Guiding method, system and device for pipeline crossing gyroscope while drilling

Abstract

The invention provides a guiding method, system and device for a pipeline crossing gyroscope while drilling, and relates to the technical field of petroleum drilling, and the method comprises the following steps: obtaining the linear acceleration of a drill string measured by an accelerometer and the angular acceleration of the drill string measured by the gyroscope; determining an azimuth angle and a hole drift angle of the drill string according to the linear acceleration and the angular acceleration of the drill string; according to the azimuth angle and the hole drift angle of the drill column, the change rate of the borehole position coordinates is determined; according to the change rate of the borehole position coordinates, the borehole position coordinates at the current moment are determined; and according to the borehole position coordinates at the current moment and the target borehole trajectory curve coordinates, the pipeline crossing drilling direction of the drill column is adjusted. According to the method, the calculation precision of the borehole position coordinates can be improved, the pipeline crossing drilling direction of the drill column is accurately adjusted, and the drilling operation quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of oil drilling, and in particular to a method, system and device for guiding a pipeline through a gyro while drilling. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] The construction of long-distance oil and gas pipelines cannot be separated from the support of trenchless crossing technology. In the construction of oil and gas pipelines, trenchless crossing technology has been placed at the top of the list. As the horizontal directional drilling crossing process has been widely used in the laying of oil and gas pipelines, its technical level has been continuously improved, and the applicable pipe diameters and geology have become more and more extensive. The crossing length has been continuously broken through, and it has now been extended to land-to-sea and sea-to-sea crossing projects. For the implementation of trenchless crossing, the drill string is easily disturbed by factors such as the surrounding environment during the pipeline crossing drilling process, causing the pipeline crossing drilling direction to deviate, and the drill string cannot be drilled according to the target wellbore trajectory, resulting in low quality of pipeline crossing operations and even safety hazards. Therefore, how to accurately adjust the pipeline crossing drilling direction of the drill string is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In an embodiment of the present invention, a pipeline crossing while drilling gyro guidance method is proposed to improve the calculation accuracy of the wellbore position coordinates, accurately adjust the pipeline crossing drilling direction of the drill string, and improve the quality of drilling operations, including:

[0005] Obtaining the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope;

[0006] Determine the azimuth and inclination of the drill string based on its linear acceleration and angular acceleration;

[0007] Determine the rate of change of the wellbore position coordinates based on the drill string azimuth and well inclination;

[0008] According to the change rate of the wellbore position coordinates, determine the wellbore position coordinates at the current moment;

[0009] According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, the pipe crossing drilling direction of the drill string is adjusted.

[0010] In an embodiment of the present invention, a pipeline crossing while drilling gyro guidance system is proposed to improve the calculation accuracy of the wellbore position coordinates, accurately adjust the pipeline crossing drilling direction of the drill string, and improve the quality of drilling operations, including:

[0011] An accelerometer module, used to measure the linear acceleration of the drill string;

[0012] A gyro module, used to measure the angular acceleration of the drill string; wherein the gyro module is electrically connected to the accelerometer module;

[0013] A teletransmission module, used for transmitting the linear acceleration of the drill string measured by the accelerometer module and the angular acceleration of the drill string measured by the gyroscope module to the calculation module;

[0014] A power supply module, used to supply power to the accelerometer module, the gyroscope module, and the telemetry module;

[0015] The calculation module is used to determine the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string; determine the change rate of the wellbore position coordinates according to the azimuth and well inclination of the drill string; and determine the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates;

[0016] The control module is used to adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates.

[0017] In an embodiment of the present invention, a pipeline crossing while drilling gyro guidance device is proposed to improve the calculation accuracy of the wellbore position coordinates, accurately adjust the pipeline crossing drilling direction of the drill string, and improve the quality of drilling operations, including:

[0018] A data acquisition module, used to acquire the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope;

[0019] The attitude measurement module is used to determine the azimuth and well inclination of the drill string based on the linear acceleration and angular acceleration of the drill string;

[0020] A change rate calculation module is used to determine the change rate of the wellbore position coordinates according to the azimuth angle and the well inclination angle of the drill string;

[0021] A coordinate calculation module, used to determine the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates;

[0022] The judgment and adjustment module is used to adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates.

