Downhole chained information transmission Internet of Things system and downhole chained information transmission method

Abstract

The invention provides an underground chained information transmission Internet of Things system and an underground chained information transmission method. The system comprises a ground intelligent processing system, a short section and a micro-robot, the micro-robots, the micro-robots and the short section, the micro-robots and the underground tool, and the short section and the underground tool are in communication connection; the ground intelligent processing system is in communication connection with the micro-robot; when the micro-robot is in a designated underground area, underground chained information is received, and when the micro-robot reaches a wellhead, the underground chained information is sent to a ground intelligent processing system; the underground chained information comprises first underground chained information collected by various microsensors of the microrobot and / or second underground chained information sent by the short section and collected by an underground tool. According to the invention, the timeliness of underground chain information transmission can be improved on the basis of dynamic monitoring of the full-depth underground chain information of the shaft from the well mouth to the well bottom.

Description

Technical Field

[0001] The present application relates to the technical field of oil, natural gas drilling and completion and natural gas hydrate drilling and production, and in particular to an underground chain information transmission Internet of Things system and an underground chain information transmission method. Background Art

[0002] During the drilling process of deep wells and ultra-deep wells, complex geological conditions such as high temperature, high pressure, high ground stress and the narrow safe density window of drilling fluid bring a series of challenges to drilling and completion operations. The timely collection of downhole parameters can provide timely, accurate and quantitative scientific basis and support for judging the downhole conditions.

[0003] At present, the use of various downhole tools such as MWD and PWD is the main method to obtain downhole temperature, pressure and other parameters. During the drilling process, downhole tools are installed near the drill bit to measure the near-bottomhole parameters. Currently, single-point, double-point and multi-point measurement methods with high accuracy have been developed.

[0004] However, these measurement methods still rely on fixed-point measurement of the same downhole tool. From the perspective of the drilling string as a whole, they are still small-scale parameter measurements, which cannot meet the actual needs of the increasingly harsh drilling environment for dynamic monitoring of key parameters from the wellbore to the bottom of the wellbore at full depth. In addition, current downhole tools such as measurement while drilling and logging while drilling (LWD) also face the problem of data transmission. The data transmission efficiency based on mud pulses is low and cannot meet the needs of the field for a large amount of real data. The storage-based data recording method can only be obtained when drilling, and the data timeliness is insufficient. Summary of the invention

[0005] In response to at least one problem in the prior art, the present application proposes an underground chain information transmission Internet of Things system and an underground chain information transmission method, which can improve the timeliness of underground chain information transmission on the basis of realizing dynamic monitoring of underground chain information at full depth from the wellhead to the bottom of the wellbore.

[0006] In order to solve the above technical problems, this application provides the following technical solutions:

[0007] In a first aspect, the present application provides an underground chain information transmission Internet of Things system, comprising:

[0008] Ground intelligent processing systems, short sections and micro-robots;

[0009] The micro-robots are connected to each other, the micro-robots and the short sections, the micro-robots and the downhole tools, and the short sections and the downhole tools; the ground intelligent processing system is connected to the micro-robots;

[0010] When the micro robot is in a designated area underground, the micro robot receives underground chain information, and when the micro robot reaches the wellhead, the micro robot sends the underground chain information to the ground intelligent processing system.

[0011] In one embodiment, the microrobot comprises:

[0012] A housing, and a core system arranged in the housing, wherein the core system comprises: a main control chip, a parameter measurement module and a data storage module;

[0013] The parameter measurement module includes: the various micro sensors; the main control chip is respectively connected to the ground intelligent processing system, the short joint, the downhole tool, the data storage module and the various micro sensors for communication;

[0014] When the micro robot is in a designated area underground, the main control chip receives underground chain information and stores the underground chain information in the data storage module; when the micro robot reaches the wellhead, the main control chip obtains the underground chain information from the data storage module and sends the underground chain information to the ground intelligent processing system.

[0015] In one embodiment, the main control chip is provided with a radio frequency identification tag.

[0016] In one embodiment, the kernel system further includes:

[0017] A power supply module and a wireless power supply module disposed in the housing;

[0018] The power supply module includes: a rechargeable micro battery and a voltage stabilizing chip connected to the rechargeable micro battery, and the wireless power supply module includes: an energy receiving coil, a rectifier circuit and a power supply filter circuit connected in sequence; the voltage stabilizing chip is connected to the power supply filter circuit;

[0019] The rechargeable micro-battery is respectively connected to the main control chip, the data storage module and various micro-sensors.

