Fixed-point sampling drilling track equipment

Abstract

The invention relates to the technical field of drilling track equipment, in particular to fixed-point sampling drilling track equipment which comprises a signal acquisition rod, and the signal acquisition rod comprises a mechanical device and a hardware device installed in the mechanical device. The mechanical device comprises an outer cylinder, and a female head with threads and a male head with threads are installed at cylinder openings in the two ends of the outer cylinder respectively. A first induction joint is mounted at the inner end of the female joint; a second induction joint is mounted at the outer end of the male joint; the inner end of the female head and the inner end of the male head are connected with pipe openings in the two ends of an inner core pipe installed in the outer cylinder through a first support and a second support respectively, and a detachable double-pipe structure is formed. A barrel core type design is adopted, and a layer of non-magnetic material is adopted in an inner core barrel of the collecting drill rod for isolation; the position, the direction, the speed and other information of the drill bit can be sensed and recorded more accurately, accurate track guidance is provided for drilling operation, and the high-quality drilling operation effect is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of drilling trajectory equipment, and in particular to a fixed-point sampling drilling trajectory equipment. Background Art

[0002] The common materials, characteristics and application comparison of ordinary drill pipes in different scenarios are shown in the following table:

[0003]

[0004] The above-mentioned ordinary drill rod cannot realize the data collection of the drilling trajectory when used for fixed-point sampling and data collection of the drilling trajectory, and cannot record information such as the position, direction and speed of the drill bit. Therefore, a fixed-point sampling drilling trajectory device is designed to provide accurate trajectory guidance for the drilling operation and ensure high-quality drilling operation results. Summary of the invention

[0005] The purpose of the present invention is to provide a fixed-point sampling drilling trajectory device in view of the defects and shortcomings of the prior art.

[0006] A fixed-point sampling drilling trajectory device according to the present invention comprises a signal acquisition rod, which comprises a mechanical device and a hardware device installed in the mechanical device;

[0007] The mechanical device comprises an outer cylinder, and a threaded female head and a threaded male head are respectively installed at the two end openings of the outer cylinder; a first induction joint is installed at the inner end of the female head; a second induction joint is installed at the outer end of the male head; the inner ends of the female head and the male head are respectively connected to the two end openings of the inner core tube installed in the outer cylinder through a first bracket and a second bracket, forming a detachable double-tube structure;

[0008] A hardware device is installed in the inner core tube; the hardware device includes an integrated circuit board installed in the inner core tube, on which a microprocessor, a sensor, a memory, and a CAN communication module are arranged, and the microprocessor is respectively connected to the sensor, the memory, and the CAN communication module through wires; a battery is installed on one side of the integrated circuit board, and the battery is connected to the integrated circuit board to supply power to the integrated circuit board.

[0009] Furthermore, a gas and liquid channel is formed between the outer tube and the inner core tube.

[0010] Furthermore, a non-magnetic layer is provided on the inner wall of the inner core tube.

[0011] Furthermore, the material of the non-magnetic layer is carbon fiber, ceramic or aluminum alloy.

[0012] Furthermore, the sensor is a track sensor, which integrates a three-axis acceleration sensor and a gyroscope sensor.

[0013] The beneficial effects of the present invention are as follows: the fixed-point sampling drilling trajectory equipment described in the present invention adopts. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application, but do not constitute an improper limitation of the present invention. In the drawings:

[0015] Figure 1 This is a schematic diagram of the signal acquisition drill rod planing structure of the present invention.

[0016] Figure 2 is a block diagram of the trajectory system in the present invention;

[0017] Figure 3 It is a schematic diagram of the basic elements of the drilling trajectory in the present invention.

[0018] Figure 4 It is a circuit diagram of the HDA436T dynamic tilt sensor in the present invention;

[0019] Figure 5 It is a collection flow chart of dynamic measurement in the present invention;

[0020] Figure 6 It is a structural block diagram of the hardware device in the present invention.

