pump is connected with the oil injector motor through the reversing valve, and the reversing valve is provided with the flow control module.

8. The coiled tubing automatic control system of claim 1, wherein: the computer client (9) comprises a PLC device, an Internet of things gateway, an Internet of things cloud platform, a rear-end processing unit and a front-end webpage, wherein the PLC device is connected with the Internet of things cloud platform through the Internet of things gateway, and the Internet of things cloud platform is connected with the front-end webpage through the rear-end processing unit.

Technical Field

The invention relates to the technical field of coiled tubing, in particular to an automatic control system of the coiled tubing.

Background

The coiled tubing drilling technology is applied to various fields such as petroleum drilling, conventional gas storage, coal seam drilling, exploration and the like, when the conventional coiled tubing technology is used for oil and gas field exploitation, the speed and the drilling pressure of a drill bit are influenced by various factors such as rock density, geological materials and friction force of the exploited oil field, the exploitation parameters of the coiled tubing cannot be efficiently adjusted at any time according to different geological conditions, a large amount of manual intervention is needed for continuous work after adjustment, and the exploitation progress of the oil and gas field is greatly influenced by the progress. At present, a series of related patents are applied for researching the continuous oil pipe exploitation technology at home and abroad.

1. The Chinese patent discloses a bottom hole assembly structure (application number: CN102654035.A) for drilling or boring a coiled tubing, which comprises a coiled tubing, a coiled tubing joint, an upper quick-connection joint, a lower quick-connection joint, an actuating mechanism, a power drilling tool and a drill bit which are sequentially connected from top to bottom, wherein the coiled tubing joint, the upper quick-connection joint, the lower quick-connection joint, the actuating mechanism, the power drilling tool and the drill bit are sequentially connected through threads, and the coiled tubing is connected with or clamped with the coiled tubing joint through headless screws. The invention avoids using drill collars and drill rods, reduces the time for dismounting and connecting single or upright posts or drill collars in the tripping process, and has high drilling speed and efficiency. Has the advantages of simple structure, reliable work and wide application range.

2. The Chinese patent discloses a fishbone-shaped multi-branch horizontal well shale gas reservoir drilling completion and production increase system (application number: CN201410665275.7), which comprises a coiled tubing-drilling robot-matched fishbone-shaped multi-branch horizontal well drilling system, a coiled tubing-drilling robot-matched branch well slim hole completion system and a fishbone-shaped multi-branch horizontal well blasting modification system, wherein the coiled tubing-drilling robot-matched fishbone-shaped multi-branch horizontal well drilling system is used for drilling the fishbone-shaped multi-branch horizontal well of the shale gas reservoir to provide a foundation for well completion and blasting fracturing modification production increase, and the coiled tubing-drilling robot-matched branch well slim hole completion system is used for performing well completion construction operation on the drilled fishbone-shaped multi-branch horizontal well. The invention has the beneficial effects that: the method realizes low-cost, efficient, safe and green exploitation of shale gas, and avoids the defects of large-scale fracturing of long horizontal well sections, high water and sand consumption, high water pollution risk, long construction time, no opening of deep shale pressure and the like.

3. Chinese patent discloses (application number: CN109519163A) a system and method for controlling drilling speed and weight-on-bit of coiled tubing drilling. The method is characterized in that: the system comprises a coiled tubing intelligent drilling machine, a wellhead device, a coiled tubing, a drilling robot, a drilling string vibration measuring device, an MWD (measurement while drilling), a power drilling tool and a drill bit, wherein the drilling string vibration condition is detected through the drilling string vibration measuring device, the drilling speed and the drilling pressure of the drilling string in the drilling process are adjusted in real time through the drilling robot, and compared with the prior art, the system has the following advantages that: the vibration problem of the drill stem during the continuous oil pipe drilling operation is solved, so that the drilling system can be adaptive to the bottom working condition, an underground closed-loop drilling system is formed, and intelligent continuous drilling is realized.

