Real drilling well track monitoring method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a real drilling well track monitoring method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a dog-leg angle of a measuring section between at least two adjacent measuring points based on measuring point parameters of the at least two adjacent measuring points on a real drilling well track; identifying the type of the measurement section according to the dog leg angle; determining a position vector equation corresponding to the measurement section according to the type of the measurement section; according to the type of the measurement section, the position vector equation corresponding to the measurement section and the position coordinate of a preset target body, a monitoring result is output, and the monitoring result comprises target missing or target missing. The method is used for improving the accuracy of a real drilling well track monitoring result.

Description

Technical Field

[0001] The present application relates to the technical field of oil drilling, and in particular to a monitoring method, device, electronic equipment and storage medium for actual drilling wellbore trajectory. Background Art

[0002] In oil and gas drilling, horizontal drilling is an advanced drilling technology. After the drill bit penetrates a certain depth into the formation, it can change the direction of the drill bit and drill horizontally along the formation.

[0003] During horizontal well drilling, it is necessary to monitor whether the actual drilling borehole trajectory is within the rectangular target at any time. The rectangular target is a cuboid placed along the reservoir, which defines the target range that the drill bit needs to hit during drilling. Monitoring whether the actual drilling borehole trajectory is within the rectangular target helps determine whether the drill bit has accurately reached the predetermined oil and gas layer or other target formation. In related technologies, whether the actual drilling borehole trajectory is on target or off target is mainly determined by calculating whether the measuring point is within the rectangular target.

[0004] However, in sliding drilling, since the actual drilled wellbore of the sliding well section is curved, it is possible that a part of the curved well section exceeds the limit of the cuboid (outside the rectangular target), but the two measuring points forming the well section may be within the rectangular target. In this scenario, when monitoring the actual drilled wellbore trajectory based on the method provided by the relevant technology, the monitoring results are inaccurate. Summary of the invention

[0005] The embodiments of the present application provide a method, device, electronic device and storage medium for monitoring a real drilling wellbore trajectory, so as to improve the accuracy of the monitoring results of the real drilling wellbore trajectory.

[0006] In a first aspect, an embodiment of the present application provides a method for monitoring a real drilling wellbore trajectory, comprising: determining a dogleg angle of a measuring section between the at least two adjacent measuring points on the real drilling wellbore trajectory based on measuring point parameters of at least two adjacent measuring points;

[0007] According to the dogleg angle, identifying the type of the measuring section;

[0008] Determining, according to the type of the measuring section, a position vector equation corresponding to the measuring section;

[0009] According to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, a monitoring result is output, and the monitoring result includes hitting the target or missing the target.

[0010] In a possible implementation, outputting the monitoring result according to the type of the measuring section, the position vector equation corresponding to the measuring section, and the position coordinates of a preset target body includes:

[0011] Determining the relative position relationship between each of the measuring points and the preset target according to the position vector equation corresponding to the measuring section;

[0012] The monitoring result is output according to the type of the measuring section and the relative position relationship between each measuring point and the preset target.

[0013] In a possible implementation, the type of the measuring section includes a stable tilt measuring section, and outputting the monitoring result according to the type of the measuring section and the relative position relationship between each measuring point and the preset target body includes:

[0014] If at least one of the measuring points is outside the preset target, the monitoring result is output as off-target;

[0015] If all the measuring points are located within the preset target, the monitoring result is output as hitting the target; wherein the relative position relationship includes that the measuring point is located outside the preset target or that the measuring point is located within the preset target.

[0016] In a possible implementation, the type of the measuring section includes an arc measuring section, and outputting the monitoring result according to the type of the measuring section and the relative position relationship between each measuring point and the preset target body includes:

[0017] If at least one of the measuring points is outside the preset target, the monitoring result is output as off-target;

[0018] If all the measuring points are within the preset target, then the number of intersections between the measuring section and the side surface of the preset target is calculated;

[0019] The monitoring result is output according to the number of intersections and the bending angles corresponding to the intersections.

[0020] In a possible implementation manner, outputting the monitoring result according to the number of intersections and the bending angles corresponding to the intersections includes:

[0021] If the number of intersections includes at least one, and the bending angle corresponding to the intersection is greater than or equal to zero and less than or equal to the dogleg angle, then the output monitoring result is off-target;

[0022] When the number of intersection points is zero, the output monitoring result is that the target is hit.

[0023] In a possible implementation manner, calculating the number of intersections between the measuring section and each side surface of the preset target includes:

[0024] According to the position vector equation corresponding to the measuring section and the position equations of the respective sides of the preset target body, the relative position equations of the measuring section and the respective sides are obtained;

[0025] The real roots of the relative position equation are obtained, and the number of intersections between the measuring section and each side surface is calculated based on the real roots.

[0026] In a possible implementation manner, identifying the type of the measuring section according to the dogleg angle includes:

[0027] When the dog-leg angle is greater than a preset threshold, determining that the measuring segment is a circular arc measuring segment;

[0028] When the dog-leg angle is less than or equal to the preset threshold, the measuring section is determined to be a stable tilt measuring section.