[0023] In an embodiment of the present invention, a computer device is proposed, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, a gyro guidance method for pipeline crossing while drilling is implemented.

[0024] In an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, a gyro guidance method for pipeline crossing while drilling is implemented.

[0025] A computer program product is provided in an embodiment of the present invention. The computer program product includes a computer program. When the computer program is executed by a processor, a gyro guidance method for pipeline crossing while drilling is implemented.

[0026] The drill string guiding method and device proposed in the embodiment of the present invention can solve the problem that the drill string cannot be drilled according to the target wellbore trajectory in the prior art, resulting in low drilling operation quality; the embodiment of the present invention obtains the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope; determines the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string; determines the change rate of the wellbore position coordinates according to the azimuth and well inclination of the drill string; determines the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates; adjusts the drilling direction of the pipeline crossing of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates. In the process of drilling the drill string, the embodiment of the present invention can calculate the wellbore position coordinates in real time through the change rate of the wellbore position coordinates, improve the calculation accuracy of the wellbore position coordinates, and accurately adjust the drilling direction of the pipeline crossing of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, thereby improving the drilling operation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 It is a schematic flow chart of a pipeline crossing while drilling gyro guidance method according to an embodiment of the present invention;

[0029] Figure 2 is a specific example diagram of a pipeline crossing while drilling gyro guidance method according to an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of a pipeline crossing while drilling gyro guidance system according to an embodiment of the present invention;

[0031] Figure 4 is a schematic diagram of a pipeline crossing while drilling gyro guidance device according to an embodiment of the present invention;

[0032] Figure 5 is a specific example diagram of a pipeline crossing while drilling gyro guidance device according to an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0035] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0036] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps is not limited and can be appropriately adjusted as needed.

[0037] The principle and spirit of the present invention are explained in detail below with reference to several representative embodiments of the present invention.

[0038] Figure 1 FIG. 1 is a flow chart of a pipeline crossing while drilling gyro guidance method according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0039] Step 101, obtaining the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope;

[0040] Step 102, determining the azimuth and inclination of the drill string according to the linear acceleration and angular acceleration of the drill string;

[0041] Step 103, determining the change rate of the wellbore position coordinates according to the azimuth angle and the well inclination angle of the drill string;

[0042] Step 104, determining the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates;

[0043] Step 105, adjusting the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates.

[0044] Depend on Figure 1 It can be known from the process shown that the embodiment of the present invention obtains the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope; determines the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string; determines the rate of change of the wellbore position coordinates according to the azimuth and well inclination of the drill string; determines the wellbore position coordinates at the current moment according to the rate of change of the wellbore position coordinates; and adjusts the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates. In the process of drilling the drill string, the embodiment of the present invention can calculate the wellbore position coordinates in real time through the rate of change of the wellbore position coordinates, improve the calculation accuracy of the wellbore position coordinates, and accurately adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, thereby improving the quality of drilling operations.

[0045] In order to explain the above pipeline crossing while drilling gyro guidance method more clearly, each step is described in detail below.

[0046] In one embodiment of the present invention, during the pipeline crossing process, a gyroscope and an accelerometer are used to measure the angular acceleration of the drill string at the current moment in the current environment using the gyroscope, and the linear acceleration of the drill string at the current moment is measured using the accelerometer, wherein both the gyroscope and the accelerometer are installed on the drill string.

[0047] In one embodiment of the present invention, before determining the azimuth and inclination of the drill string based on the linear acceleration and angular acceleration of the drill string, it also includes: filtering the linear acceleration and angular acceleration data of the drill string; wherein the filtering processing includes: high-pass filtering and low-pass filtering.

[0048] In specific implementation, a group of angular acceleration data sampled by the gyroscope within a preset time and a group of linear acceleration data sampled by the accelerometer within a preset time are respectively filtered by high-pass filtering and low-pass filtering to filter out abnormal angular acceleration and linear acceleration data points caused by vibration, so as to obtain stable sampled angular acceleration and linear acceleration data within the preset time, and calculate the average value of the angular acceleration and linear acceleration data as the angular acceleration and linear acceleration measured at the current moment.