Several prior art methods of using a drilling robot based bottom hole assembly to pull a coiled tubing drilling system have been described. However, these methods are based on ideal false image stages, theoretical hardware design methods are provided, actual problems such as parameter adjustment of drilling speed and drilling pressure of a drill bit in the actual drilling and production process are not solved, and automatic control of the work of the coiled tubing cannot be realized.

Compared with the domestic research, foreign countries also disclose some patents US006003606A, US007273109B1 and the like which propose and introduce a drilling robot and a drilling system based on the drilling robot, but the drilling robot system needs a large amount of manual intervention control, has low working efficiency and can not adjust the drilling speed and the drilling pressure in real time according to working conditions, and the semi-automatic mode can not realize the full-automatic intelligent drilling of a drill bit.

During the process of drill bit production, the drill bit can be subjected to the friction force from the well wall, the friction force can generate different pressures due to different production depths and production angles, and the coiled tubing is a flexible pipe and cannot be pressurized from a well entering part; in order to solve the problem, the pressure of the well wall on the drill bit is reduced by adding a lubricant into the drill bit and using a robot to pull the drill bit at home and abroad; however, in actual work, if an emergency occurs, if the measure cannot be taken immediately for the drill bit, the drill bit can be seriously damaged, the service life is shortened, and the project work can be stopped in serious cases to influence the project progress.

Therefore, it is necessary to provide an automatic coiled tubing control system for solving the above problems.

Disclosure of Invention

In view of the above-mentioned shortcomings in the prior art, the present invention provides an automatic coiled tubing control system to solve the above-mentioned problems.

A coiled tubing automatic control system comprises a coiled tubing control system console, a CCB/PDB automatic control system, a speed control system, an injection head starting control system, an automatic pipe discharging system, an alarm configuration system, an injection head stopping control system, a low-speed drilling and grinding control system, a computer client and a remote client, wherein the CCB/PDB automatic control system is electrically connected with the speed control system, the injection head starting control system, the automatic pipe discharging system, the alarm configuration system, the injection head stopping control system and the low-speed drilling and grinding control system, and the computer client and the remote client are both electrically connected with the CCB/PDB automatic control system through the coiled tubing control system console.

Preferably, the CCB/PDB automatic control system comprises a CCB calculation module and a PDB electric control module, the continuous oil pipe control system console is connected with the PDB electric control module through the CCB calculation module, and the PDB electric control module is externally connected with an equipment end.

Preferably, the speed control system is provided with a joystick, and the joystick is operated by the following steps: s31, selecting a mode and setting parameters;

s32, judging whether the current speed is a preset speed threshold value;

s33, if yes, keeping the current speed;

and S34, if not, highlighting the color and sending out an instruction to adjust the coiled tubing speed adjusting valve.

Preferably, the control steps of the injection head start control system are as follows:

s41, selecting an injection head mode and setting parameters;

s42, judging whether the current speed is preset with a speed threshold value;

s43, if yes, keeping the current speed;

and S44, if not, stopping immediately.

Preferably, the automatic pipe arranging system comprises a roller body, a mounting support, a pipe arranging device, a driving motor, a pipe arranging motor, an adjusting frame and an adjusting motor, wherein the driving motor is fixed on the mounting support, the roller body is connected with the output end of the driving motor through a mandrel, the adjusting frame is connected to the mounting support through a connecting arm, a lead screw is installed on the adjusting frame, the pipe arranging device is installed on the lead screw through a moving block, the output end of the adjusting motor is fixed on the lead screw, a driving wheel is arranged on the pipe arranging device, and the output end of the pipe arranging motor is connected with the driving wheel.

Preferably, the alarm configuration step of the alarm configuration system:

s61, setting a monitoring parameter threshold and executing an instruction;

s62, judging whether the current numerical value is a preset threshold value;

s63, if yes, keeping working;

and S64, if not, alarming and executing a preset instruction.

Preferably, the low-speed drilling and grinding control system comprises an oil injection pump, a flow control module, a reversing valve and an oil injector motor, wherein the oil injection pump is connected with the oil injector motor through the reversing valve, and the reversing valve is provided with the flow control module.