[0029] In a second aspect, an embodiment of the present application provides a drilling trajectory monitoring device, comprising:

[0030] A first determination module is used to determine the dogleg angle of the measurement section between the at least two adjacent measurement points based on the measurement point parameters of at least two adjacent measurement points on the actual drilling wellbore trajectory;

[0031] An identification module, used for identifying the type of the measuring section according to the dogleg angle;

[0032] A second determination module, used to determine the position vector equation corresponding to the measurement section according to the type of the measurement section;

[0033] The processing module is used to analyze the monitoring results according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, and output the monitoring results, wherein the monitoring results include hitting the target or missing the target.

[0034] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0035] The memory stores computer-executable instructions;

[0036] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0038] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0039] The monitoring method, device, electronic device and storage medium of the actual drilling wellbore trajectory provided in the embodiments of the present application identify the type of the monitoring section, and then determine the position relationship of the entire measuring section relative to the preset target body based on the type of the measuring section and its corresponding position vector equation, and then judge whether the entire measuring section is within the preset target body, rather than just monitoring the measuring point. The monitoring result is more accurate, especially for the circular arc measuring section, which can accurately identify the situation where the measuring point is within the preset target body and the curved part is outside the preset target body. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] Figure 1 A flow chart of a method for monitoring the trajectory of a real drilling wellbore provided in this application Figure 1 ;

[0042] Figure 2 A schematic diagram of a local rectangular coordinate system on a target plane of a preset target provided in this application;

[0043] Figure 3a A front view of a preset target provided in an embodiment of the present application;

[0044] Figure 3b A top view of a preset target provided in an embodiment of the present application;

[0045] Figure 3c A side view of a preset target provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of the scene of the actual drilling wellbore trajectory in the preset target body;

[0047] Figure 5 It is a schematic diagram of the scene where the actual drilling wellbore trajectory is outside the preset target body;

[0048] Figure 6 A flow chart of a method for monitoring the trajectory of a real drilling wellbore provided in this application Figure 2 ;

[0049] Figure 7 The actual drilling wellbore trajectory provided for this application is a schematic diagram of off-target / on-target corresponding to the stable inclination measurement section;

[0050] Figure 8 Schematic diagram 3 of a flow chart of a method for monitoring a real drilling wellbore trajectory provided in this application;

[0051] Fig. 9 The actual drilling wellbore trajectory provided for the application is a schematic diagram of the off-target / on-target corresponding to the arc measurement section;

[0052] Fig.10 A schematic diagram of the structure of the monitoring device for the actual drilling wellbore trajectory provided in this application;

[0053] Fig.11 A schematic diagram of the structure of the electronic device provided in this application.

[0054] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] First, the terms involved in this application are explained:

[0057] Actual drilling wellbore trajectory: refers to the actual drilling process, the trajectory of the hole formed after the drill bit penetrates the ground (that is, the formed channel);

[0058] Measuring point: refers to the point used to measure specific parameters (such as temperature, pressure, magnetic field, etc.) in the drilling project. These measuring points are distributed at different locations of the drilling and are used to monitor and record real-time data during the drilling process;

[0059] Measuring segment: refers to the trajectory segment between two consecutive measuring points;

[0060] Hitting the target: refers to the drill bit successfully drilling into the predetermined target area during the drilling process;

[0061] Off-target: This means that the drill bit fails to successfully drill into the intended target area, but deviates from the target;

[0062] Dogleg angle: refers to the angle between the wellbore direction line (tangent to the wellbore axis) between two adjacent measuring points on the wellbore trajectory, reflecting the magnitude of the change in the wellbore direction between the two measuring points; the size of the dogleg angle reflects the degree of curvature of the wellbore axis;

[0063] Target body: refers to a rectangular block extending along the reservoir used to indicate the target area (e.g., rectangular target) that the drill bit is expected to reach during horizontal well drilling.

[0064] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0065] Figure 1 A flow chart of a method for monitoring the trajectory of a real drilling wellbore provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0066] S101, determining a dogleg angle of a measuring section between at least two adjacent measuring points based on measuring point parameters of at least two adjacent measuring points on an actual drilling wellbore trajectory;

[0067] In this embodiment, the execution subject is an electronic device, and the electronic device may be a drilling device, or a monitoring device of the drilling equipment, etc.

[0068] Prior to this step, a target area model is first established based on the target area parameters of the target entry point, and a preset target body is obtained based on the target area model, wherein the target area model reflects the structural shape of the preset target body, the coordinate position of the preset target body, the position equations of each side surface of the preset target body, and the equations of each variable line. The process of establishing the target area model is described below:

[0069] like Figure 2 , Figure 3a , Figure 3b and Figure 3c As shown, the target area is first set according to the storage layer (the target area is a rectangular structure), and the target entry point A and the target exit point B are determined. The target area parameters are set based on the position of the target entry point A. The target area parameters include the half window height h a 、Half window width w a 、Well inclination angle α a 、Azimuth φ a and target area length ΔL.