[0049] Figure 2 It is a specific example diagram of the pipeline crossing while drilling gyro guidance method according to an embodiment of the present invention.

[0050] In one embodiment of the present invention, reference Figure 2 , according to the linear acceleration and angular acceleration of the drill string, the detailed process of determining the azimuth and inclination of the drill string is:

[0051] Step 201, determining the pitch angle and roll angle of the drill string according to the linear acceleration of the drill string;

[0052] Step 202, determining the azimuth and inclination of the drill string according to the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string.

[0053] In specific implementation, the pitch angle and roll angle of the drill string are determined according to the following formula:

[0054]

[0055] Among them, a x represents the linear acceleration of the drill string in the x-axis direction; a y represents the linear acceleration of the drill string in the y-axis direction; a z Indicates the linear acceleration of the drill string in the z-axis direction; θ indicates the pitch angle of the drill string; γ indicates the roll angle of the drill string. Specifically, according to the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string, the azimuth angle, well inclination angle and tool face angle of the drill string are determined by the four-position method of rotational modulation, among which the tool face angle is the parameter that the deflection tool needs to follow when changing the wellbore direction.

[0056] In one embodiment of the present invention, the change rate of the wellbore position coordinates is determined based on the azimuth and inclination of the drill string, including: determining the change rate of the wellbore position coordinates based on the azimuth, inclination and vector equation of the target wellbore trajectory curve coordinates.

[0057] In specific implementation, the change rate of the wellbore position coordinates is determined according to the following formula:

[0058]

[0059] in, is the rate of change of the wellbore position coordinates in the x-axis direction; is the rate of change of the wellbore position coordinate in the y-axis direction; is the rate of change of the wellbore position coordinates in the z-axis direction; R(x,y,z) is the vector equation of the target wellbore trajectory curve coordinates; φ represents the azimuth angle of the drill string; Indicates the inclination angle of the drill string.

[0060] In one embodiment of the present invention, the wellbore position coordinates at the current moment are determined according to the change rate of the wellbore position coordinates, including: determining the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates in the x-axis, y-axis, and z-axis directions Among them, t represents the current time.

[0061] In one embodiment of the present invention, according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, the pipe crossing drilling direction of the drill string is adjusted, including:

[0062] According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, and the change rate of the wellbore position coordinates and the preset change rate range, the pipe crossing drilling direction of the drill string is adjusted.

[0063] During specific implementation, according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, if the wellbore position coordinates at the current moment are different from the target wellbore trajectory curve coordinates, the pipeline crossing drilling direction of the drill string needs to be adjusted; in addition, it is also necessary to determine whether the change rate of the wellbore position coordinates at the current moment is within a preset change rate range. If it exceeds the preset change rate range, the pipeline crossing drilling direction of the drill string is adjusted according to the difference between the change rate of the wellbore position coordinates at the current moment and the preset change rate range, so that the actual wellbore trajectory returns to the target wellbore trajectory.

[0064] In one embodiment of the present invention, adjusting the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates also includes:

[0065] The linear acceleration and angular acceleration of the drill string are input into the position deviation compensation model, and the deviation compensation data of the wellbore position coordinates at the current moment is output; wherein the position deviation compensation model is obtained by training the machine learning model based on the historical linear acceleration and angular acceleration data of the drill string, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates; according to the deviation compensation data of the wellbore position coordinates at the current moment, the pipeline crossing drilling direction of the drill string is adjusted.

[0066] In specific implementation, the machine learning model is trained according to the historical drill string linear acceleration and angular acceleration data, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates to obtain the position deviation compensation model; when training the machine model, the historical drill string linear acceleration and angular acceleration data are used as the input of the machine model, and the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates are used as the output of the machine model. The machine learning model can adopt the model architecture of RNN, Transformer, and LSTM; the position deviation compensation model extracts the data correction features in the linear acceleration and angular acceleration data of the historical drill string to obtain the correction features of the wellbore trajectory of the current moment while drilling measurement, obtain the final compensation, and improve the measurement accuracy; specifically, the artificial intelligence algorithm can be used for compensation during the pipeline crossing process to achieve the calculation convergence goal of completely fitting the final target wellbore trajectory.

[0067] Figure 3 Schematic diagram of a pipeline crossing while drilling gyro guidance system according to an embodiment of the present invention.