Preferably, the computer client comprises a PLC device, an Internet of things gateway, an Internet of things cloud platform, a back-end processor and a front-end webpage, the PLC device is connected with the Internet of things cloud platform through the Internet of things gateway, and the Internet of things cloud platform is connected with the front-end webpage through the back-end processor.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention can adjust and monitor data in real time, and can deal with the drilling speed and the drilling pressure of the drill bit under different working conditions, and if an emergency occurs, the invention can immediately take measures to the drill bit, so that the drill bit is not damaged, and the project progress is not influenced;

2. the control lever realizes the manual control of parts such as injection head clamping, chain tensioning, blowout prevention box pressure, roller traction force and the like;

3. the invention can set up the upper limit and lower limit parameter, can realize the parameter is reported to the police, the machine stops automatically;

4. the operation table is simplified, and the complex operation table is simplified into two voltage screens and one control lever;

5. the operating rod of the invention is provided with three working condition modes: the full speed (mostly used for the injection head to go out of the well), the medium speed (mostly used for the injection head to go into the well) and the slow speed (mostly used for the high friction working condition);

6. the injection head start control system of the invention is provided with two drill bit injection modes: automatic speed (constant speed), friction mode (constant power);

7. the CCB/PDB automatic control system (control cabinet) is provided with a CCB calculation module and a PDB electric control module to realize electric control and computer automatic control;

8. the automatic pipe arranging system realizes automatic pipe arranging control, adopts an electric control type pipe arranging mode, automatically tracks oil pipes on the roller through configurable setting, ensures that the oil pipes are tightly wound at each corner, and reduces the frequency of manual intervention by about 70 percent;

9. the injection head stop control system is provided with two injection modes of a soft stop injection head and an emergency stop injection head;

10. three control modes of the low-speed drilling and grinding control system are as follows: the constant pressure difference mode, the constant bit pressure (common) mode and the constant speed mode can be adopted to prolong the service life of the oil pipe.

Drawings

FIG. 1 is a schematic diagram of the coiled tubing automatic control system of the present invention;

FIG. 2 is a block diagram of the CCB/PDB automatic control system of the present invention;

FIG. 3 is a flow chart of the speed control system control of the present invention;

FIG. 4 is a flow chart of the injector head start control system control of the present invention;

FIG. 5 is a structural view of an automatic pipe arranging system of the present invention

FIG. 6 is a view of the alignment bracket of the present invention in connection with a pig;

FIG. 7 is a control flow diagram of the alarm configuration system of the present invention;

FIG. 8 is a flow chart of the low-speed drilling and milling control system of the present invention;

FIG. 9 is a computer client workflow diagram of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

As shown in fig. 1 in combination with fig. 2 to 9, an automatic coiled tubing control system includes a coiled tubing control system console 1, a CCB/PDB automatic control system 2, a speed control system 3, a filling head start control system 4, an automatic pipe arrangement system 5, an alarm configuration system 6, a filling head stop control system 7, a low-speed drilling and grinding control system 8, a computer client 9 and a remote client 10, wherein the CCB/PDB automatic control system 2 is electrically connected to the speed control system 3, the filling head start control system 4, the automatic pipe arrangement system 5, the alarm configuration system 6, the filling head stop control system 7 and the low-speed drilling and grinding control system 8, and the computer client 9 and the remote client 10 are both electrically connected to the CCB/PDB automatic control system 2 through the coiled tubing control system console 1.

The continuous oil pipe control system console 1 is connected with a computer client 9 through a network server, and functions of GPS tracking of equipment, monitoring of equipment state, historical data checking, remote maintenance of the system and the like are achieved. The coiled tubing control system console 1 realizes data interaction with the remote client 10 through the mobile server, and realizes the functions of real-time data viewing and alarming at the remote client 10 (mobile phone or tablet personal computer) by a user.

Further, the CCB/PDB automatic control system 2 includes a CCB calculation module 21 and a PDB electronic control module 22, the coiled tubing control system console 1 is connected to the PDB electronic control module 22 through the CCB calculation module 21, and the PDB electronic control module 22 is externally connected to the equipment terminal.