[0070] The target window rectangle at the target point A (with A as the center of the rectangle and a width of 2w a , height is 2h a , the upper and lower sides are parallel to the horizontal plane) move from A to B along the straight line AB, and the internal area of ​​the rectangular parallelepiped formed is defined as the preset target (such as Figure 3a , Figure 3b and Figure 3c The line between AB is the axis of the preset target, and the plane where any point C on the axis lies is the target plane.

[0071] like Figure 2As shown in the figure, a local two-dimensional rectangular coordinate system C-xy is established on the target plane, where P is the intersection of the actual drilling wellbore trajectory and the target surface. Based on the target area parameters and the rectangular coordinate system, the wellbore high side vector h of the target point A is determined. a , vertical azimuth vector v a , wellbore direction vector t a and position vector r a :

[0072] For example, the borehole high side vector h a for:

[0073]

[0074] Vertical azimuth vector v a for:

[0075]

[0076] Wellbore direction vector t a for:

[0077]

[0078] The position vector ra is:

[0079]

[0080] Among them, N a is the north-south coordinate of point A, E a is the east-west coordinate of point A, H a is the vertical depth of point A.

[0081] Based on the rectangular coordinate system, the position vectors of the four vertices of the rectangle on the target surface are determined in the clockwise direction starting from the upper right corner as follows:

[0082] Upper right corner①:r1=r a +h a h a +w a v a ;

[0083] Lower right corner②: r2=r a -h a h a +w a v a ;

[0084] Lower left corner ③: r3 = r a -h a h a -w a v a ;

[0085] Upper left corner ④: r4 = r a +h a h a -w a v a ;

[0086] The equations of the lines along the 4 sides (defined the same as the vertices of the target surface) along the axis are:

[0087] r=r i +λ i t a ;

[0088] Where 0≤λ i ≤ΔL, i=1, 2, 3, 4

[0089] The plane equations of the four side surfaces along the axis direction (with the same definition as the vertex of the target surface) are:

[0090] (rr i )·m i =0;

[0091] in: m i is the normal vector of the side surface; r is the position vector of any point on the side surface.

[0092] Through the above method, a target area model of the preset target body is obtained, which reflects the structure of the preset target body, the position equations of each side surface of the preset target body, and the straight line equations of each edge.

[0093] In the actual drilling process, especially in the horizontal drilling process, the wellbore trajectory is changing, such as Figure 4 and Figure 5 As shown, Figure 4 In the case of drilling, the borehole trajectory is constantly changing along the borehole direction, but it is always within the preset target area, so in this case, the borehole trajectory does not deviate from the target; Figure 5 In the drilling process, part of the borehole trajectory is outside the preset target area, and the target is missed. Therefore, it is necessary to monitor whether the actual drilling borehole trajectory is within the preset target body at any time.

[0094] In the related art, whether some measuring points are within the preset target body is monitored to determine whether the measuring points are off-target or on-target. In this embodiment, whether the measuring segments between consecutive measuring points (that is, the connecting line segments between the measuring points) are within the preset target body is monitored to determine whether the actual drilling wellbore trajectory is off-target or on-target. Based on actual engineering applications, the types of measuring segments generally include steady-inclination measuring segments and circular arc measuring segments. The positions of each point on the steady-inclination measuring segments and the circular arc measuring segments are determined in different ways. Therefore, this embodiment constructs a variety of position vector equations according to the characteristics of the steady-inclination measuring segments and the circular arc measuring segments, which are used to respectively reflect the positions of each point on the steady-inclination measuring segments and the positions of each point on the circular arc measuring segments. After the preset target body is constructed, the position vector equations of the steady-inclination measuring segments and the position vector equations of the circular arc measuring segments can be constructed based on the local coordinates of the preset target body, as shown below:

[0095] The position vector equation of the stable inclination measurement section is:

[0096] r=r m +λt m ;

[0097] Where r represents the position vector of any point on the measuring section; r m is the position vector of the measuring point m; t m is the borehole direction vector of measuring point m; λ is a parameter, where 0≤λ≤ΔL m , △L m Indicates the length of the measuring section between at least two adjacent measuring points (the sum of multiple measuring sections is the target area length △L), ΔL m =L n -L m .

[0098] The position vector equation of the arc measurement segment is:

[0099] r=r m +(t m +n m sinθ+t m cosθ)R m tan(θ / 2);

[0100] in, t m is the borehole direction vector of measuring point m, t n is the wellbore direction vector of measuring point n; m is the dogleg angle, θ is the bending angle of the arc segment, 0≤θ≤ε m .

