Digital Twin Simulation Method, Device and System for Downhole Bit Motion State

Abstract

The present application discloses a digital twin simulation method, device and system for the motion state of downhole drill bits. Among them, the method includes: obtaining the actual downhole measurement data of the drill bit, where the actual downhole measurement data includes drilling speed data and vibration data; based on the vibration data, performing speed reconstruction and displacement reconstruction of the drill bit to obtain the vibration displacement data of the drill bit; at the same time, using a pre-trained neural network model to judge the motion working condition of the downhole drill string combination corresponding to the actual downhole measurement data; based on virtual reality technology, using the vibration displacement data, the drilling speed data and the motion working condition, constructing the downhole drilling process of the drill bit in a virtual reality scene to digitally twin and simulate the motion state of the downhole drill bit. The present application solves the technical problem of poor simulation effect of the motion state of downhole drill bits in the prior art.

Description

Technical Field

[0001] The present application relates to the field of virtual reality simulation, and in particular, to a digital twin simulation method, device, and system for the motion state of a downhole drill bit. Background Art

[0002] With the development of the country and society, the importance of oil resources has become increasingly prominent, and oil drilling is moving towards more and more complex formations. However, during the drilling operation, various complex working conditions frequently occur. Once the response operations to complex working conditions are incorrect, it is very easy to cause the outbreak of drilling accidents. The analysis and interpretation of downhole measurement data are not only the key to safe drilling operations but also one of the important means to improve drilling efficiency and reduce capital consumption. How to analyze, interpret, display, and utilize downhole measurement data well is an urgent problem to be solved.

[0003] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present application provide a digital twin simulation method, device, and system for the motion state of a downhole drill bit, so as to at least solve the technical problem of poor simulation effect of the motion state of a downhole drill bit in the prior art.

[0005] According to one aspect of the embodiments of the present application, a digital twin simulation method for the motion state of a downhole drill bit is provided, including: obtaining actual downhole measurement data of the drill bit, where the actual downhole measurement data includes drilling speed data and vibration data; based on the vibration data, performing speed reconstruction and displacement reconstruction of the drill bit to obtain the vibration displacement data of the drill bit; at the same time, using a pre-trained neural network model to determine the motion working condition of the downhole drill string combination corresponding to the actual downhole measurement data; based on virtual reality technology, using the vibration displacement data, the drilling speed data, and the motion working condition, constructing the downhole drilling process of the drill bit in a virtual reality scene to digitally twin simulate the motion state of the downhole drill bit.

[0006] According to another aspect of the embodiments of the present application, a digital twin simulation device for the motion state of a downhole drill bit is further provided, including: an obtaining module configured to obtain actual downhole measurement data of the drill bit, where the actual downhole measurement data includes drilling speed data and vibration data; a reconstruction module configured to perform speed reconstruction and displacement reconstruction of the drill bit based on the vibration data to obtain the vibration displacement data of the drill bit; at the same time, using a pre-trained neural network model to determine the motion working condition of the downhole drill string combination corresponding to the actual downhole measurement data; a simulation module configured to, based on virtual reality technology, use the vibration displacement data, the drilling speed data, and the motion working condition to construct the downhole drilling process of the drill bit in a virtual reality scene to digitally twin simulate the motion state of the downhole drill bit.

[0007] According to another aspect of the embodiments of the present application, a virtual reality display system is further provided, including the digital twin simulation device of the downhole drill bit motion state and the virtual reality handle controller as described above, wherein the virtual reality handle controller is used to interact with the digital twin simulation device.

[0008] In the embodiments of the present application, based on virtual reality technology, using the vibration displacement data, the drilling speed data and the motion working conditions, the downhole drilling process of the drill bit in the virtual reality scene is constructed to digitally twin and simulate the motion state of the drill bit downhole, solving the technical problem of poor simulation effect of the downhole drill bit motion state in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0010] Figure 1 is a flowchart of a digital twin simulation method for the motion state of a downhole drill bit according to an embodiment of the present application;

[0011] Figure 2A is a flowchart of another digital twin simulation method for the motion state of a downhole drill bit according to an embodiment of the present application;