[0068] In extreme environments, for example, when there is interference from ferromagnetic materials within 10 meters (for example, crossing other pipelines, crossing cities, etc.) or when long-distance crossings such as crossing mountains and seas make it impossible to lay coils or magnetic targets and other special environments, the existing magnetic guidance system is limited for various reasons and cannot meet the construction requirements. A high-precision pipeline crossing while-drilling gyro guidance system is needed to solve this type of technical problem. Through multiple field applications, it is found that when the pipeline crosses a deep depth, the system acquisition signal is unstable and the software runs stuck, resulting in large measurement errors. It is necessary to improve and perfect the pipeline crossing while-drilling gyro guidance system; at the same time, in order to reduce the construction cost of pipeline crossing, break the monopoly of foreign manufacturers on related guidance systems, and solve the problem in the prior art that the drill string cannot be drilled according to the target wellbore trajectory, resulting in low drilling operation quality, based on the same inventive concept, the present invention also provides a pipeline crossing while-drilling gyro guidance system, reference Figure 3 ,include:

[0069] The accelerometer module 301 is used to measure the linear acceleration of the drill string;

[0070] The gyro module 302 is used to measure the angular acceleration of the drill string; wherein the gyro module is electrically connected to the accelerometer module;

[0071] The telemetry module 303 is used to transmit the linear acceleration of the drill string measured by the accelerometer module and the angular acceleration of the drill string measured by the gyroscope module to the calculation module;

[0072] The calculation module 304 is used to determine the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string; determine the change rate of the wellbore position coordinates according to the azimuth and well inclination of the drill string; and determine the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates;

[0073] The control module 305 is used to adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates;

[0074] The power supply module 306 is used to supply power to the accelerometer module 301 , the gyroscope module 302 , the telemetry module 303 , the calculation module 304 , and the control module 305 .

[0075] In one embodiment of the present invention, the accelerometer module 301, the gyro module 302, the telemetry module 303, the calculation module 305, the control module 305, and the power supply module 306 complete the integration of the pipeline crossing while drilling gyro guidance system through debugging.

[0076] In one embodiment of the present invention, a pipeline crossing gyroscope guidance system is designed and developed in view of the characteristics of small outer diameter, motor vibration, and dynamic measurement at any time for directional drilling. A low-power, high-stability MEMS gyroscope is selected through experimental testing. The core of the MEMS gyroscope is a micro-machined mechanical unit, and its signal conditioning circuit can be divided into two parts: a motor drive and an accelerometer sensing circuit. Among them, the motor drive part generates a tuning fork mechanism resonant motion through an electrostatic induction method to provide excitation for the mechanical element; the Coriolis force converts the angular velocity into a displacement of a specific sensing structure, and generates a capacitance change through the displacement. The sensing part measures the displacement caused by the Coriolis force on the sensing mass by measuring the capacitance change. Because the displacement size is proportional to the applied angular velocity size, the angular velocity and angular acceleration can be obtained.

[0077] In one embodiment of the present invention, the calculation module 304 is further used for:

[0078] Before determining the azimuth and inclination of the drill string according to the linear acceleration and angular acceleration of the drill string, the linear acceleration and angular acceleration data of the drill string are filtered; wherein the filtering process includes: high-pass filtering and low-pass filtering.

[0079] In one embodiment of the present invention, the calculation module 304 is specifically used for:

[0080] Determine the pitch angle and roll angle of the drill string based on the linear acceleration of the drill string;

[0081] The azimuth and inclination of the drill string are determined based on the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string.

[0082] In one embodiment of the present invention, the calculation module 304 is specifically used for:

[0083] The rate of change of the wellbore position coordinates is determined based on the azimuth angle of the drill string, the well inclination angle, and the vector equation of the target wellbore trajectory curve coordinates.

[0084] In one embodiment of the present invention, the calculation module 304 is specifically used for:

[0085] The change rate of the wellbore position coordinates is determined by the following formula:

[0086]

[0087] in, is the rate of change of the wellbore position coordinates in the x-axis direction; is the rate of change of the wellbore position coordinate in the y-axis direction; is the rate of change of the wellbore position coordinates in the z-axis direction; R(x,y,z) is the vector equation of the target wellbore trajectory curve coordinates; φ represents the azimuth angle of the drill string; Indicates the well inclination angle of the drill string.