[0101] In this step, when monitoring the borehole trajectory during the actual drilling process, the dogleg angle of the measuring section between at least two adjacent measuring points is first determined based on the measuring point parameters of at least two adjacent measuring points, and then the type of the measuring section between the adjacent measuring points can be identified by the dogleg angle. After the type of the measuring section is determined, the relative position relationship between each point on the measuring section and the preset target can be monitored based on the position vector equation corresponding to the type of the measuring section. The measuring point parameters include at least one of the position vector of the measuring point and the borehole direction vector at the measuring point.

[0102] It should be noted that two measuring points can be connected to form a line segment, so the following takes the measuring segment formed by connecting two adjacent measuring points as an example:

[0103] After two consecutive measuring points are determined (two adjacent measuring points), the measuring point parameters of each measuring point are calculated in the following way:

[0104] Assume that two consecutive measuring points are m and n, where the position vector of point m is:

[0105]

[0106] The wellbore direction vector at point m is:

[0107]

[0108] The wellbore direction vector at point n is:

[0109]

[0110] After determining the measuring point parameters of the measuring point, the dogleg angle of the measuring segment is calculated based on the measuring point parameters. Optionally, the dogleg angle of the measuring segment between the measuring points can be calculated in the following ways:

[0111] ε m =arccos(t m ·t n ).

[0112] S102, identifying the type of the measurement section according to the dogleg angle;

[0113] Optionally, the dogleg angle reflects the magnitude of the change in the direction of the wellbore between the two measuring points, and the magnitude of the dogleg angle reflects the curvature of the wellbore axis, that is, the curvature of the measuring section. Therefore, the type of the measuring section can be identified by the dogleg angle.

[0114] As an example, when the dogleg angle is greater than a preset threshold, the measurement segment is determined to be an arc measurement segment; when the dogleg angle is less than or equal to the preset threshold, the measurement segment is determined to be a steady-tilt measurement segment.

[0115] Optionally, the preset threshold is 0 or the preset threshold is close to 0. When the dogleg angle is greater than 0, it means that the measuring segment is curved, and the larger the dogleg angle is, the greater the curvature of the measuring segment is. When the dogleg angle is equal to 0, it means that the measuring segment is steadily inclined and there is no curvature.

[0116] S103, determining the position vector equation corresponding to the measuring section according to the type of the measuring section;

[0117] When the measuring section is a stable inclination measuring section, the position vector equation corresponding to the measuring section is: r = r m +λt m ; The position vector of any point on the measuring section can be calculated using the position vector equation.

[0118] When the measuring segment is an arc measuring segment, the position vector equation corresponding to the measuring segment is: r = r m +(t m +n m sinθ+t m cosθ)R m tan(θ / 2); the position vector of any point on the measuring section can be calculated using this position vector equation.

[0119] S104, outputting monitoring results according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, the monitoring results including hitting the target or missing the target.

[0120] After determining the type of the measuring section and the position vector equation corresponding to the measuring section, the position relationship of the measuring section relative to the preset target body can be determined based on the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body. Through this position relationship, it can be judged whether there is at least one point on the measuring section outside the preset target body. If so, it is determined that part of the measuring section is off-target. If not, it is determined that all positions of the measuring section are on-target, and the monitoring results are output.

[0121] As an example, according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target, the monitoring result is output, which may be:

[0122] According to the position vector equation corresponding to the measuring section, the position coordinates of all points in the measuring section are calculated; by comparing the position coordinates of all points with the position coordinates of each side of the preset target, the relative position relationship between all points on the measuring section and the preset target is obtained, and then the on-target or off-target is determined through all relative position relationships, and the monitoring results are output.

[0123] For example, if there is at least one point outside the preset target (outside the three-dimensional body formed by the sides of the preset target), it is determined that the measurement segment is off-target. If all points on the measurement segment are within the preset target, it is determined that the measurement segment is on-target.

[0124] In this example, the position vector of any point on the measuring section can be calculated based on the position vector equation of the measuring section, and then the relative position relationship between the position vector of any point and the preset target can be used to determine whether any point is off target. This monitoring method has high accuracy.

[0125] Another example is to output the monitoring result according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, which may be:

[0126] According to the position vector equation corresponding to the measuring section, the relative position relationship between each measuring point and the preset target is determined; according to the type of the measuring section and the relative position relationship between each measuring point and the preset target, the monitoring result is output.

[0127] In this example, the relative position relationship between the measuring point and the preset target includes the measuring point being outside the preset target (when the preset target is a rectangular cuboid, it means being outside the cuboid) and the measuring point being inside the preset target (inside the cuboid).

[0128] In a further example, the monitoring result is output according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, which may be specifically:

[0129] When the measuring section is a steady-inclined measuring section, the monitoring result is output based on the relative position relationship between each measuring point and the preset target; when the measuring section is an arc measuring section, the relative position relationship between the measuring section and the preset target is determined based on the position vector equation corresponding to the arc measuring section and the three-dimensional model of the preset target, and then the monitoring result is output. The three-dimensional model of the preset target includes the position equations of each side and each edge.

