Monitoring method, device, electronic equipment and storage medium for actual drilling wellbore trajectory

Abstract

Embodiments of the present application provide a method, device, electronic device, and storage medium for monitoring a wellbore trajectory. The method includes: determining the dogleg angle of a measurement segment between at least two adjacent measurement points on the wellbore trajectory based on measurement point parameters; identifying the type of the measurement segment based on the dogleg angle; determining a position vector equation corresponding to the measurement segment based on the type of the measurement segment; and outputting a monitoring result based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of a preset target body, the monitoring result including a hit or miss. This method is used to improve the accuracy of the monitoring results of the wellbore trajectory.

Description

Technical Field

[0001] The present application relates to the field of oil drilling technology, and in particular to a method, device, electronic equipment and storage medium for monitoring a wellbore trajectory during actual drilling. 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's crucial to constantly monitor whether the actual wellbore trajectory is within a rectangular target. A rectangular target is a cuboid placed along the reservoir, defining the target range the drill bit must hit during drilling. Monitoring whether the actual wellbore trajectory is within the target helps determine whether the drill bit has accurately reached the intended oil and gas reservoir or other target formation. Related technologies primarily determine whether the actual wellbore trajectory is on-target or off-target by calculating whether the measurement point is within the 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 relevant technologies, the monitoring results are inaccurate. Summary of the Invention

[0005] 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 an actual wellbore trajectory, comprising: determining a dogleg angle of a measurement section between the at least two adjacent measurement points on the actual wellbore trajectory based on measurement point parameters of at least two adjacent measurement points;

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

[0008] Determining a position vector equation corresponding to the measurement segment according to the type of the measurement segment;

[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 whether the target is hit or missed.

[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 measuring point 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 measurement section includes a stable tilt measurement section, and outputting the monitoring result according to the type of the measurement section and the relative positional relationship between each of the measurement points and the preset target 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 points are located outside the preset target or that the measuring points are located within the preset target.

[0016] In a possible implementation, the type of the measuring segment includes an arc measuring segment, and outputting the monitoring result according to the type of the measuring segment and the relative positional relationship between each measuring point and the preset target 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, 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 monitoring result is output as a miss;

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

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

[0024] Obtaining relative position equations of the measuring section and each of the side surfaces according to the position vector equation corresponding to the measuring section and the position equations of each side surface of the preset target body;

[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, identifying the type of the measurement segment according to the dogleg angle includes:

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

[0028] When the dogleg angle is less than or equal to the preset threshold, the measurement section is determined to be a stable tilt measurement section.

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

[0030] A first determining module is configured to determine 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;

[0031] an identification module, configured to identify the type of the measurement section according to the dogleg angle;

[0032] A second determining module is used to determine a position vector equation corresponding to the measuring section according to the type of the measuring 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, comprising: 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 implementation methods 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 for the actual drilling wellbore trajectory provided in the embodiments of the present application identify the type of the monitoring section, and then determine the positional 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 points. The monitoring results are more accurate, especially for arc measuring sections, 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 wellbore provided in this application Figure 1 ;

[0042] Figure 2 A schematic diagram of a local rectangular coordinate system on the 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 within the preset target body;

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

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

[0051] Figure 9 The actual drilling wellbore trajectory provided for the application is a schematic diagram of the missed / hit target corresponding to the arc measurement section;

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

[0053] Figure 11 This is a schematic diagram of the structure of the electronic device provided in this application.

[0054] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0056] First, let’s explain the terms involved in this application:

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

[0059] Measuring section: 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 refers to the drill bit failing to successfully drill into the intended target area and instead deviating 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 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 parallelepiped extending along the reservoir used to indicate the target area (e.g., rectangular target) where the drill bit is expected to reach during horizontal well drilling.

[0064] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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 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, which may be a drilling device or a monitoring device of the drilling device.

[0068] Before 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. 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 of the preset target body, and the equations of each variable line. The following describes the process of establishing the target area model:

[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 , with the upper and lower sides parallel to the horizontal plane) moves 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 orientation 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:

[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 axial direction (the same as the definition of the vertex of the target surface) 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 (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, although the wellbore trajectory keeps changing along the wellbore direction, it is always within the preset target area. Therefore, in this case, the wellbore trajectory does not deviate from the target. Figure 5 In the drilling process, the wellbore trajectory is outside the preset target area, which means it is off target. Therefore, it is necessary to monitor whether the actual drilling wellbore 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 monitored to determine whether the actual drilling wellbore trajectory is off-target or on-target is determined. Based on actual engineering applications, the types of measuring segments generally include steady-inclination measuring segments and circular arc measuring segments. The position determination methods of each point on the steady-inclination measuring segment and the circular arc measuring segment are different. Therefore, this embodiment constructs a variety of position vector equations based on the characteristics of the steady-inclination measuring segment and the circular arc measuring segment, which are used to respectively reflect the position of each point on the steady-inclination measuring segment and the position of each point on the circular arc measuring segment. After the preset target body is constructed, the position vector equation of the steady-inclination measuring segment and the position vector equation of the circular arc measuring segment can be constructed based on the local coordinates of the preset target body, as shown below:

[0095] The position vector equation of the tilt-stabilized measurement section is:

[0096] r=r m +λt m ;

[0097] Among them, 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 wellbore direction vector of measuring point m; λ is a parameter, where 0≤λ≤ΔL m , △L m Indicates the length of the measurement section between at least two adjacent measurement points (the sum of multiple measurement sections is the target area length △L), △L 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 wellbore direction vector of measuring point m, t n is the wellbore direction vector of measuring point n; ε 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 wellbore trajectory during the actual drilling process, the dogleg angle of the measuring segment between the at least two adjacent measuring points is first determined based on the measuring point parameters of the at least two adjacent measuring points. The type of the measuring segment between the adjacent measuring points can then be identified based on the dogleg angle. After the measuring segment type is determined, the relative positional relationship between each point on the measuring segment and the preset target can be monitored based on the position vector equation corresponding to the measuring segment type. The measuring point parameters include at least one of the position vector of the measuring point and the wellbore direction vector at the measuring point.

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

[0103] After determining two consecutive measuring points (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 measurement point parameters of the measurement point, calculate the dogleg angle of the measurement segment based on the measurement point parameters. Optionally, you can calculate the dogleg angle of the measurement segment between the measurement points in the following way:

[0111] ε m =arccos(t m ·t n ).

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

[0113] Alternatively, the dogleg angle reflects the magnitude of the change in wellbore direction between the two measurement points. The magnitude of the dogleg angle reflects the curvature of the wellbore axis, and thus the curvature of the measurement section. Therefore, the dogleg angle can be used to identify the type of measurement section.

[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 stable tilt measurement segment.

[0115] Optionally, the preset threshold is 0 or close to 0. When the dogleg angle is greater than 0, it indicates that the measured segment is curved, and the larger the dogleg angle, the greater the degree of curvature of the measured segment. When the dogleg angle is equal to 0, it indicates that the measured segment is stable and does not bend.

[0116] S103, determining the position vector equation corresponding to the measurement section according to the type of the measurement 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 this 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. Output monitoring results according to the type of the measurement section, the position vector equation corresponding to the measurement section, and the position coordinates of the preset target body. The monitoring results include whether the target is hit or missed.

[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 that is outside the preset target body. If so, it is determined that part of the position 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, the monitoring results may be output according to the type of the measurement section, the position vector equation corresponding to the measurement section, and the position coordinates of the preset target body. Specifically, the monitoring results 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 at least one point is outside the preset target volume (outside the three-dimensional volume formed by the sides of the preset target volume), the segment is determined to be off-target. If all points on the segment are within the preset target volume, the segment is determined to be on-target.

[0124] In this example, the position vector equation based on the measuring section can be used to calculate the position vector of any point on the measuring section. 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] In another example, the monitoring results are output according to the type of the measurement section, the position vector equation corresponding to the measurement section, and the position coordinates of the preset target body. Specifically, the monitoring results 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 measuring section and the relative position relationship between each measuring point and the preset target, the monitoring results are output.

[0127] In this example, the relative positional 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 measurement section, the position vector equation corresponding to the measurement section, and the position coordinates of the preset target body. Specifically, it can be:

[0129] When the measurement segment is a steady-tilt segment, the monitoring results are output based on the relative position relationship between each measuring point and the preset target. When the measurement segment is an arc segment, the relative position relationship between the measurement segment and the preset target is determined based on the position vector equation corresponding to the arc segment and the preset target's three-dimensional model, and the monitoring results are then output. The three-dimensional model of the preset target includes the position equations for each side and each edge.

[0130] This example uses different methods to determine whether a measurement segment is within the preset target, adapting to the specific characteristics of each segment and ensuring accurate monitoring results for each type. For example, for a steady-tilt measurement segment, the relative position relationship between the measurement point and the preset target is used to determine the position of the entire segment; for an arc measurement segment, the relative position relationship between the measurement point and each point of the arc segment and the preset target is used to determine the arc's position.