[0088] In one embodiment of the present invention, the calculation module 304 is specifically used for:

[0089] Determine the current wellbore position coordinates based on the change rate of the wellbore position coordinates in the x-axis, y-axis, and z-axis directions Among them, t represents the current time.

[0090] In one embodiment of the present invention, the control module 305 is specifically used for:

[0091] According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, and the change rate of the wellbore position coordinates and the preset change rate range, the pipe crossing drilling direction of the drill string is adjusted.

[0092] In one embodiment of the present invention, the control module 305 is specifically used for:

[0093] The linear acceleration and angular acceleration of the drill string are input into the position deviation compensation model, and the deviation compensation data of the wellbore position coordinates at the current moment is output; wherein the position deviation compensation model is obtained by training the machine learning model based on the historical linear acceleration and angular acceleration data of the drill string, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates; according to the deviation compensation data of the wellbore position coordinates at the current moment, the pipeline crossing drilling direction of the drill string is adjusted.

[0094] The pipeline crossing while drilling gyro guidance method, system and device of one embodiment of the present invention serve as a powerful supplement to the magnetic guidance technology, can solve the problem of magnetic interference, and can also be used in the non-excavation crossing construction of mountain and marine pipelines; the pipeline crossing while drilling gyro guidance system includes a passive magnetic guidance instrument and a high-precision gyroscope. Through hardware interface connection and software data processing, the gyroscope and the passive magnetic guidance instrument are integrated together to achieve one-trip drilling well measurement, making the measured data more accurate, and the collected downhole drill string measurement data is calculated to adjust the pipeline crossing drilling direction of the drill string.

[0095] It should be noted that, although the operations of the method of the present invention are described in a specific order in the above embodiments and the accompanying drawings, this does not require or imply that the operations must be performed in the specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0096] The implementation of the pipeline crossing while drilling gyro guidance device can refer to the implementation of the above method, and the repeated parts will not be repeated. The term "module" or "unit" used below can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0097] Based on the same inventive concept, the present invention also proposes a pipeline crossing while drilling gyro guidance device, such as Figure 4 As shown, the device comprises:

[0098] The data acquisition module 401 is used to acquire the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope;

[0099] The attitude measurement module 402 is used to determine the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string;

[0100] The change rate calculation module 403 is used to determine the change rate of the wellbore position coordinates according to the azimuth angle and the well inclination angle of the drill string;

[0101] A coordinate calculation module 404 is used to determine the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates;

[0102] The judgment and adjustment module 405 is used to adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates.

[0103] Figure 5 This is a specific example diagram of a pipeline passing through a drilling-while-drilling gyro guidance device in an embodiment of the present invention. Figure 5 As shown, in one embodiment of the present invention, Figure 4 The pipeline crossing while drilling gyro guidance device shown also includes:

[0104] The filtering module 501 is used to perform filtering processing on the linear acceleration and angular acceleration data of the drill string; wherein the filtering processing includes: high-pass filtering and low-pass filtering.

[0105] In one embodiment of the present invention, the posture measurement module 402 is specifically used for:

[0106] Determine the pitch angle and roll angle of the drill string based on the linear acceleration of the drill string;

[0107] The azimuth and inclination of the drill string are determined based on the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string.

[0108] In one embodiment of the present invention, the change rate calculation module 403 is specifically used for:

[0109] The rate of change of the wellbore position coordinates is determined based on the azimuth angle of the drill string, the well inclination angle, and the vector equation of the target wellbore trajectory curve coordinates.

[0110] In one embodiment of the present invention, the change rate calculation module 403 is specifically used for:

[0111] The change rate of the wellbore position coordinates is determined by the following formula:

[0112]

[0113] in, is the rate of change of the wellbore position coordinates in the x-axis direction; is the rate of change of the wellbore position coordinate in the y-axis direction; is the rate of change of the wellbore position coordinates in the z-axis direction; R(x,y,z) is the vector equation of the target wellbore trajectory curve coordinates; φ represents the azimuth angle of the drill string; Indicates the inclination angle of the drill string.