[0012] Figure 2B is a schematic diagram of the positive directions of the three-axis vibration according to an embodiment of the present application;

[0013] Figure 3 is a flowchart of another digital twin simulation method for the motion state of a downhole drill bit according to an embodiment of the present application;

[0014] Figure 4 is a flowchart of a method for speed reconstruction and displacement reconstruction according to an embodiment of the present application;

[0015] Figure 5 is a schematic structural diagram of another digital twin simulation device for the motion state of a downhole drill bit according to an embodiment of the present application;

[0016] Figure 6 is a schematic structural diagram of a virtual reality display system according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0018] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0019] Embodiment 1

[0020] According to the embodiments of this application, a digital twin simulation method for the movement state of an underground drill bit is provided. As Figure 1 shown, this method includes:

[0021] Step S102, obtaining the actual downhole measurement data of the drill bit, where the actual downhole measurement data includes drilling speed data and vibration data.

[0022] Step S104, based on the vibration data, performing speed reconstruction and displacement reconstruction of the drill bit to obtain drill bit vibration displacement data; at the same time, using a pre-trained neural network model to judge the motion conditions of the downhole drill string combination corresponding to the actual downhole measurement data.

[0023] In one example, the displacement reconstruction can be performed through the following steps: extracting vibration data from the actual downhole measurement data and converting the vibration data into vibration acceleration data, where the vibration data includes normal vibration, tangential vibration, and axial vibration data; performing two-stage piecewise frequency-domain integration on the vibration acceleration data to perform speed reconstruction and displacement reconstruction to obtain vibration displacement data.

[0024] For example, a preset time step is selected within the time domain of the vibration acceleration data; the vibration acceleration data within the time step is subjected to Fourier transform to obtain frequency domain acceleration data, and the frequency domain acceleration data is subjected to a first-stage piecewise frequency domain integration to obtain vibration velocity data; the vibration velocity data is processed to eliminate the trend term, and the vibration velocity data after eliminating the trend term is subjected to a second-stage piecewise frequency domain integration to obtain vibration displacement data.

[0025] Step S106, based on virtual reality technology, using the vibration displacement data, the drilling speed data, and the motion conditions, construct the downhole drilling process of the drill bit in the virtual reality scenario to digitally twin and simulate the motion state of the downhole drill bit.

[0026] In one example, based on virtual reality technology, the vibration displacement data and the drilling speed data can be used to drive the bottom hole assembly model, and the drilling speed data can be used to drive the formation model to construct the downhole drilling process of the drill bit in the virtual reality scenario.

[0027] For example, when the motion condition is in the normal drilling condition, the vibration displacement data and the drilling speed data are used to drive the bottom hole assembly model to vibrate less than the vibration threshold and rotate continuously.

[0028] For example, when the motion condition is in the drill stop condition, the motion of the bottom hole assembly model is stopped through the vibration displacement data and the drilling speed data.

[0029] For example, when the motion condition is in the drill bounce condition, the vibration displacement data and the drilling speed data are used to drive the bottom hole assembly model to bounce up and down.

[0030] For example, when the motion condition is in the stick-slip condition, the vibration displacement data and the drilling speed data are used to drive the bottom hole assembly model to perform three-axis displacement vibration and rotate periodically alternately at a first rotation speed and a second rotation speed, where the first rotation speed is a rotation speed less than a preset first rotation speed threshold, and the second rotation speed is a rotation speed greater than a preset second rotation speed threshold.

[0031] For example, when the motion condition is in the lateral vibration condition, the displacement data and the drilling speed data are used to drive the bottom hole assembly model to swing back and forth between the well walls.

[0032] In one example, using the drilling speed data to drive the formation model can include: using the drilling speed data to determine the upward movement speed of the formation model, and driving the formation model to move upward based on the determined speed so that the bottom hole assembly model achieves the visual effect of downward drilling.

[0033] In one example, the actual downhole measurement data can be displayed in the form of a line chart, and the line chart can be moved and played on the interface of the virtual reality scene in the form of a frame animation; also, the identified motion conditions can be displayed on the interface of the virtual reality scene by using virtual reality technology.