[0021] Description of reference numerals:

[0022] Outer tube 1; inner core tube 2; first bracket 3; first induction connector 4; female connector 5; second bracket 6; male connector 7; second induction connector 8; channel 9; non-magnetic layer 10; hardware device 11. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the illustrative embodiments and descriptions are only used to explain the present invention but are not intended to limit the present invention.

[0024] like Figure 1 As shown, a fixed-point sampling drilling trajectory device described in this specific embodiment includes a signal acquisition rod, and the signal acquisition rod includes a mechanical device and a hardware device 11 installed in the mechanical device;

[0025] The mechanical device comprises an outer tube 1, and a threaded female head 5 and a threaded male head 7 are respectively installed at the two end openings of the outer tube 1; a first induction joint 4 is installed at the inner end of the female head 5; a second induction joint 8 is installed at the outer end of the male head 7; the inner ends of the female head 5 and the male head 7 are respectively connected to the two end openings of the inner core tube 2 installed in the outer tube 1 through a first bracket 3 and a second bracket 6, forming a detachable double-tube structure;

[0026] like Figure 1 , Figure 6 As shown, a hardware device 11 is installed in the inner core tube 2; the hardware device 11 includes an integrated circuit board 111 installed in the inner core tube 2, and a microprocessor 113, a sensor 114, a memory 112, and a CAN communication module 115 are provided on the integrated circuit board 11, and the microprocessor is connected to the sensor, the memory, and the CAN communication module respectively through wires; a battery 116 is installed on one side of the integrated circuit board 111, and the battery is connected to the integrated circuit board to supply power to the integrated circuit board.

[0027] Furthermore, a gas and liquid channel 9 is formed between the outer tube 1 and the inner core tube 2 .

[0028] Furthermore, a non-magnetic layer 10 is provided on the inner wall of the inner core tube.

[0029] Furthermore, the material of the non-magnetic layer 10 is carbon fiber, ceramic or aluminum alloy.

[0030] Furthermore, the sensor is a track sensor, which integrates a three-axis acceleration sensor and a gyroscope sensor, and efficiently and accurately identifies the data frame output by the sensor, and extracts useful acceleration and angular velocity data.

[0031] The main function of the mechanical device in this design is to serve the hardware circuit device and provide a safe and reliable working environment for the circuit integration equipment. At the same time, it also plays an indispensable and important role in the entire system, that is, as a collection drill rod of the drilling trajectory determination system. The mechanical design of the collection drill rod is carried out in accordance with the "Installation and Acceptance Specifications for Underground Mechanical Equipment in Coal Mines" and "Conical Thread Body Type and Basic Dimensions of Drill Rods for Coal Mines".

[0032] The collection drill rod in this design adopts a core-tube design, which is mainly composed of an inner tube and an outer tube, and is a detachable structure. The inner core tube is used to store integrated circuit boards, sensors, batteries and other equipment. The channel between the inner tube and the outer tube is used as a channel for gas and liquid. The two ends of the collection rod are threaded male and female heads, which can be directly connected to the drill rod or drill bit.

[0033] The mechanical strength of the acquisition drill rod in this design is the same as that of the ordinary rib drill rod, and can withstand a static torsion strength of at least 10,000 N·m. The diameter of the drill rod body is consistent with the diameter of the ordinary threaded drill rod, with an outer diameter of 73 mm; the inside of the drill rod can withstand 3.5-4.2 MPa of gas or liquid pressure to protect the hardware device from damage. The spiral groove head is a double-head structure, which is directly threaded with the ordinary smart drill rod to ensure the stability and reliability of the system.

[0034] The trajectory sensor in this design integrates acceleration and gyroscope sensors. However, in actual use, the above sensors are easily affected by the geomagnetic field and produce errors. Therefore, in order to eliminate the influence of the geomagnetic environment, a layer of non-magnetic material is used to isolate the inner core of the acquisition drill rod in this design. Through such a design and configuration, the drilling trajectory determination system can more accurately sense and record information such as the position, direction and speed of the drill bit, provide precise trajectory guidance for drilling operations, and ensure high-quality drilling operation results.