After various parameters are set in a control console 1 of the coiled tubing control system, the CCB/PDB automatic control system can calculate operation instructions of various systems and send the operation instructions to various subsystems, the subsystems execute tasks according to the instructions, real-time data after execution are fed back to a capacitive man-machine interaction touch screen, parameters of the various systems are monitored in real time, and electric control and automatic computer control of the coiled tubing are achieved.

Further, the speed control system 3 is provided with a joystick, and the joystick comprises the following working steps: s31, selecting a mode and setting parameters; s32, judging whether the current speed is a preset speed threshold value; s33, if yes, keeping the current speed; and S34, if not, highlighting the color and sending out an instruction to adjust the coiled tubing speed adjusting valve.

The speed control system 3 simplifies the traditional control mode, replaces a plurality of operation switches with one control lever, and can realize manual control of parts such as injection head clamping, chain tensioning, blowout prevention box pressure, roller traction force and the like by operating different buttons, and can also switch to automatic control, and can realize seamless manual and automatic switching. When the deviation of the actual feedback parameter from the set value is large, the numerical bottom color is changed into yellow to prompt the user.

The control rod is provided with three kinds of speed mode to make things convenient for the control under the different work condition, three kinds of control mode are respectively: full speed (being used for the injection head to go out of the well), medium speed (being used for the injection head to go into the well), slow speed (being used for the high frictional resistance operating mode more), the biggest speed of going out of/going into the well can be set for to each mode, surpass and set for the threshold value and can indicate the warning, the setting of multiple operating mode has increased the control rod stroke in other words to the operability of equipment has been improved.

Further, the control steps of the injection head start control system are as follows: s41, selecting an injection head mode and setting parameters; s42, judging whether the current speed is preset with a speed threshold value; s43, if yes, keeping the current speed; and S44, if not, stopping immediately.

When the equipment selects the automatic speed mode, the equipment can realize safe operation at a higher pipe descending speed by matching with an alarm configuration system, and an operator does not need to pay attention to the operation table all the time; the working principle is that working parameter thresholds of two modes are configured in the injection head starting control system, the equipment can monitor the working state in real time when in working, and the value is compared with the set parameter threshold. When the parameter mutation exceeds or is lower than the preset threshold value during working, the system can set an operation execution command according to the alarm system, if the work of the injection head needs to be stopped, the system can immediately and automatically stop the injection head, and the damage to the oil pipe is avoided. The SERVA Command control system not only reduces the workload of operators, but also improves the working efficiency and the operation safety.

Further, the automatic pipe arranging system 5 comprises a roller body 502, a mounting support 501, a pipe arranger 503, a driving motor 504, a pipe arranging motor 505, an adjusting frame 506 and an adjusting motor 507, wherein the driving motor 505 is fixed on the mounting support 501, the roller body 502 is connected with the output end of the driving motor 504 through a mandrel, the adjusting frame 506 is connected to the mounting support 501 through a connecting arm 508, the adjusting frame 506 is provided with a screw rod 509, the pipe arranger 503 is mounted on the screw rod 509 through a moving block 510, the output end of the adjusting motor 507 is fixed on the screw rod 509, the pipe arranger 503 is provided with a driving wheel 511, the output end of the pipe arranging motor 505 is connected with the driving wheel 511, and the roller body is wound with a continuous oil pipe 512.

The coiled tubing is a tubing made of low-carbon alloy steel and has good flexibility, and is also called as flexible tubing, and a roll of coiled tubing is several kilometers long; can replace conventional oil pipe to carry out a lot of operations, coiled tubing operation equipment has the area and presses the operation, the characteristics of having in succession to rise down, and equipment is small, and the operating cycle is fast, and is with low costs, mainly is applied to following several aspects: sand washing and well washing, bridge plug drilling, gas lift, liquid nitrogen injection, paraffin removal, liquid discharge, acid squeezing and matching test.

Current coiled tubing is at the calandria in-process, the regulation calandria position that general coiled tubing can not be nimble to cause the condition of coiled tubing card pipe to take place, lead to coiled tubing to receive the extrusion damage, simultaneously, general coiled tubing's calandria directly carries out the calandria through calandria mechanism, coiled tubing's transport can only lean on the passive rotation of rolling up stake itself, causes coiled tubing to be dragged, thereby further causes the damage to coiled tubing.