[0034] In one example, the user can also send user interaction instructions to the digital twin simulation device through a virtual reality hand controller. After receiving the user interaction instructions input through the virtual reality hand controller, the digital twin simulation device controls the movement of the drill bit based on the user interaction instructions.

[0035] The digital twin simulation method for the motion state of the downhole drill bit in this embodiment is a data interpretation and display method based on virtual reality technology. Using the actual downhole measurement data, applicable data, that is, preprocessed data, is obtained through data processing. Then, a model of the underground drilling scene and the bottom hole assembly is constructed on the computer side based on virtual reality technology, and the preprocessed data is input into the underground drilling scene to drive the operation of the bottom hole assembly model, while displaying the actual downhole measurement data. In this way, the user wears virtual reality equipment and enters the underground drilling scene, and can observe the process of the drill bit movement in real time and analyze the actual downhole measurement data. The method provided in this embodiment realizes a new data interpretation and demonstration method, and displays the abstract downhole measurement data in a more intuitive visual way.

[0036] Embodiment 2

[0037] According to an embodiment of the present application, another digital twin simulation method for the motion state of the downhole drill bit is provided, as Figure 2A shown, the method includes:

[0038] Step S202, collect actual downhole measurement data.

[0039] Collecting actual downhole measurement data includes data such as weight on bit, torque, rotary speed, normal vibration, tangential vibration, and axial vibration.

[0040] Step S204, data preprocessing.

[0041] Perform data preprocessing on these actual downhole measurement data, for example, recover from the sensor voltage measurement value to the true value, compensate for missing values, process outliers and error values, filter, eliminate trend terms, etc.

[0042] Step S206, velocity reconstruction and displacement reconstruction.

[0043] Generate vibration displacement data based on actual downhole measurement data. Perform velocity reconstruction and displacement reconstruction on vibration data such as normal vibration, tangential vibration, and axial vibration (also known as vibration voltage data). For example, convert these vibration data into vibration acceleration data, segment the vibration acceleration data in the time domain with the same time step, perform Fourier transform on the vibration acceleration data for each time step segment to obtain frequency domain acceleration data. Then, perform a single segmented frequency domain integration on the frequency domain acceleration data to obtain vibration velocity data. Process the vibration velocity data to eliminate the trend term, and perform a second segmented frequency domain integration on the vibration velocity data after eliminating the trend term to obtain vibration displacement data.

[0044] Step S208, perform working condition identification.

[0045] Analyze and interpret the actual downhole measurement data, and use a neural network model to identify the motion working conditions of the bottom hole assembly. The motion working conditions can include: normal drilling, drill stop, drill jump, lateral vibration, stick-slip, etc.

[0046] Before using the neural network model to identify the working conditions, it is necessary to first construct and train the neural network model. Select the corresponding training set and construct the neural network algorithm using the following formula:

[0047] Forward propagation: Let

[0048] where, x i is the input, y k is the output, n is the number of input nodes, l is the number of hidden layer nodes, w ij is the weight from the input layer to the hidden layer, b j is the bias from the input layer to the hidden layer, δ is the activation function, w ij is the weight from the input layer to the hidden layer, w jk is the weight from the hidden layer to the output layer, b k is the bias from the hidden layer to the output layer.

[0049] Error calculation:

[0050] where, E is the error, m is the number of output layer nodes, e k is the difference between the expected output and the actual output of each output node;

[0051] Weight update:

[0052] Bias update:

[0053] where, α is the learning rate.

[0054] After training a neural network model through a neural network algorithm, the trained neural network model is used to identify the working conditions of the actual downhole measurement data injected into the virtual reality underground drilling scenario.

[0055] Step S210, construct a virtual reality underground drilling scenario.

[0056] Construct a virtual reality underground drilling scenario on a computer. Constructing a virtual reality underground drilling scenario mainly includes two parts: scene UI display and scene model driving. The scene UI display includes data flow display and working condition identification display, and the scene model driving includes driving the bottom hole assembly model and the formation model.

[0057] The data flow display shows the actual downhole measurement data in the form of a line chart. For example, it plays and moves towards the vertical axis in the form of a frame animation, injects new data, and eliminates old data.