[0035] The material of the non-magnetic layer is carbon fiber, ceramic or aluminum alloy.

[0036]

[0037] Among them, carbon fiber is a commonly used material for non-magnetic drill rods. It has the advantages of light weight, high strength, high hardness, corrosion resistance, good conductivity, wear resistance, high temperature resistance, and not easy to deform. Therefore, non-magnetic drill rods made of carbon fiber materials can work under harsh conditions such as high strength, high speed, and high temperature. However, carbon fiber is expensive, fragile, poorly flexible, and easy to break.

[0038] Among them, ceramics, as a commonly used non-magnetic material, have the characteristics of high strength, high hardness, wear resistance, high temperature resistance, and corrosion resistance. Therefore, the non-magnetic drill rod made has good durability. However, ceramics are difficult to manufacture, have high costs, and are prone to cracks or wear.

[0039] Among them, aluminum alloy is a commonly used non-magnetic drill rod material. It has the advantages of corrosion resistance, light weight, good conductivity, and low cost. Although the strength of aluminum alloy is not as good as carbon fiber and ceramic, the non-magnetic drill rod made of it still has a certain bearing capacity. However, the hardness of aluminum alloy is poor and it is easy to wear.

[0040] Therefore, the material selection of non-magnetic drill rods should be based on actual conditions, working conditions, performance requirements and other factors. If higher strength is required, carbon fiber can be selected; if better durability is required, ceramic is a good choice; and aluminum alloy is more economical and practical. In the selection of materials, factors such as material machinability, reliability, and cost should also be taken into consideration.

[0041] The hardware device in this design includes an integrated circuit board installed in the inner core tube, a battery is installed on one side of the integrated circuit board, and a sensor is installed on the integrated circuit board to form a drilling trajectory determination system. The drilling trajectory determination system is a complex system that integrates sensors, signal processing circuits, mechanical devices, data processing and display parts, and communication capabilities. It can sense the external environment and process and understand it to achieve accurate monitoring and control of the drilling trajectory. This system has very important application value for fields that require high-precision drilling operations.

[0042] The measurement while drilling trajectory technology is the main technology of the drilling trajectory measurement system. It is a technology that realizes continuous real-time measurement of various drilling parameters while drilling. The measurement parameters mainly include trajectory description, tool direction, formation characteristics, and drilling tool working status. A typical measurement while drilling trajectory system consists of three parts: bottom hole measurement unit, signal transmission unit and ground receiving unit.

[0043] like Figure 2 As shown, the bottom hole measurement unit is the underground transmitting part. The bottom hole measurement unit includes directional and geological information sensors. The collected data is sent through the carrier frequency generator, data modulation, and power amplification. The amplified signal data is sent to the ground receiving unit through the signal transmission unit (the signal transmission channel formed by the drill pipe and the formation). The ground receiving unit receives the collected data through the receiving sensor, and then amplifies the signal, demodulates the data, and digitally filters the data before sending the signal to the display control, so as to display the data information in the display control.

[0044] In this design, the directional drilling trajectory is generally a space curve composed of straight lines or curve segments. Its description can be divided into the designed drilling trajectory, the actual drilling trajectory and the drawn drilling trajectory that is close to the actual one. Since the actual trajectory is composed of an infinite number of points, it is impossible to continuously measure each point of the drilling trajectory. Therefore, the actual drilling trajectory cannot be completely drawn and it only has an abstract meaning. The drawing of the drilling trajectory is of practical significance. It is obtained by measuring certain specific points of the actual trajectory during drilling. These points are called measuring points. The drilling trajectory drawn based on the measuring points is basically a broken line. The degree of its approximation to the actual trajectory depends on the density of the measuring points.