The automatic pipe arranging system adopts an electric control type pipe arranging system, automatically tracks oil pipes on the roller through configurable setting, ensures that the pipes are tightly wound at each corner, and reduces the frequency of manual intervention by about 70 percent.

Further, the alarm configuration step of the alarm configuration system is as follows: s61, setting a monitoring parameter threshold and executing an instruction; s62, judging whether the current numerical value is a preset threshold value; s63, if yes, keeping working; and S64, if not, alarming and executing a preset instruction.

In the automatic mode, the control system has two methods of stopping the injector head.

(1) The injection head is stopped softly, and the user can select the soft stop under the normal operation condition. The injector head will first reduce the control output so that the speed slowly drops below 3m/min, and then output control to 0 to stop the injector head. The soft stop mode can effectively reduce the impact on the injection head when the pump is stopped, play a role in protection and prolong the service life of the injection head.

(2) And when an emergency situation occurs, the user can select an emergency stop mode, and the injection head can be stopped immediately.

Furthermore, the low-speed drilling and grinding control system comprises an oil injection pump, a flow control module, a reversing valve and an oil injector motor, wherein the oil injection pump is connected with the oil injector motor through the reversing valve, and the reversing valve is provided with the flow control module.

The injection head starting control system has two automatic control modes of a friction mode (constant power) and an automatic speed (constant speed) so as to facilitate control under different working conditions. In the friction mode, the pipe weight is used as a control guide to control the speed and the bit pressure of the injection head; the automatic speed controls the speed and weight on bit of the injection head by taking the speed as a control guide. After the automatic mode is selected and the security settings are configured, the computer will operate automatically without manual intervention.

The low-speed drilling and grinding (iMill) control system has three control modes, which are respectively: constant differential pressure mode, constant bit pressure mode, and constant velocity mode. The low-speed drilling and grinding (iMill) control system is additionally provided with pressure alarm protection, and the drill bit is kept at a specific bit pressure under the pressure alarm protection during drilling and grinding operation of the drill bit, so that operation accidents caused by stalling of the drilling and grinding system are prevented. The low-speed drilling and grinding control system can realize the fine control of the ultra-low speed, theoretically, the drilling and grinding speed can be as low as 10 percent of that of a common operation mode in a low-speed drilling and grinding control mode, and the pipe can be fed at the speed of about 10 cm/min.

Various wellbore parameters may be pre-configured prior to operation and each bridge plug position entered. The control system can automatically generate a well bore profile according to the parameters, and real-time state feedback of the oil pipe position and the bridge plug can be presented on an operation interface so as to increase the visibility of operation.

Further, the computer client 9 includes a PLC device, an internet of things gateway, an internet of things cloud platform, a back-end processor and a front-end webpage, the PLC device is connected with the internet of things cloud platform through the internet of things gateway, and the internet of things cloud platform is connected with the front-end webpage through the back-end processor.

The SOFELink data platform can realize the functions of GPS tracking of equipment, monitoring of equipment state, historical data checking, remote maintenance of a system and the like, and improves the safety and data accuracy of the equipment so as to ensure the normal working state of the equipment.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention can adjust and monitor data in real time, and can deal with the drilling speed and the drilling pressure of the drill bit under different working conditions;

2. the control lever realizes the manual control of parts such as injection head clamping, chain tensioning, blowout prevention box pressure, roller traction force and the like;

3. the invention can set up the upper limit and lower limit parameter, can realize the parameter is reported to the police, the machine stops automatically;

4. the operation table is simplified, and the complex operation table is simplified into two voltage screens and one control lever;

5. the operating rod of the invention is provided with three working condition modes: the full speed (mostly used for the injection head to go out of the well) and the medium speed (mostly used for the injection head to go into the well) and the slow speed (mostly used for the high friction working condition);

6. the injection head start control system of the invention is provided with two drill bit injection modes: automatic speed (constant speed), friction mode (constant power);

7. the CCB/PDB automatic control system (control cabinet) is provided with a CCB calculation module and a PDB electric control module to realize electric control and computer automatic control;

8. the automatic pipe arranging system realizes automatic pipe arranging control, adopts an electric control type pipe arranging system, automatically tracks oil pipes on the roller through configurable setting, ensures that the pipes are tightly wound at each corner, and reduces the frequency of manual intervention by about 70 percent.