[0058] The working condition identification display outputs the working condition corresponding to the currently input actual downhole measurement data, which is identified by the neural network model, to the scene UI.

[0059] The bottom hole assembly model takes the bit and drill string models as the main body. The bottom hole assembly model is driven to run through the obtained drilling speed data and the vibration displacement data obtained in step S204. Specifically, the rotation value of the bottom hole assembly model is determined according to the actual drilling speed data, and the three-axis vibration (normal vibration, tangential vibration, and axial vibration) of the bottom hole assembly model is determined according to the integrated vibration displacement data.

[0060] In this embodiment, the positive direction of displacement is as Figure 2B shown: taking the front-back direction of the bottom hole assembly model (with the observation direction being the back direction as the reference) as the normal direction, the positive direction is forward; taking the left-right direction of the bottom hole assembly model as the tangential direction, the positive direction is right; taking the up-down direction of the bottom hole assembly model as the axial direction, the positive direction is down.

[0061] While driving the bottom hole assembly model to move, drive the formation model to move upward. The speed at which the formation model moves upward is determined using the drilling speed data, and the formation model is driven to move upward based on the determined speed, so as to achieve the visual effect of the bottom hole assembly model drilling downward.

[0062] At this time, the user can wear a virtual reality display and hold a virtual reality handle controller to enter the underground drilling scenario to observe the playback of the bit movement.

[0063] In one embodiment, the user can also interact with the system. The underground drilling scenario is not an independent scenario, and it is linked with the onshore derrick drilling platform. In order to obtain a good playback effect of the actual downhole measurement data, scene buttons are set for the user to interact through the virtual reality handle controller, so that the linkage between the underground drilling scenario and the onshore drilling platform can be temporarily cut off.

[0064] This embodiment constructs the underground drilling process in the virtual reality scenario by using parameters such as drilling speed, drilling pressure, torque, normal vibration, tangential vibration, and axial vibration of the downhole measurement data. Among them, the normal vibration, tangential vibration, and axial vibration data are preprocessed into vibration acceleration data, and the method of segmented frequency-domain integration is used for vibration displacement reconstruction. The real-time operation of the bottom hole assembly model is driven by the vibration displacement data and the drilling speed data, and the data stream of the actual measurement data and the current state of the drill bit movement are scrolled and displayed on the data display panel. In this way, the user can enter the scenario through the virtual reality device for real-time observation.

[0065] Through the drill bit playback method based on virtual reality technology, this application combines data with the virtual reality three-dimensional model, realizing a new way of interpreting and visualizing downhole measurement data, which plays a key role in the improvement of the virtual well site.

[0066] Embodiment 3

[0067] According to the embodiment of the present application, another digital twin simulation method for the movement state of the downhole drill bit is provided. As Figure 3 shown, this method includes:

[0068] Step S302, obtaining the actual downhole measurement data of the drill bit.

[0069] Same as step S202 in Embodiment 2, which will not be elaborated here.

[0070] Step S304, speed reconstruction and displacement reconstruction.

[0071] Since the vibration data in the actual downhole measurement data collected by the downhole sensor cannot be directly used to drive the movement of the bottom hole assembly model. In order to reconstruct the movement of the drill bit, this embodiment uses the method of segmented frequency-domain integration to reconstruct the displacement.

[0072] Figure 4 is the flowchart of displacement reconstruction and speed reconstruction according to the embodiment of the present application. As Figure 4 shown, the displacement reconstruction and speed reconstruction include the following steps:

[0073] Step S3040, data conversion.

[0074] Extract vibration data from actual downhole measurement data and convert the vibration data into vibration acceleration data. Among them, the vibration data includes normal vibration, tangential vibration, and axial vibration data.

[0075] Step S3042, data processing.

[0076] Perform filtering processing and detrending processing on the vibration acceleration data.

[0077] Step S3044, first-stage piecewise integration.

[0078] Let a(t) be the vibration acceleration data, and the algorithm implementation is:

[0079]

[0080] Among them, a(t i ) is the vibration acceleration data of a certain segment (i is a positive integer), A(k i ) is the frequency spectrum representation of the vibration acceleration data of this segment, is a complex exponential signal.