[0020] In one embodiment, the short section comprises:

[0021] A housing, a micro robot payload compartment disposed outside the housing, a radio frequency identification device disposed inside the housing, a core control circuit and a drive module;

[0022] The core control circuit is connected to the downhole tool, the micro robot, the driving module and the radio frequency identification device respectively. The driving module is connected to the micro robot load compartment, and the micro robot load compartment is used to load the micro robot.

[0023] In one embodiment, the housing is a hollow circular tube column structure.

[0024] In one embodiment, the short section further comprises:

[0025] The wireless charging module arranged in the micro-robot payload compartment is used to provide electrical energy to the micro-robot.

[0026] In a second aspect, the present application provides a method for underground chain information transmission, which is implemented by applying the underground chain information transmission Internet of Things system, and the method includes:

[0027] The micro robot enters the wellbore annulus and collects the first downhole chain information;

[0028] The micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information to the ground intelligent processing system.

[0029] In one embodiment, the microrobot enters the wellbore annulus, comprising:

[0030] injecting the micro robot into the mud pipeline to start collecting the first downhole chain information;

[0031] The mud pump is started, and the micro robot enters the channel in the drill pipe and is released into the wellbore annulus through the drill bit water hole.

[0032] In one embodiment, the microrobot enters the wellbore annulus, comprising:

[0033] The short section receives second downhole chain information collected by the downhole tool, and the short section sends the second downhole chain information to the micro-robot in the short section and releases the micro-robot into the wellbore annulus;

[0034] Correspondingly, the micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information to the ground intelligent processing system, including:

[0035] The micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information and the second downhole chain information to the ground intelligent processing system.

[0036] In one embodiment, the micro robot enters the wellbore annulus and collects first downhole chain information, including:

[0037] injecting the microrobot into a mud pipeline;

[0038] When the mud pump is started and the micro robot enters the channel in the drill pipe and the distance between the micro robot and the short section or the drill bit is less than a distance threshold, the micro robot starts and continues to collect the first downhole chain information.

[0039] In one embodiment, the downhole chain information transmission method further includes:

[0040] The microrobot injected into the mud pipeline is equipped with a radio frequency identification tag. When the microrobot enters the inner channel of the short section, the short section identifies the radio frequency identification tag, controls the downhole tool to adjust the working parameters according to the radio frequency identification tag, and after the adjustment is completed, writes a control success signal to the microrobot in the microrobot payload cabin, and releases the microrobot into the wellbore annulus;

[0041] The released micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, and sends the control success signal to the ground intelligent processing system.

[0042] In one embodiment, after the micro-robot enters the wellbore annulus, the method further comprises:

[0043] When there is first downhole chain information that does not meet the preset parameter conditions, the microrobot transmits the first downhole chain information and corresponding warning information to the short section, and the short section controls the downhole tool according to the first downhole chain information and the corresponding warning information.

[0044] It can be seen from the above technical solution that the present application provides an underground chain information transmission Internet of Things system and an underground chain information transmission method. Among them, the underground chain information transmission Internet of Things system includes: a ground intelligent processing system, a short section and a micro robot; the micro robots, the micro robots and the short sections, the micro robots and the downhole tools, and the short sections and the downhole tools are communicated and connected; the ground intelligent processing system is communicated and connected with the micro robot; when the micro robot is in a designated area underground, the micro robot receives the underground chain information, and when the micro robot reaches the wellhead, the underground chain information is sent to the ground intelligent processing system, and the underground chain information includes: the first underground chain information collected by the multiple micro sensors of the micro robot And / or the second downhole chain information collected by the downhole tool sent by the short section can improve the timeliness of the downhole chain information transmission on the basis of realizing dynamic monitoring of the downhole chain information at the full depth from the wellhead to the bottom of the wellbore; specifically, the micro-robot can collect downhole chain information in the entire process from the drill pipe channel and the wellbore annulus to the wellhead, and can realize dynamic monitoring of the downhole chain information at the full depth from the wellhead to the bottom of the wellbore; the short section can obtain the downhole chain information collected by the downhole tool, send the downhole chain information to the micro-robot in the short section, and use the micro-robot to transmit the downhole chain information to the wellhead, which can improve the efficiency and timeliness of the transmission of the downhole chain information collected by the downhole tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic diagram of the relationship between the downhole chain information transmission Internet of Things system and the downhole tool in the embodiment of the present application;

[0047] Figure 2 This is a schematic diagram of the relationship between a micro robot and a short section in an underground chain information transmission Internet of Things system in an example of the present application;

[0048] Figure 3 A schematic diagram of the entire wellbore of an underground chain information transmission Internet of Things system in an example of this application;

[0049] Figure 4 Schematic diagram of the structure of the micro robot in the embodiment of the present application;