[0130] This example uses different judgment methods to judge whether the measurement section is within the preset target according to the different types of measurement sections, adapting to the particularities of different types of measurement sections and ensuring that the monitoring results of each type of measurement section are relatively accurate. For example, for the steady-inclination measurement section, the relative position relationship between the measurement point and the preset target is used to judge the position of the entire steady-inclination section; and for the arc measurement section, the relative position relationship between the measurement point and each point of the arc measurement section and the preset target is used to judge the position of the arc measurement section.

[0131] The monitoring method of the actual drilling borehole trajectory provided in the embodiment of the present application identifies the type of monitoring section, and then determines the positional relationship of the entire measuring section relative to the preset target body based on the type of measuring section and its corresponding position vector equation, and then judges whether the entire measuring section is within the preset target body, rather than only monitoring the measuring point. The monitoring result is more accurate, especially for the arc measuring section, which can accurately identify the situation where the measuring point is within the preset target body and the curved part is outside the preset target body, thus avoiding the situation where part of the well section of the actual drilling borehole trajectory is outside the preset target body, thereby more accurately judging the on-target / off-target situation of the actual drilling borehole trajectory. In addition, different types of measuring sections correspond to different monitoring methods, and the monitoring methods are diversified, and different types of measuring sections can be monitored, increasing the adaptability of the monitoring method.

[0132] Figure 6 Schematic diagram of the process of monitoring the actual drilling wellbore trajectory provided in this application Figure 2 ,like Figure 6 As shown, based on the above embodiment, this embodiment takes the type of the measuring section as a stable inclination measuring section as an example to describe in detail the monitoring method of the actual drilling wellbore trajectory, and the method includes:

[0133] S601, determining a dogleg angle of a measuring section between at least two adjacent measuring points based on measuring point parameters of at least two adjacent measuring points on an actual drilling wellbore trajectory;

[0134] S602, identifying the type of the measurement section according to the dogleg angle;

[0135] S603, determining the position vector equation corresponding to the measuring section according to the type of the measuring section;

[0136] Among them, steps S601 to S603 and Figure 1 The implementation of steps S101 to S103 in the embodiment is similar, and will not be repeated here in this embodiment.

[0137] S604, determining the relative position relationship between each measuring point and the preset target according to the position vector equation corresponding to the measuring section;

[0138] In this step, the relative position relationship between the measuring point and the preset target includes the measuring point being located outside the preset target, the measuring point being located inside the preset target, and the like.

[0139] Taking two consecutive measuring points P and Q between targets AB as an example, the method of determining the relative position relationship between each measuring point and the preset target is explained:

[0140] In some examples, the relative position relationship between each measuring point and the preset target can be determined based on the lateral deviation and longitudinal deviation between each measuring point and the axis of the preset target. For example, assuming that the lateral deviation of point P relative to the axis of the preset target is x p , longitudinal deviation is y p; when |x p |≤h a And|y p |≤w a , then it is determined that the measuring point P is located inside the preset target, otherwise, the measuring point P is located outside the preset target. Similarly, assuming that the lateral deviation of point Q relative to the axis of the preset target is x q , longitudinal deviation is y q ;|x q |≤h a And|y q |≤w a , then the measuring point Q is inside the preset target, otherwise, the measuring point Q is outside the preset target. In other words, if the lateral deviation between the measuring point and the axis of the preset target is greater than the half-window height of the preset target, and the longitudinal deviation is greater than the half-window width of the preset target, it means that the measuring point is outside the preset target.

[0141] In this example, the relative position relationship between the measuring point and the preset target is determined by the lateral deviation and longitudinal deviation of the measuring point relative to the axis of the preset target. The determination method is simple and accurate, which improves the accuracy of the monitoring results.

[0142] Optionally, this example calculates the lateral deviation and longitudinal deviation of the measuring point relative to the axis of the preset target in the following way:

[0143] According to the measuring point P, determine its vertical projection point C on the axis of the preset target, and according to the measuring point Q, determine its vertical projection point D on the axis of the preset target; based on the position vector equation corresponding to the measuring section, calculate the position vectors of P and C respectively, and obtain r p and r c Similarly, based on the position vector equation corresponding to the measurement segment, the position vectors of Q and D are calculated respectively to obtain r q and r d The lateral deviation x of P is calculated by the following formulas: p and longitudinal deviation y p :

[0144]

[0145] The lateral deviation x of Q is calculated by the following formulas: q and longitudinal deviation y q :

[0146]

[0147] In the above formula, h a is the borehole high side vector at point A, v a The vertical direction vectors respectively.

[0148] In other examples, the position coordinates of each measuring point can be calculated according to the position vector equation corresponding to the steady-tilt measurement section, and then the position coordinates of each measuring point can be compared with the four vertex coordinates and side coordinates of the preset target to determine whether the position coordinates of the measuring point are outside the position coordinates of the preset target, so as to obtain the relative position relationship between the measuring point and the preset target. That is, this example determines whether the position of the measuring point is inside or outside the preset target by calculating the specific coordinate value of the measuring point.