[0131] The monitoring method for the actual drilling wellbore 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 determines 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 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 wellbore trajectory is outside the preset target body, thereby more accurately judging the on-target / off-target situation of the actual drilling wellbore trajectory. In addition, different measuring section types 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 well trajectory provided in this application Figure 2 ,like Figure 6 As shown, based on the above embodiment, this embodiment takes the steady-inclination measurement section as an example to describe in detail a method for monitoring a wellbore trajectory during actual drilling. 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 segment according to the dogleg angle;

[0135] S603, determining the position vector equation corresponding to the measurement section according to the type of the measurement 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: Determine 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 outside the preset target, the measuring point being inside the preset target, and the like.

[0139] Taking two consecutive measuring points P and Q between targets AB as an example, the method for 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 the measuring point P is determined to be inside the preset target, otherwise, the measuring point P is 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 half the window height of the preset target, and the longitudinal deviation is greater than half the window width of the preset target, then the measuring point is outside the preset target.

[0141] This example determines the relative position relationship between the measuring point and the preset target through 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, thereby improving the accuracy of the monitoring results.

[0142] Optionally, this example calculates the lateral and longitudinal deviations 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 body, and according to the measuring point Q, determine its vertical projection point D on the axis of the preset target body; based on the position vector equation corresponding to the measuring section, calculate the position vectors of P and C respectively to 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 formula q and longitudinal deviation y q :

[0146]

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

[0148] In other examples, the position coordinates of each measuring point can be calculated based on the position vector equation corresponding to the stabilization slope measurement segment. These coordinates are then compared with the four vertex coordinates and side coordinates of the preset target to determine whether the measuring point's coordinates are outside the preset target's coordinates. This allows the relative positional relationship between the measuring point and the preset target to be determined. In other words, this example determines whether the measuring point is inside or outside the preset target by calculating its specific coordinate values.

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

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

[0151] For a stable inclination measurement segment, since it has no arc, if both measurement points forming the segment are within the preset target, then all points on the segment are also within the preset target. Therefore, if all measurement points are within the preset target, the segment can be determined to be on-target. Conversely, if one or all measurement points are outside the preset target, then part or all of the measurement segment is outside the preset target. In this case, the segment can be determined to be off-target, posing 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 for segments P0P1, P1P2, P2P3, and P3P4 are on-target. Segments P4P5 and P5P6 are on-target, but point P5 is outside the preset target, so the monitoring output results for segments P4P5 and P5P6 are off-target.

[0153] The method for monitoring 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 third flow chart of the monitoring method of the actual drilling well trajectory provided in this application is as follows: Figure 8 As shown, this embodiment, based on all the above embodiments, 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. Identify the type of the measurement segment based on the dogleg angle;

[0157] S803. Determine the position vector equation corresponding to the measurement section according to the type of the measurement 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 repeated here in this embodiment.

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

[0162] S806, 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;

[0163] For arc measurement segments, if P and / or Q are outside the preset target (i.e., at least one measurement point is outside the preset target), then the measurement segment PQ is partially inside the preset target and partially outside the preset target, e.g. 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 arc measurement, 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 largest curved part of the arc is outside the cuboid (e.g. Figure 9 In this scenario, it is necessary to further determine the relative positional 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 equations of the measuring segment and each side are obtained; the real roots of the relative position equations are obtained, and the number of intersections between the measuring segment and each side is calculated based on the real roots.

[0167] It should be noted that the position vector equation corresponding to the measurement segment reflects the position vector of any point on the measurement segment, while the side position equation reflects the position vector of each side of the preset target. Substituting the measurement segment position vector equation into the side position equation yields the relative position equation. This relative position direction reflects whether the measurement segment intersects each side of the preset target, or the number of intersections that exist. For example, if the arc is tangent to a side or one of the measurement points is on a side, there is one intersection; if the arc intersects with the side, there are two intersections.

[0168] The following takes the arc measurement segment formed by 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 preset lateral position equation of the target 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 simplifying the above equation using temporary vectors and constants such as a, b, c, and s, we obtain:

[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 measuring point P; n p The principal normal vector of the measuring 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 based on the discriminant of the roots.

[0183] For example, the discriminant of the roots 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: It reflects that the measuring section and the side surface of the preset target have 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 one 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, reflecting 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. The relative position equation of the measuring segment and the side of the preset target body is simplified 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 body, which simplifies the calculation process and enables the monitoring results to be output in a timely manner.

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

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

[0190] When the number of intersections is at least one, there are two cases: 1. The measuring segment is tangent to the side of the preset target (the number of intersections is 1); 2. The measuring segment intersects with the side of the preset target (the number of intersections is 2). In this case, the measuring segment is determined to be 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 is 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 intersection obtained may be the intersection of any point between the measuring sections and the side, or 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 dogleg 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 body, and it is determined that part of the position of the measuring section is outside the preset target body, 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 inside the preset target, and the monitoring result is on-target.