[0050] Figure 5A schematic diagram of the relationship between the power supply module and the wireless power supply module in the embodiment of the present application;

[0051] Figure 6 A side view schematic diagram of a first microcircuit board in an example of the present application;

[0052] Figure 7 A schematic side view of a second microcircuit board in an example of the present application;

[0053] Figure 8 It is a schematic diagram of the structure of the short section in the embodiment of the present application;

[0054] Fig. 9 This is a schematic diagram of a first process of a downhole chain information transmission method in an embodiment of the present application;

[0055] Fig.10 It is a second flow chart of the downhole chain information transmission method in the embodiment of the present application;

[0056] Fig.11 This is a schematic diagram of the wellhead deployment and recovery method of the micro robot in the downhole chain information transmission Internet of Things system in the embodiment of the present application;

[0057] Fig.12 It is a third flow chart of the downhole chain information transmission method in the embodiment of the present application.

[0058] Explanation of symbols

[0059] 0. Micro robot; 01. Shell; 02. Main control chip; 03. Parameter measurement module; 031. Micro sensor; 04. Data storage module; 06. Power supply module; 061. Rechargeable micro battery; 062. Voltage regulator chip; 07. Wireless power supply module; 071. Energy receiving coil; 072. Rectification circuit; 073. Power filter circuit; 08. Flexible circuit board; 09. Rigid circuit board; 010. Polymer protective material; 011. Protective Protective shell; 1. Pup joint; 11. Radio frequency identification device; 12. Core control circuit; 13. Drive module; 15. Micro robot payload cabin; 2. Downhole tools; 3. Ground intelligent processing system; 41. Wellbore annulus; 42. Drill bit; 43. Injection valve; 44. Micro robot injection device; 45. Mud pump; 46. Micro robot collection device, 47. Mud pool; 48. Vibrating screen; 49. Channel inside drill pipe; 410. Drill pipe; 411. Drill collar. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] During deep and ultra-deep well drilling operations, complex geological conditions such as narrow safety density window of drilling fluid, high temperature, high pressure, high ground stress, etc., bring a series of challenges to drilling and completion operations. Timely collection of downhole parameters (i.e. downhole drilling parameters) can provide timely, accurate, quantitative scientific basis and support for judging downhole conditions. The existing downhole drilling parameter measurement technology is relatively expensive and can only measure downhole parameters at the instrument installation location, and cannot dynamically monitor the temperature and pressure profile of the entire wellbore. At the same time, data transmission based on mud pulses or storage media is inefficient and time-sensitive, making it difficult to meet on-site needs.

[0062] Based on this, in order to solve the existing downhole tool signal transmission rate limit and the downhole single-point parameter measurement limitations, the embodiment of the present application proposes a downhole chain information transmission Internet of Things system and a downhole chain information transmission method. The micro-robot can adapt to the complex downhole environment, and the short section can integrate measurement, storage and transmission functions. It can achieve large-scale high-speed signal transmission underground, breaking the limitations of downhole chain information measurement range and signal transmission. At the same time, it can provide a new signal transmission network for traditional downhole tools, improve the efficiency of downhole chain information transmission, and provide an underlying network architecture for intelligent drilling. It aims to provide new means and new ideas for safe and efficient drilling and completion operations and oil and gas production in the future, and support the rapid development of wellbore digitization and oilfield signalization.

[0063] The present application can solve the limitation that existing downhole tools can only measure parameters at the tool installation position, as well as the problems of low data transmission efficiency and poor timeliness of downhole tools. It can comprehensively utilize micro-electromechanical system MEMS technology, signal transmission technology and drilling and completion processes and theories. Aiming at the requirements of large-scale parameter measurement and signal transmission timeliness, it can realize the construction of a downhole chain signal transmission Internet of Things system. Relying on the downhole chain information transmission Internet of Things system, dynamic measurement of all downhole chain information and high-timeliness data transmission can be realized. At the same time, it can also provide a two-way data transmission channel for traditional downhole tools, realize parameter feedback and ground control of all tools in the Internet of Things, which is of great significance for safe drilling of oil and gas wells, improving quality and efficiency, and reducing production costs.

[0064] In the embodiment of the present application, the micro-robots can be released from the wellhead or short section and form a coordinated formation in the wellbore annulus to form a distributed signal transmission base station. Through signal communication between the micro-robots, between the micro-robots and the downhole intelligent short-circuit, and between the micro-robots and other downhole tools, an downhole chain network is established. Based on all the data carried in the network, combined with artificial intelligence technology, downhole working condition judgment is carried out and all tools participating in the network are controlled to complete operations quickly and accurately, forming an efficient "measurement-transmission-control" integrated downhole Internet of Things system.