[0081] The first-stage integration obtains the vibration velocity data of this segment:

[0082]

[0083] Among them, v(t i ) is the vibration velocity data of this segment (i is a positive integer), j represents the imaginary unit, and w represents the oscillation angular frequency.

[0084] Step S3046, detrending.

[0085] Perform detrending on the vibration velocity data obtained by the first-stage piecewise frequency-domain integration.

[0086] Step S3048, second-stage piecewise integration to obtain vibration displacement data.

[0087] Perform second-stage integration on the vibration velocity data to obtain vibration displacement data:

[0088]

[0089]

[0090] Among them, s(t i ) is the vibration displacement data of this segment (i is a positive integer), s(t) is the vibration displacement data, and n is the number of equal divisions of the time-domain signal.

[0091] In this embodiment, the piecewise integration method is adopted. Compared with direct frequency-domain integration and time-domain integration, it can reduce the influence of noise with complex sources and different occurrence times in downhole measurement data.

[0092] Step S306: Display using virtual reality technology.

[0093] To make the visualization method of the result data more user-friendly, this embodiment combines virtual reality technology for display to implement the data playback function of the underground part of the virtual well site.

[0094] Input the weight on bit, torque, rotary speed, and vibration displacement data of the three axes into the scene at the same time step to drive the operation of the bottom hole assembly model and the formation model.

[0095] Dividing the motion of the bottom hole assembly model according to downhole conditions can be divided into normal drilling, drill stop, drill bounce, stick-slip, and lateral vibration. The motion of the bottom hole assembly model is all based on actual downhole measurement data, but the specific manifestation forms are different.

[0096] When it is determined based on actual downhole measurement data that the bit is in the normal drilling condition, drive the bottom hole assembly model to vibrate slightly and rotate continuously through the rotary speed data and the reconstructed vibration displacement data.

[0097] When it is determined based on actual downhole measurement data that the bit is in the drill stop condition, stop all motions of the bottom hole assembly model.

[0098] When it is determined based on actual downhole measurement data that the bit is in the drill bounce condition, at this time, the data of the axial displacement fluctuates greatly, and drive the bottom hole assembly model to bounce up and down through the rotary speed data and the vibration displacement data.

[0099] When it is determined based on actual downhole measurement data that the bit is in the stick-slip condition, the bottom hole assembly model not only vibrates according to the reconstructed vibration displacement data, but also shows the stick-slip characteristics of periodic "low rotary speed - high rotary speed" alternation according to the "stick - slip" rotary speed data under the stick-slip condition. Here, the low rotary speed is the first rotary speed, and the high rotary speed is the second rotary speed.

[0100] When it is determined based on actual downhole measurement data that the bit is in the lateral vibration condition, at this time, the data of the tangential displacement fluctuates greatly, and drive the bottom hole assembly model to swing back and forth between the left and right well walls through the rotary speed data and the reconstructed vibration displacement data.

[0101] This embodiment can drive the motion of the bottom hole assembly model in the virtual reality scene according to actual downhole measurement data, and at the same time display the historical measurement data and the motion state of the bit.

[0102] The preferred embodiments of the present application disclosed above are only used to help illustrate the present application. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, according to the content of this specification, many modifications and changes can be made. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is only limited by the claims and their full scope and equivalents.

[0103] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0104] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0105] Embodiment 4

[0106] According to an embodiment of the present application, there is also provided a device for implementing the digital twin simulation method of the above-mentioned downhole drill bit motion state, as Figure 5 shown. The device includes: an acquisition module 52, a reconstruction module 54, and a simulation module 56.

[0107] The acquisition module 52 is configured to acquire the actual downhole measurement data of the drill bit, and the actual downhole measurement data includes drill speed data and vibration data.

[0108] The reconstruction module 54 is configured to perform speed reconstruction and displacement reconstruction of the drill bit based on the vibration data to obtain the vibration displacement data of the drill bit; at the same time, use a pre-trained neural network model to judge the motion conditions of the downhole drill string assembly corresponding to the actual downhole measurement data.

[0109] The simulation module 56 is configured to construct the downhole drilling process of the drill bit in a virtual reality scenario based on virtual reality technology, using the vibration displacement data, the drilling speed data, and the motion conditions, so as to digitally twin and simulate the motion state of the drill bit downhole.