[0045] In order to correctly describe the drilling trajectory, the objects that need to be measured at each measuring point in space include three items, namely the hole depth, top angle (or inclination) and azimuth at that point, which are also called the basic elements of the drilling trajectory. By identifying the drilling rig status and integrating the hole depth, the accurate spatial three-dimensional trajectory coordinates can be obtained.

[0046] In this design, if Figure 3 As shown, the hole depth, vertex angle and azimuth are described as follows:

[0047] Hole depth: The depth of the borehole at the measuring point is divided into two types: oblique depth and vertical depth. The former refers to the actual length of the borehole curve from the hole mouth to the measuring point, which is usually measured by the length of the drill rod. Figure 3 AL is used in the calculation, and the latter refers to the vertical distance between the measuring point and the ground surface, which can be directly measured using a positioning instrument. Figure 3 AH is used to represent it.

[0048] Vertex angle (inclination): the angle between the tangent line of the current drilling point and the plumb line. Figure 3 Medium Beta A As shown. Moreover, the intersection of the tangent and the plumb line determines a plane, which is called the end plane (or drilling bending plane). It can be seen that the top angle of the drilling hole is in this plane, and the complementary angle of the top angle 90°-βA is called the inclination angle of the drilling hole, which is expressed as θ A Azimuth: The angle between the projection of the tangent line at the current point of the borehole on the horizontal plane and the north direction, expressed as ψ A express.

[0049] In this design, the geometric parameters of the drilling trajectory are described as follows: For the actual drilling trajectory, a measurement is performed every certain distance, and only the basic parameters of each measuring point can be measured: well depth, top angle and azimuth. However, there are countless points in the measuring section between two measuring points, and the basic parameters of these points are unknown. Appropriate assumptions need to be made, assuming that the measuring section is a straight line, a broken line, an arc or other curves, etc. Different assumptions correspond to different trajectory calculation methods.

[0050] Assume that the coordinates of the Nth measuring point and the N+1th measuring point in the drilling trajectory space are respectively (x N ,y N ,z N ) and (x N+1 ,y N+1 ,z N+1 ), the measured oblique depth, vertical depth, top angle and azimuth are represented by L N , H N , β N , N and L N+1 , H N+1 , β N+1 , N+1 The basic parameters in this measurement section are shown in the following formula:

[0051]

[0052] The above formula uses the assumption that the measuring section between two measuring points is a straight line and the direction of the straight line is based on the average direction of the previous and subsequent measuring points. Based on these factors, the spatial coordinates of any point on the trajectory can be calculated point by point. Since there are two ways to express depth, oblique depth and vertical depth, there are also two corresponding trajectory calculation methods. When the oblique depth L is used, the recursive formula for the three-dimensional coordinates of the spatial measuring point is as follows:

[0053]

[0054] In this way, by recursively deducing point by point, the spatial position of each point can be obtained, and then the drilling trajectory can be depicted. Therefore, hole depth, top angle and azimuth are the basic elements of directional drilling trajectory.

[0055] The drilling trajectory identification technology in this design: the strapdown inertial navigation system is composed of accelerometers and gyroscopes. The accelerometer measures the linear acceleration of the carrier, and the gyroscope measures the angular velocity information of the carrier. The initial alignment relationship can be used to obtain the spatial attitude of the carrier at any time, so the azimuth angle ψ, inclination angle θ and heading angle φ can be obtained. In addition, the speed and position information of the carrier can also be obtained by integrating the measurement results of the accelerometer and gyroscope.

[0056] The design of the drilling trajectory acquisition circuit of this design: the system includes a power module, a microprocessor, a three-axis acceleration sensor, a gyroscope, a memory, a CAN communication module and an integrated Kalman filter algorithm. The microprocessor filters the analog electrical signals output by the three-axis acceleration sensor and the gyroscope through the Kalman filter algorithm to filter out the interference signals under the vibration state; then it is converted into a digital signal through an AD converter, and the data is solved to obtain the attitude information of the drill pipe, and the orientation data is corrected in three axes according to the acquired attitude information to obtain the correct azimuth and inclination information of the current probe.