[0149] S605: If at least one measuring point is outside the preset target, output the monitoring result as off-target;

[0150] S605, if all the measuring points are located within the preset target, the monitoring result is output as hitting the target;

[0151] For the steady-inclination measurement section, since there is no arc, if the two measurement points forming the measurement section are within the preset target, then all points on the measurement section are within the preset target. Therefore, when all measurement points are within the preset target, it can be determined that the measurement section is on target. Correspondingly, if one or all measurement points are outside the preset target, then part of the measurement section is outside the preset target or all of the measurement points are outside the preset target. At this time, it can be determined that the measurement section is off target and there is a risk.

[0152] like Figure 7 As shown, in the measurement sections P0P1, P1P2, P2P3 and P3P4, the measurement point P 0、 P1, P2, P3 and P4 are all within the preset target, so the monitoring output results of the measurement sections P0P1, P1P2, P2P3 and P3P4 are on-target. The measurement sections P4P5 and P5P6 are on-target, and the measurement point P5 is outside the preset target, so the monitoring output results of the measurement sections P4P5 and P5P6 are off-target.

[0153] The monitoring method of the actual drilling wellbore trajectory provided in the embodiment of the present application has a simple process and accurate monitoring results for monitoring the stable inclination measurement section.

[0154] Figure 8 The flow chart of the monitoring method of the actual drilling wellbore trajectory provided in this application is as follows: Figure 8 As shown, based on all the above embodiments, this embodiment takes the arc measuring section as an example to describe in detail the monitoring method of the actual drilling wellbore trajectory. The method includes:

[0155] S801, determining a dogleg angle of a measuring section between at least two adjacent measuring points based on measuring point parameters of at least two adjacent measuring points on an actual drilling wellbore trajectory;

[0156] S802, identifying the type of the measurement section according to the dogleg angle;

[0157] S803, determining the position vector equation corresponding to the measuring section according to the type of the measuring section;

[0158] Among them, steps S801 to S803 and Figure 1 The implementation of steps S101 to S103 in the embodiment is similar, and will not be repeated here in this embodiment.

[0159] S804, determining the relative position relationship between each measuring point and the preset target according to the position vector equation corresponding to the measuring section;

[0160] Among them, step S804 and Figure 6 The implementation of step S604 in the embodiment is similar and will not be described in detail in this embodiment.

[0161] S805, if at least one measuring point is outside the preset target, outputting the monitoring result as off-target;

[0162] S806, if all the measuring points are within the preset target body, then the number of intersections between the measuring section and the side surface of the preset target body is calculated;

[0163] For the arc measurement segment, if P and / or Q are outside the preset target body (that is, at least one measurement point is outside the preset target body), then the measurement segment PQ is partially inside the preset target body and partially outside the preset target body, such as Figure 5 As shown, in the wellbore trajectory on the far right, a measuring point is located outside the preset target body, and the measuring section is located outside the preset target body.

[0164] For the arc measurement segment, if P and Q are both within the preset target, but the entire measurement segment PQ is not necessarily within the preset target, it is possible that the part with the largest arc curvature is outside the cuboid (such as Fig. 9 In this scenario, it is necessary to further determine the relative position relationship between all positions of the arc measurement segment and the preset target to ensure the accuracy of the monitoring results.

[0165] In this example, the intersection points of the arc and each side surface of the preset target are calculated to further determine whether the arc is completely within the preset target.

[0166] As an example, the number of intersections between the measuring point and each side of the preset target is calculated in the following way: according to the position vector equation corresponding to the measuring segment and the position equations of each side of the preset target, the relative position equation between the measuring segment and each side is obtained; the real root of the relative position equation is obtained, and the number of intersections between the measuring segment and each side is calculated based on the real root.

[0167] It should be noted that the position vector equation corresponding to the measuring section reflects the position vector of any point on the measuring section, while the side position equation reflects the position vector of each side of the preset target. Substituting the position vector equation of the measuring section into the side position equation, a relative position equation is obtained. The relative position direction reflects whether there is an intersection between the measuring section and each side of the preset target, or the number of intersections that exist. For example, when the arc is tangent to the side or one of the measuring points is on the side, there is one intersection; for example, when the arc is tangent to the side, there are two intersections.

[0168] The following takes the arc measurement segment formed by the measuring points P and Q as an example, assuming that the preset target is a rectangular target with four side faces i=1, 2, 3, 4;

[0169] Refer to the above Figure 1 In the embodiment shown, the lateral position equation of the preset target body is:

[0170] (rr i )·m i =0;

[0171] in:

[0172] The position vector equation of the arc measurement segment is:

[0173] r=r m +(t m +n m sinθ+t m cosθ)R m tan(θ / 2);

[0174] Substituting the position vector equation of the arc segment into the side position equation, we get:

[0175] {[r p +(t p +n p sinθ+t p cosθ)Rtan(θ / 2)]-r i}·m i =0;

[0176] By using temporary vectors and constants such as a, b, c, and s to simplify the above equation, we get:

[0177] c(1+cosθ)tan(θ / 2)+ssinθtan(θ / 2)=b;

[0178] in, b=a·m i ; c = t p ·m i ; s = n p ·m i.