[0114] In one embodiment of the present invention, the coordinate calculation module 404 is specifically used for:

[0115] Determine the current wellbore position coordinates based on the change rate of the wellbore position coordinates in the x-axis, y-axis, and z-axis directions Among them, t represents the current time.

[0116] In one embodiment of the present invention, the determination and adjustment module 405 is specifically used for:

[0117] According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, and the change rate of the wellbore position coordinates and the preset change rate range, the pipe crossing drilling direction of the drill string is adjusted.

[0118] In one embodiment of the present invention, the determination and adjustment module 405 is further configured to:

[0119] The linear acceleration and angular acceleration of the drill string are input into the position deviation compensation model, and the deviation compensation data of the wellbore position coordinates at the current moment is output; wherein the position deviation compensation model is obtained by training the machine learning model based on the historical linear acceleration and angular acceleration data of the drill string, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates; according to the deviation compensation data of the wellbore position coordinates at the current moment, the pipeline crossing drilling direction of the drill string is adjusted.

[0120] The pipeline crossing while drilling gyro guidance method, system and device of the embodiment of the present invention can guide the pipeline crossing of the drill string under the temperature condition of more than 125°C; the pipeline crossing while drilling gyro guidance system contains a gyro, which is used for horizontal directional drilling. The gyro will not be disturbed by any magnetic field. By accurately positioning the position of the drill bit, the drill string is drilled according to the designed target wellbore trajectory; in the process of wellbore trajectory tracking and correction, the deviation of the wellbore position coordinates at the current moment and the target wellbore trajectory is obtained in real time to achieve the purpose of real-time tracking and correction; the prior information of the historical big database is introduced to reasonably eliminate the instantaneous interference caused by abnormal data, and the pipeline crossing drilling direction of the drill string is adjusted according to the deviation compensation data of the wellbore position coordinates at the current moment, so that the positioning and guidance process is more stable and accurate. The pipeline crossing while drilling gyro guidance method, system and device of the embodiment of the present invention can be applied to the non-excavation crossing construction of mountain and marine pipelines, and has become an urgently needed technology for the non-excavation laying of pipelines in special areas.

[0121] It should be noted that although several modules of the pipeline crossing while drilling gyro steering device are mentioned in the above detailed description, this division is only exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided into multiple modules for embodiment.

[0122] Based on the above invention concept, Figure 6 As shown, the present invention also proposes a computer device 600, including a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602, wherein the processor 602 implements the aforementioned pipeline crossing while drilling gyro guidance method when executing the computer program 603.

[0123] Based on the aforementioned inventive concept, the present invention proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned pipeline crossing while drilling gyro guidance method is implemented.

[0124] Based on the aforementioned inventive concept, the present invention proposes a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, a gyro guidance method for pipeline crossing while drilling is implemented.

[0125] The drill string guiding method and device proposed in the embodiment of the present invention can solve the problem that the drill string cannot be drilled according to the target wellbore trajectory in the prior art, resulting in low drilling operation quality; the embodiment of the present invention obtains the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope; determines the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string; determines the change rate of the wellbore position coordinates according to the azimuth and well inclination of the drill string; determines the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates; adjusts the drilling direction of the pipeline crossing of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates. In the process of drilling the drill string, the embodiment of the present invention can calculate the wellbore position coordinates in real time through the change rate of the wellbore position coordinates, improve the calculation accuracy of the wellbore position coordinates, and accurately adjust the drilling direction of the pipeline crossing of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, thereby improving the drilling operation quality.

[0126] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0128] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0130] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pipeline crossing while drilling gyro guidance method, characterized in that: include: Obtaining the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope; Determine the azimuth and inclination of the drill string based on its linear acceleration and angular acceleration; Determine the rate of change of the wellbore position coordinates based on the drill string azimuth and well inclination; According to the change rate of the wellbore position coordinates, determine the wellbore position coordinates at the current moment; According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, the pipe crossing drilling direction of the drill string is adjusted.

2. The method according to claim 1, characterized in that Before determining the azimuth and inclination of the drill string according to the linear acceleration and angular acceleration of the drill string, the following steps are also included: The linear acceleration and angular acceleration data of the drill string are filtered; wherein the filtering process includes: high-pass filtering and low-pass filtering.