[0110] The simulation module 56 may include a scene UI module and a scene model module. Among them, the scene UI module includes a data stream display module and a working condition recognition module; the scene model module includes a bottom hole assembly module, a formation module, and a user interaction module.

[0111] The data stream display module displays the actual downhole measurement data in the form of a line chart, plays it moving towards the ordinate in the form of a frame animation, injects new data, and eliminates old data.

[0112] The working condition recognition module uses a neural network algorithm to real-time recognize the working condition of the currently input data and outputs the working condition to the scene UI.

[0113] The bottom hole assembly module includes a bottom hole assembly model, which takes the drill bit and drill string models as the main body. The bottom hole assembly module can real-time obtain the drilling speed data and the calculated vibration displacement data, and use these data to drive the bottom hole assembly model. The bottom hole assembly model can move according to the drilling speed data and the vibration displacement data. Its rotation value is determined according to the actual drilling speed data, and the three-axis vibration (i.e., normal vibration, tangential vibration, and axial vibration) is determined according to the integrated vibration displacement data.

[0114] The formation module includes a formation model. The drilling speed data can be used to determine the upward movement speed of the formation model, and the formation model is driven to move upward based on the determined speed, so that the visual effect of the bottom hole assembly model drilling downward can be achieved.

[0115] The user interaction module is used for interaction with the user. This downhole drilling scene is not an independent scene, and it is linked with the onshore derrick drilling platform. In order to obtain a good playback effect of the actual downhole measurement data, scene buttons are set for the user to interact through the virtual reality handle controller, so that the linkage between the downhole drilling scene and the onshore drilling platform can be temporarily cut off.

[0116] The digital twin simulation device for the motion state of the downhole drill bit in this embodiment can implement the digital twin simulation method for the motion state of the downhole drill bit in the above embodiment. Therefore, it will not be elaborated here.

[0117] Embodiment 5

[0118] According to an embodiment of the present application, a virtual reality display system is further provided, as Figure 6As shown, the virtual reality display system includes a wearable device 62 and a virtual reality handle controller 64. Among them, the wearable device 62 can be a helmet-type virtual reality display, including the digital twin simulation device of the downhole drill bit motion state in Embodiment 4.

[0119] After the user wears the wearable device 62, the user can view the motion state of the downhole drill bit through the digital twin simulation device of the downhole drill bit motion state. While watching, the user can also interact with the wearable device 62 through the virtual reality handle controller 64 to control the motion state of the drill bit.

[0120] Embodiment 6

[0121] An embodiment of the present invention also provides a storage medium. Optionally, in this embodiment, the above storage medium can implement the methods in Embodiments 1 to 3.

[0122] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0123] The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0124] If the integrated units in the above embodiments are implemented in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in the storage medium and includes several instructions for causing one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application.

[0125] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] In several embodiments provided by the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in electrical or other forms.

[0127] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0129] The above is only the preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A digital twin simulation method for the motion state of downhole drill bits, characterized in that, Including: Obtain the actual downhole measurement data of the drill bit, where the actual downhole measurement data includes the drilling speed data and the vibration data; Based on the vibration data, perform speed reconstruction and displacement reconstruction of the drill bit to obtain the vibration displacement data of the drill bit; meanwhile, use a pre-trained neural network model to judge the motion condition of the downhole drill string assembly corresponding to the actual downhole measurement data; Based on virtual reality technology, use the vibration displacement data, the drilling speed data, and the motion condition to construct the downhole drilling process of the drill bit in a virtual reality scenario, so as to digitally twin and simulate the motion state of the drill bit downhole.

2. The method according to claim 1, characterized in that, Based on the vibration data, perform speed reconstruction and displacement reconstruction of the drill bit to obtain the vibration displacement data of the drill bit, including: Extract vibration data from the actual downhole measurement data and convert the vibration data into vibration acceleration data, where the vibration data includes normal vibration, tangential vibration, and axial vibration data; Perform two-stage piecewise frequency-domain integration on the vibration acceleration data to perform the speed reconstruction and the displacement reconstruction, so as to obtain the vibration displacement data.