[0179] In the above formula, R is the radius of the arc segment; r i is the position vector of the i-th vertex of the preset target; m i is the normal vector of the i-th side of the preset target; t p is the wellbore direction vector of the measuring point P; n p The principal normal vector of point P.

[0180] Simplifying the above equation into a quadratic algebraic equation, let u = tan(θ, 2), and we get the relative position equation:

[0181] (b-2s)u 2 -2xu+b=0;

[0182] In this embodiment, the simplified quadratic algebraic equation can be used to determine the intersection of the measuring section and the side surface of the preset target body based on the discriminant of the root.

[0183] For example, the discriminant of the root of the above quadratic algebraic equation is: Δ = 4 (c 2 -b 2 +2bs);

[0184] When Δ>0, there are two unequal real roots, namely: The side surface of the reflection measuring section and the preset target body has two intersection points, that is, the number of intersection points is 2.

[0185] When Δ=0, there is a unique real root: It reflects that the measuring section and the side surface of the preset target body have an intersection point (such as the tangent point or the measuring point is on the side surface), that is, the number of intersection points is 1.

[0186] When Δ<0, there is no real root, which reflects that there is no intersection between the measuring section and the side surface of the preset target.

[0187] This embodiment is based on the fact that a quadratic algebraic equation can reflect the characteristics of the intersection between two line segments or between a line segment and a surface through the discriminant of the roots, and simplifies the relative position equation of the measuring segment and the side of the preset target into a quadratic algebraic equation. There is no need to calculate the relative position relationship between each point of the measuring segment and each side of the preset target, which simplifies the calculation process and enables the monitoring results to be output in a timely manner.

[0188] S807: Output monitoring results according to the number of intersections and the bending angles corresponding to the intersections.

[0189] When the number of intersections is zero, it means that there is no intersection between the measuring section and the sides of the preset target, and the measuring section is within the preset target, so the output monitoring result is hitting the target.

[0190] When the number of intersections includes at least one, there are two cases: 1. The measuring section is tangent to the side of the preset target (the number of intersections is 1); 2. The measuring section intersects with the side of the preset target (the number of intersections is 2). In this case, it is determined that the measuring section is outside the preset target, so the output monitoring result is off-target.

[0191] Furthermore, since this embodiment determines the number of intersections by substituting the position vector equation corresponding to the measuring section into the position equations of each side of the preset target body, the relative position equation obtained can be used to determine the number of intersections. The position vector equation can reflect the position of each point on the reverse measuring section, and can also reflect the position of each point on the extension line of the measuring section. Therefore, the obtained intersection may be the intersection of any point between the measuring sections and the side, or it may be the intersection of any point on the extension line of the measuring section and the side (in this case, it cannot be determined as the intersection of the measuring section and the side). Therefore, outputting the monitoring result by the number of intersections is inaccurate. Based on this, this embodiment also combines the bending angle corresponding to the intersection to determine the monitoring result.

[0192] For example, if the number of intersections includes at least one, and the bending angle corresponding to the intersection is greater than or equal to zero and less than or equal to the dog-leg angle, the output monitoring result is off-target.

[0193] Assuming that there is a unique real root: θ1=2arctanu1, when 0≤θ1≤ε is satisfied, it is determined that the measuring section has an intersection with the side of the preset target, and it is determined that part of the measuring section is located outside the preset target, and the monitoring result is off-target.

[0194] Suppose there are two unequal real roots: θ 1，2 =2arctanu 1，2 , then 0≤θ 1，2 When ≤ε, it is determined that the measuring section has two intersections with the side of the preset target, and part of the measuring section is determined to be outside the preset target, and the monitoring result is off-target. In other cases, it is determined that the measuring section is within the preset target, and the monitoring result is on-target.

[0195] Continue to refer to Fig. 9 The wellbore trajectory is shown in Figure 1. The measuring point P in the measuring sections P0P1, P1P2, P2P3, P3P4 and P4P5 is 0、 P1, P2, P3, P4 and P5 are all within the preset target, but the arc of the measuring segment P2P3 has an intersection X1 with the side of the preset target, and the arc of the measuring segment P4P5 has intersections X2 and X3 with the side of the preset target. It can be seen that the measuring point is within the preset target, and the arc measuring segment may also be partially outside the preset target. This embodiment is based on calculating the intersections between the arc measuring segment and the side of the preset target to determine whether the measuring segments are all within the preset target.

[0196] Through the monitoring method provided in this embodiment, in the monitoring of the measuring sections P0P1, P1P2 and P3P4, the monitoring results obtained are on-target, while in the monitoring of the measuring sections P2P3 and P4P5, the monitoring results obtained are off-target.