3. The method according to claim 1, characterized in that According to the linear acceleration and angular acceleration of the drill string, the azimuth and inclination of the drill string are determined, including: Determine the pitch angle and roll angle of the drill string based on the linear acceleration of the drill string; The azimuth and inclination of the drill string are determined based on the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string.

4. The method according to claim 1, characterized in that: According to the azimuth and inclination of the drill string, the change rate of the wellbore position coordinates is determined, including: The rate of change of the wellbore position coordinates is determined based on the azimuth angle of the drill string, the well inclination angle, and the vector equation of the target wellbore trajectory curve coordinates.

5. The method according to claim 4, characterized in that The change rate of the wellbore position coordinates is determined by the following formula: in, is the rate of change of the wellbore position coordinates in the x-axis direction; is the rate of change of the wellbore position coordinate in the y-axis direction; is the rate of change of the wellbore position coordinates in the z-axis direction; R(x,y,z) is the vector equation of the target wellbore trajectory curve coordinates; φ represents the azimuth angle of the drill string; Indicates the well inclination angle of the drill string.

6. The method according to claim 5, characterized in that According to the change rate of the wellbore position coordinates, the wellbore position coordinates at the current moment are determined, including: Determine the current wellbore position coordinates based on the change rate of the wellbore position coordinates in the x-axis, y-axis, and z-axis directions Among them, t represents the current time.

7. The method according to claim 1, characterized in that According to the current wellbore position coordinates and the target wellbore trajectory curve coordinates, the pipe crossing drilling direction of the drill string is adjusted, including: According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, and the change rate of the wellbore position coordinates and the preset change rate range, the pipe crossing drilling direction of the drill string is adjusted.

8. The method according to claim 1, characterized in that According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, the pipe crossing drilling direction of the drill string is adjusted, and further includes: Inputting the linear acceleration and angular acceleration of the drill string into the position deviation compensation model, outputting the deviation compensation data of the wellbore position coordinates at the current moment; wherein the position deviation compensation model is obtained by training the machine learning model based on the historical linear acceleration and angular acceleration data of the drill string, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates; According to the deviation compensation data of the wellbore position coordinates at the current moment, the pipe crossing drilling direction of the drill string is adjusted.

9. A pipeline crossing while drilling gyro guidance system, characterized in that: include: An accelerometer module, used to measure the linear acceleration of the drill string; A gyro module, used to measure the angular acceleration of the drill string; wherein the gyro module is electrically connected to the accelerometer module; A teletransmission module, used for transmitting the linear acceleration of the drill string measured by the accelerometer module and the angular acceleration of the drill string measured by the gyroscope module to the calculation module; A power supply module, used to supply power to the accelerometer module, the gyroscope module, and the telemetry module; The calculation module is used to determine the azimuth and well inclination of the drill string according to the linear acceleration and angular acceleration of the drill string; determine the change rate of the wellbore position coordinates according to the azimuth and well inclination of the drill string; and determine the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates; The control module is used to adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates.

10. The system according to claim 9, characterized in that Also includes: The power supply module is used to supply power to the accelerometer module, gyroscope module, telemetry module, computing module and control module.

11. The system according to claim 9, characterized in that The calculation module is also used to: Before determining the azimuth and inclination of the drill string according to the linear acceleration and angular acceleration of the drill string, the linear acceleration and angular acceleration data of the drill string are filtered; wherein the filtering process includes: high-pass filtering and low-pass filtering.

12. The system according to claim 9, characterized in that The computing module is specifically used for: Determine the pitch angle and roll angle of the drill string based on the linear acceleration of the drill string; The azimuth and inclination of the drill string are determined based on the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string.

13. The system according to claim 9, characterized in that The computing module is specifically used for: The rate of change of the wellbore position coordinates is determined based on the azimuth angle of the drill string, the well inclination angle, and the vector equation of the target wellbore trajectory curve coordinates.

14. The system according to claim 13, characterized in that The computing module is specifically used for: The change rate of the wellbore position coordinates is determined by the following formula: in, is the rate of change of the wellbore position coordinates in the x-axis direction; is the rate of change of the wellbore position coordinate in the y-axis direction; is the rate of change of the wellbore position coordinates in the z-axis direction; R(x,y,z) is the vector equation of the target wellbore trajectory curve coordinates; φ represents the azimuth angle of the drill string; Indicates the inclination angle of the drill string.