[0057] The three-axis acceleration sensor is used to detect the current attitude angle and drilling distance of the probe; the three-axis gyroscope is used to detect the current azimuth data information and drilling tool status of the probe; the memory is used to store the collected data. Considering the storage space issue, the stored data will automatically overwrite the previously saved data after a certain period of time.

[0058] The sensor uses HDA436T dynamic inclination sensor, which can measure the attitude parameters (roll, pitch and azimuth) of the moving carrier, and is suitable for inclination measurement in motion or vibration state; built-in acceleration and gyro sensors can measure the real-time motion data of the carrier in motion or vibration state. Adopting the non-contact measurement principle, it can output the current attitude inclination in real time, which is simple to use and does not need to find the two relatively changing surfaces for installation. The internal integrated high-precision AD and high-precision gyro unit can compensate for nonlinearity, orthogonal coupling, temperature drift and centrifugal acceleration in real time, which can greatly eliminate the centrifugal error caused by motion acceleration interference, improve the dynamic measurement accuracy of the product, and can adapt to work in complex motion scenes and harsh environments for a long time. This sensor is a dynamic and static dual-mode measurement sensor with strong resistance to external electromagnetic interference, and is an ideal choice for industrial automation control to measure attitude. Among them, the SCLK pin is the SPI communication clock, the MISO pin is the acquisition data input, the MOSI is the STM32 output control instruction, the NSS pin is the IMU selection control terminal, the IRQ is the data conversion status indication, and the RESET is the system power-on reset pin. The circuit design of HDA436T is as follows Figure 4 shown.

[0059] The microprocessor collects the X-axis angular velocity information and uses it to determine the current rotation state of the probe tube. When the probe tube rotates clockwise for a single time for more than 30 seconds, the microprocessor starts to collect the posture information of the probe tube movement cycle at a frequency of 10Hz, completes one cycle of data collection, saves it in the memory, and sends it to the CAN port. During the collection process, when the probe tube stops rotating for more than 15 seconds, the microprocessor gives up recording the posture information of the probe tube movement cycle. This collection process is as follows: Figure 5 shown.

[0060] This design stores and calls data in the host computer, draws the drilling trajectory in real time on the trajectory display interface, displays the deviation between the actual trajectory and the designed trajectory, and accurately displays the location information of the borehole on the working surface. The historical data can be read and browsed on the host computer.

[0061] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the features and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A fixed-point sampling drilling trajectory device, characterized in that: It includes a signal collection rod, which includes a mechanical device and a hardware device installed in the mechanical device; The mechanical device comprises an outer cylinder, and a threaded female head and a threaded male head are respectively installed at the two end openings of the outer cylinder; a first induction joint is installed at the inner end of the female head; a second induction joint is installed at the outer end of the male head; the inner ends of the female head and the male head are respectively connected to the two end openings of the inner core tube installed in the outer cylinder through a first bracket and a second bracket, forming a detachable double-tube structure; A hardware device is installed in the inner core tube; the hardware device includes an integrated circuit board installed in the inner core tube, on which a microprocessor, a sensor, a memory, and a CAN communication module are arranged, and the microprocessor is respectively connected to the sensor, the memory, and the CAN communication module through wires; a battery is installed on one side of the integrated circuit board, and the battery is connected to the integrated circuit board to supply power to the integrated circuit board.

2. A fixed-point sampling drilling trajectory device according to claim 1, characterized in that: A gas and liquid channel is formed between the outer tube and the inner core tube.

3. A fixed-point sampling drilling trajectory device according to claim 1, characterized in that: A non-magnetic layer is arranged on the inner wall of the inner core tube.

4. A fixed-point sampling drilling trajectory device according to claim 2, characterized in that: The material of the non-magnetic layer is carbon fiber, ceramic or aluminum alloy.

5. The fixed-point sampling drilling trajectory device according to claim 1 is characterized in that: The sensor is a track sensor, which integrates a three-axis acceleration sensor and a gyroscope sensor.

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