[0197] This embodiment can monitor points other than the measuring point in the arc measuring segment, determine the relative position relationship between each point on the arc measuring segment and the preset target, and then determine whether the entire arc measuring segment is within the preset target to obtain a monitoring result that is more accurate.

[0198] Fig.10 A structural diagram of the drilling trajectory monitoring device provided in this application, such as Figure 4 As shown, the monitoring device 100 provided in this embodiment includes:

[0199] The first determination module 1001 is used to determine the dogleg angle of the measurement section between at least two adjacent measurement points based on the measurement point parameters of at least two adjacent measurement points on the actual drilling wellbore trajectory;

[0200] An identification module 1002 is used to identify the type of the measurement section according to the dogleg angle;

[0201] The second determination module 1003 is used to determine the position vector equation corresponding to the measurement section according to the type of the measurement section;

[0202] The processing module 1004 is used to analyze the monitoring results according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, and output the monitoring results, which include hitting the target or missing the target.

[0203] The monitoring device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0204] Fig.11 This is a schematic diagram of the structure of the electronic device provided in this application. Fig.11 As shown, the electronic device 1100 provided in this embodiment includes: at least one processor 1101 and a memory 1102. Optionally, the device 110 further includes a communication component 1103. The processor 1101, the memory 1102 and the communication component 1103 are connected via a bus.

[0205] In a specific implementation process, at least one processor 1101 executes the computer-executable instructions stored in the memory 1102, so that at least one processor 1101 executes the above method.

[0206] The specific implementation process of the processor 1101 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0207] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0208] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk storage.

[0209] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0210] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0211] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0212] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0213] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0214] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0215] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for monitoring the trajectory of a real drilling wellbore, characterized in that: include: Determine the dogleg angle of the measuring section between the at least two adjacent measuring points based on measuring point parameters of at least two adjacent measuring points on the actual drilling wellbore trajectory; According to the dogleg angle, identifying the type of the measuring section; Determining, according to the type of the measuring section, a position vector equation corresponding to the measuring section; According to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, a monitoring result is output, and the monitoring result includes whether the measuring section hits the target or the measuring section misses the target.

2. The method according to claim 1, characterized in that: Outputting the monitoring result according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body includes: Determining the relative position relationship between each of the measuring points and the preset target according to the position vector equation corresponding to the measuring section; The monitoring result is output according to the type of the measuring section and the relative position relationship between each measuring point and the preset target.

3. The method according to claim 2, characterized in that The type of the measuring section includes a stable tilt measuring section, and outputting the monitoring result according to the type of the measuring section and the relative position relationship between each measuring point and the preset target body includes: If at least one of the measuring points is outside the preset target, the monitoring result is output as off-target; If all the measuring points are located within the preset target, the output monitoring result is a hit; wherein the relative position relationship includes that the measuring point is located outside the preset target or that the measuring point is located within the preset target.

4. The method according to claim 2, characterized in that: The type of the measuring section includes an arc measuring section, and outputting the monitoring result according to the type of the measuring section and the relative position relationship between each measuring point and the preset target body includes: If at least one of the measuring points is outside the preset target, the monitoring result is output as off-target; If all the measuring points are within the preset target, then the number of intersections between the measuring section and the side surface of the preset target is calculated; The monitoring result is output according to the number of intersections and the bending angles corresponding to the intersections.

5. The method according to claim 4, characterized in that Outputting the monitoring result according to the number of intersections and the bending angles corresponding to the intersections includes: If the number of intersections includes at least one, and the bending angle corresponding to the intersection is greater than or equal to zero and less than or equal to the dogleg angle, then the output monitoring result is off-target; When the number of intersection points is zero, the output monitoring result is that the target is hit.

6. The method according to claim 4, characterized in that The calculating the number of intersections between the measuring section and each side surface of the preset target body includes: According to the position vector equation corresponding to the measuring section and the position equations of the respective sides of the preset target body, the relative position equations of the measuring section and the respective sides are obtained; The real roots of the relative position equation are obtained, and the number of intersections between the measuring section and each side surface is calculated based on the real roots.

7. The method according to any one of claims 1 to 6, characterized in that: The step of identifying the type of the measuring section according to the dogleg angle includes: When the dog-leg angle is greater than a preset threshold, determining that the measuring segment is a circular arc measuring segment; When the dog-leg angle is less than or equal to the preset threshold, the measuring section is determined to be a stable tilt measuring section.

8. A drilling trajectory monitoring device, characterized in that: include: A first determination module is used to determine the dogleg angle of the measurement section between the at least two adjacent measurement points based on the measurement point parameters of at least two adjacent measurement points on the actual drilling wellbore trajectory; An identification module, used for identifying the type of the measuring section according to the dogleg angle; A second determination module, used to determine the position vector equation corresponding to the measurement section according to the type of the measurement section; The processing module is used to analyze the monitoring results according to the type of the measuring section, the position vector equation corresponding to the measuring section and the position coordinates of the preset target body, and output the monitoring results, wherein the monitoring results include hitting the target or missing the target.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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