15. The system according to claim 14, characterized in that The computing module is specifically used for: Determine the current wellbore position coordinates based on the change rate of the wellbore position coordinates in the x-axis, y-axis, and z-axis directions Among them, t represents the current time.

16. The system according to claim 9, characterized in that The control module is specifically used for: According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, and the change rate of the wellbore position coordinates and the preset change rate range, the pipe crossing drilling direction of the drill string is adjusted.

17. The system according to claim 9, characterized in that The control module is specifically used for: Inputting the linear acceleration and angular acceleration of the drill string into the position deviation compensation model, outputting the deviation compensation data of the wellbore position coordinates at the current moment; wherein the position deviation compensation model is obtained by training the machine learning model based on the historical linear acceleration and angular acceleration data of the drill string, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates; According to the deviation compensation data of the wellbore position coordinates at the current moment, the pipe crossing drilling direction of the drill string is adjusted.

18. A pipeline crossing while drilling gyro guidance device, characterized in that: include: A data acquisition module, used to acquire the linear acceleration of the drill string measured by the accelerometer and the angular acceleration of the drill string measured by the gyroscope; The attitude measurement module is used to determine the azimuth and well inclination of the drill string based on the linear acceleration and angular acceleration of the drill string; A change rate calculation module is used to determine the change rate of the wellbore position coordinates according to the azimuth angle and the well inclination angle of the drill string; A coordinate calculation module, used to determine the wellbore position coordinates at the current moment according to the change rate of the wellbore position coordinates; The judgment and adjustment module is used to adjust the pipe crossing drilling direction of the drill string according to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates.

19. The device according to claim 18, characterized in that Also includes: The filtering module is used to filter the linear acceleration and angular acceleration data of the drill string; wherein the filtering process includes: high-pass filtering and low-pass filtering.

20. The device according to claim 18, characterized in that The posture measurement module is specifically used for: Determine the pitch angle and roll angle of the drill string based on the linear acceleration of the drill string; The azimuth and inclination of the drill string are determined based on the linear acceleration, angular acceleration, pitch angle and roll angle of the drill string.

21. The device according to claim 18, characterized in that The rate of change calculation module is specifically used for: The rate of change of the wellbore position coordinates is determined based on the azimuth angle of the drill string, the well inclination angle, and the vector equation of the target wellbore trajectory curve coordinates.

22. The device according to claim 21, characterized in that The rate of change calculation module is specifically used for: The change rate of the wellbore position coordinates is determined by the following formula: in, is the rate of change of the wellbore position coordinates in the x-axis direction; is the rate of change of the wellbore position coordinate in the y-axis direction; is the rate of change of the wellbore position coordinates in the z-axis direction; R(x,y,z) is the vector equation of the target wellbore trajectory curve coordinates; φ represents the azimuth angle of the drill string; Indicates the inclination angle of the drill string.

23. The device according to claim 22, characterized in that The coordinate calculation module is specifically used for: Determine the current wellbore position coordinates based on the change rate of the wellbore position coordinates in the x-axis, y-axis, and z-axis directions Among them, t represents the current time.

24. The device according to claim 18, characterized in that The judgment and adjustment module is specifically used for: According to the wellbore position coordinates at the current moment and the target wellbore trajectory curve coordinates, and the change rate of the wellbore position coordinates and the preset change rate range, the pipe crossing drilling direction of the drill string is adjusted.

25. The device according to claim 18, characterized in that The judgment and adjustment module is also used to: Inputting the linear acceleration and angular acceleration of the drill string into the position deviation compensation model, outputting the deviation compensation data of the wellbore position coordinates at the current moment; wherein the position deviation compensation model is obtained by training the machine learning model based on the historical linear acceleration and angular acceleration data of the drill string, the historical wellbore position coordinates and the historical target wellbore trajectory curve coordinates; According to the deviation compensation data of the wellbore position coordinates at the current moment, the pipe crossing drilling direction of the drill string is adjusted.

26. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

27. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

28. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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