[0195] Continue to refer to Figure 9 The wellbore trajectory is shown in Figure 1. The measuring points P in the measuring sections P0P1, P1P2, P2P3, P3P4 and P4P5 are 0、 P1, P2, P3, P4, and P5 are all within the preset target. However, the arc of measuring segments P2 and P3 intersects the side of the preset target at point X1, and the arc of measuring segments P4 and P5 intersects the side of the preset target at points X2 and X3. This shows that even if the measuring points are within the preset target, it is possible that the arc measuring segments are partially outside the preset target. This embodiment determines whether all measuring segments are within the preset target by calculating the intersection points between the arc measuring segments and the side of the preset target.

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

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

[0198] Figure 10 A schematic diagram of the structure 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 determining module 1001 is configured to determine the dogleg angle of the measuring section between the at least two adjacent measuring points based on measuring point parameters of the at least two adjacent measuring points on the actual drilling wellbore trajectory;

[0200] Identification module 1002, used to identify the type of measurement segment according to the dogleg angle;

[0201] The second determining 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 measurement section, the position vector equation corresponding to the measurement 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 effects are similar and will not be described in detail in this embodiment.

[0204] Figure 11 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 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] During the specific implementation process, at least one processor 1101 executes the computer-executable instructions stored in the memory 1102, so that the at least one processor 1101 performs the above method.

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

[0207] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), 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 present invention may be directly implemented by a hardware processor or implemented 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 (NVM), such as at least one disk memory.

[0209] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just 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 memory 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-purpose 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (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 will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0215] Finally, it should be noted that those skilled in the art will readily identify 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 that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A method for monitoring the trajectory of a wellbore during actual drilling, characterized in that: include: Determining a dogleg angle of a measuring section between the at least two adjacent measuring points based on measuring point parameters of at least two adjacent measuring points on an actual drilling wellbore trajectory; identifying the type of the measuring section according to the dogleg angle; Determining a position vector equation corresponding to the measurement segment according to the type of the measurement segment; Outputting a 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, wherein the monitoring result includes whether the measuring section hits the target or misses the target; 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 includes: Determining the relative position relationship between each measuring point and the preset target according to the position vector equation corresponding to the measuring section; Outputting monitoring results according to the type of the measuring section and the relative position relationship between each measuring point and the preset target; the types of the measuring sections include a steady-tilt measuring section and an arc measuring section; For the stable inclination measurement section, the relative position relationship between the measuring point and the preset target is used to determine the position of the entire stable inclination section; for the arc measurement section, the relative position relationship between the measuring point and each point of the arc measurement section and the preset target is used to determine the position of the arc measurement section.

2. The method according to claim 1, characterized in that When the type of the measuring section is a stable tilt measuring section, 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 monitoring result is output as hitting the target; wherein the relative position relationship includes that the measuring points are located outside the preset target or that the measuring points are located within the preset target.

3. The method according to claim 1, characterized in that When the type of the measuring section is an arc measuring section, 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.

4. The method according to claim 3, 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 monitoring result is output as a miss; When the number of intersection points is zero, the monitoring result is output as hitting the target.

5. The method according to claim 3, characterized in that Calculating the number of intersections between the measuring section and the side surface of the preset target includes: Obtaining relative position equations of the measuring section and each of the side surfaces according to the position vector equation corresponding to the measuring section and the position equations of each side surface of the preset target body; 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.

6. The method according to claim 1, wherein The identifying the type of the measuring section according to the dogleg angle includes: When the dogleg angle is greater than a preset threshold, determining that the measuring segment is a circular arc measuring segment; When the dogleg angle is less than or equal to the preset threshold, the measurement section is determined to be a stable tilt measurement section.

7. A drilling trajectory monitoring device, characterized in that: include: A first determining module is configured to determine 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; an identification module, configured to identify the type of the measurement section according to the dogleg angle; A second determining module is used to determine a position vector equation corresponding to the measuring section according to the type of the measuring section; a processing module, configured to analyze monitoring results 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, and output the monitoring results, wherein the monitoring results include a hit or miss; The processing module is further configured to: determine the relative positional relationship between each measuring point and the preset target according to the position vector equation corresponding to the measuring section; and output monitoring results according to the type of the measuring section and the relative positional relationship between each measuring point and the preset target; the types of measuring sections include steady-tilt measuring sections and circular arc measuring sections; for the steady-tilt measuring section, the relative positional relationship between the measuring point and the preset target is used to determine the position of the entire steady-tilt section; and for the circular arc measuring section, the relative positional relationship between the measuring point and each point of the circular arc measuring section and the preset target is used to determine the position of the circular arc measuring section.

8. 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 6.

9. 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 6 when executed by a processor.

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