3. The method according to claim 2, characterized in that, Perform two-stage piecewise frequency-domain integration on the vibration acceleration data to perform the speed reconstruction and the displacement reconstruction, so as to obtain the vibration displacement data, including: Select a preset time step in the time domain of the vibration acceleration data; Perform Fourier transform on the vibration acceleration data within the time step to obtain frequency-domain acceleration data, and perform one-stage piecewise frequency-domain integration on the frequency-domain acceleration data to obtain vibration speed data; Perform detrending processing on the vibration speed data, and perform two-stage piecewise frequency-domain integration on the detrended vibration speed data to obtain the vibration displacement data.

4. The method according to claim 1, wherein Based on virtual reality technology, use the vibration displacement data, the drilling speed data, and the motion condition to construct the downhole drilling process of the drill bit in a virtual reality scenario, including: Based on the virtual reality technology, use the vibration displacement data and the drilling speed data to drive the bottom hole assembly model, and use the drilling speed data to drive the formation model to construct the downhole drilling process of the drill bit in a virtual reality scenario; Use the virtual reality technology to display the identified motion condition and the actual downhole measurement data in the virtual reality scenario.

5. The method according to claim 4, wherein Using the vibration displacement data and the drilling speed data to drive the bottom hole assembly model includes at least one of the following: When the motion condition is in the normal drilling condition, use the vibration displacement data and the drilling speed data to drive the bottom hole assembly model to perform vibrations less than the vibration threshold and continuous rotation; When the motion condition is in the drill stop condition, control the bottom hole assembly model to stop moving through the vibration displacement data and the drilling speed data; When the motion condition is in the drill bounce condition, use the vibration displacement data and the drilling speed data to drive the bottom hole assembly model to bounce up and down; When the motion condition is in the stick-slip condition, the vibration displacement data and the drilling speed data are used to drive the bottom hole assembly model to perform three-axis displacement vibration and rotate periodically at a first speed and a second speed alternately, where the first speed is a speed less than a preset first speed threshold, and the second speed is a speed greater than a preset second speed threshold; When the motion condition is in the lateral vibration condition, the displacement data and the drilling speed data are used to drive the bottom hole assembly model to swing back and forth between the well walls.

6. The method according to claim 4, characterized in that, Using the drilling speed data to drive the formation model includes: determining the upward movement speed of the formation model using the drilling speed data, and driving the formation model to move upward based on the determined speed, so that the bottom hole assembly model achieves the visual effect of downward drilling.

7. The method according to claim 4, wherein Using the virtual reality technology to display the identified motion condition and the actual downhole measurement data in the virtual reality scene, including: Displaying the actual downhole measurement data in the form of a line graph, and moving and playing the line graph on the interface of the virtual reality scene in the form of a frame animation; Using the virtual reality technology to display the identified motion condition on the interface of the virtual reality scene.

8. The method according to any one of claims 4 to 7, characterized in that After constructing the downhole drilling process of the drill bit in the virtual reality scene, the method further includes: Receiving a user interaction instruction input through a virtual reality handle controller; Based on the user interaction instruction, controlling the movement of the bottom hole assembly model and the formation model.

9. A digital twin simulation device for the motion state of an underground drill bit, characterized in that, Including: An acquisition module configured to acquire actual downhole measurement data of the drill bit, where the actual downhole measurement data includes drilling speed data and vibration data; A reconstruction module configured to perform speed reconstruction and displacement reconstruction of the drill bit based on the vibration data to obtain vibration displacement data of the drill bit; at the same time, using a pre-trained neural network model to judge the motion condition of the downhole drill string assembly corresponding to the actual downhole measurement data; A simulation module configured to construct the downhole drilling process of the drill bit in the virtual reality scene based on the virtual reality technology, using the vibration displacement data, the drilling speed data, and the motion condition, to digitally twin and simulate the motion state of the drill bit downhole.

10. A virtual reality display system, characterized in that, Including: A wearable device including the digital twin simulation device for the downhole motion state of the drill bit as described in claim 9; A virtual reality handle controller for interacting with the digital twin simulation device.

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