9. The injection head stop control system is provided with two injection modes of a soft stop injection head and an emergency stop injection head;

10. three control modes of the low-speed drilling and grinding control system are as follows: the constant pressure difference mode, the constant bit pressure (common) mode and the constant speed mode can be adopted to prolong the service life of the oil pipe.

Example (b): the continuous oil pipe control system console 1 controls the speed control system 3, the injection head starting control system 4, the automatic pipe arrangement system 5, the alarm configuration system 6, the injection head stopping control system 7 and the low-speed drilling and grinding control system 8 to work through the CCB/PDB automatic control system 2 respectively.

The injection head starting control system 4 is provided with an injection head, one end of the injection head is connected with a continuous oil pipe, the injection head starting control system starts to start, the injection head drills into the ground, the drawn continuous oil pipe drills into the ground, the oil pipe is assisted to be pushed into under the action of an automatic pipe arranging system, a driving motor drives a roller body to rotate, a pipe arranging motor drives a driving wheel to rotate, then the continuous oil pipe is arranged in a pipe, the injection head starting control system is used for selecting an injection head mode and setting parameters before the injection head drills into the pipe, whether the current speed is preset with a speed threshold value or not is judged, and if not, the current speed is immediately stopped; if so, the current speed is maintained.

If the injection needs to be stopped in the process of drilling the injection head, the injection is stopped by the injection head stop control system; there are two ways of stopping injection, one is a soft stop injection head: under the normal operating condition, the user can select soft stop, and the filling head can reduce control output earlier, makes speed slowly drop to below 3m/min earlier, will control output again, makes the filling head stop, and soft stop mode can effectively reduce the impact that brings the filling head when stopping the pump, plays the guard action, extension filling head life-span.

The other is an emergency stop injection head, when an emergency situation occurs, a user can select an emergency stop mode, and the injection head can be stopped immediately.

The low speed drill mill (iMill) control system 8 regulates the speed of the drill bit, and regulates the input of the injection pump through the injector motor and the reversing valve, thereby regulating the bit pressure of the drill bit. The device comprises three bit pressure modes, namely a constant pressure difference mode, a constant bit pressure mode and a constant speed mode; the low-speed drilling and grinding (iMill) control system is additionally provided with pressure alarm protection, and the drill bit is kept at a specific drilling pressure under the pressure alarm protection during drilling and grinding operation of the drill bit, so that operation accidents caused by stalling of the drilling and grinding system are prevented; the low-speed drilling and grinding control system can realize the fine control of the ultra-low speed, theoretically, the drilling and grinding speed can be as low as 10 percent of that of a common operation mode in a low-speed drilling and grinding control mode, and the pipe can be fed at the speed of about 10 cm/min.

If the drilling head needs to adjust the speed in the drilling process, the speed is adjusted through the operating lever and can be adjusted to three speeds (full speed (mostly used for the injection head to go out of a well), medium speed (mostly used for the injection head to go into the well) and low speed (mostly used for a high friction working condition)), when the speed is adjusted, a mode is selected and parameters are set firstly, whether the current speed is a preset speed threshold value or not is judged, if not, the color is highlighted, and an instruction is sent to adjust the continuous oil pipe speed adjusting valve; if so, the current speed is maintained.

In order to ensure the safety of the drilling head in the drilling process, an alarm feedback system is arranged, and when the drilling head is ensured to be stably drilled, a user can set all performance index parameter thresholds through an alarm configuration system 6, when the equipment works, each system can feed back real-time parameters of the system and judge whether the values are within a preset threshold range, and if the feedback values are within the preset threshold range, the equipment normally operates; if the feedback value exceeds the preset threshold value, the system gives an alarm and executes a preset alarm action.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.