[0065] The details are described through the following embodiments.

[0066] Figure 1 Schematic diagram of the relationship between the downhole chain information transmission Internet of Things system and the downhole tool in the embodiment of the present application, such as Figure 1 As shown, in order to improve the timeliness of underground chain information transmission on the basis of realizing dynamic monitoring of underground chain information at full depth from the wellhead to the bottom of the wellbore, an embodiment of the present application provides an underground chain information transmission Internet of Things system, including: a ground intelligent processing system 3, the short section 1 and the micro robot 0; the micro robots 0, the micro robots 0 and the short section 1, the micro robots 0 and the downhole tool 2, and the short section 1 and the downhole tool 2 are communicated and connected; the ground intelligent processing system 3 is communicated and connected with the micro robot 0; when the micro robot is in a designated area underground, the micro robot receives the underground chain information, and when the micro robot reaches the wellhead, the underground chain information is sent to the ground intelligent processing system, and the underground chain information includes: the first underground chain information collected by multiple micro sensors of the micro robot and / or the second underground chain information collected by the downhole tool sent by the short section.

[0067] Specifically, the ground intelligent processing system is not limited to a server. The designated area may be the entire area from the wellhead to the underground release, or the micro-robot payload cabin and the wellbore annulus, or the wellbore annulus. The downhole chain information may include: the first downhole chain information collected by the various micro sensors of the micro-robot, the second downhole chain information collected by the downhole tool sent by the short section, the third downhole chain information collected by the downhole tool, and at least one of the downhole chain information received by other micro-robots. The downhole chain information may be equivalent to downhole parameters, including: temperature and pressure, etc. The third downhole chain information collected by the downhole tool may represent the downhole chain information collected by the downhole tool directly obtained by the micro-robot; the downhole chain network may be formed through information exchange between micro-robots, between micro-robots and short sections, between micro-robots and other downhole tools while drilling, and between short sections and other downhole tools while drilling. The method for constructing an Internet of Things system includes: constructing a small closed-loop control system and constructing a large closed-loop control system. The small closed-loop control system is composed of a short section, a micro-robot between the drill bit and the short section, and downhole tools while drilling. It controls the downhole instruments to adjust the working parameters and monitor and handle sudden complex working conditions during drilling in a real-time manner in an adaptive manner, focusing on realizing intelligent accident handling and closed-loop measurement control of downhole tools. The large closed-loop control system is composed of a ground intelligent processing system, a short section, micro-robots in the full wellbore circulation, and downhole tools while drilling. It realizes the acquisition of downhole information and control of downhole tools by the ground intelligent processing system in the form of full wellbore networking, focusing on realizing downhole chain information measurement and information transmission. Figure 2 This is a schematic diagram of the relationship between a micro robot and a short section in an underground chain information transmission Internet of Things system in an example of this application, Figure 2 The direction of the arrow in the figure can indicate the direction of data transmission and reflect the local structure of the downhole chain information transmission Internet of Things system at the bottom of the well. Figure 3 This is a schematic diagram of the entire wellbore of an underground chain information transmission Internet of Things system in an example of this application. Figure 3 The middle drill pipe 410, the drill collar 411, the short section 1, the downhole tool 5 and the drill bit 42 are connected in sequence, and the inner channels of the drill pipe 410, the drill collar 411, the short section 1, the downhole tool 5 and the drill bit 42 are connected in sequence.

[0068] Specifically, the ground intelligent processing system of the underground chain information transmission Internet of Things system is the ground terminal of the underground chain information transmission Internet of Things system, which can form an Internet of Things with the micro-robot and interact with the micro-robot in real-time information transmission. The ground intelligent processing system is connected to the big data cloud system, and can carry out artificial intelligence data processing and analysis based on the cloud data platform and cloud computing, and is provided to staff in a graphical form that is easy to use for secondary development. It can issue instructions to the micro-robot, control the opening and closing of the functions of the micro-robot, write data and programs to the micro-robot, read the underground chain information measured by the downhole tools stored inside the micro-robot or the underground chain information measured by the micro-robot itself, and can wirelessly charge the micro-robot.

[0069] The pup joint is the downhole terminal of the downhole chain information transmission Internet of Things system. It can form an Internet of Things with micro-robots and interact with micro-robots in real-time signal transmission. The pup joint can interact with downhole tools while drilling, interact with the micro-robots between the drill bit and the pup joint, and receive early warning signals issued by the micro-robots when encountering sudden and complex accidents. It can make intelligent judgments at the pup joint and respond in time, send control signals to cooperate with downhole tools while drilling to respond. It can serve as the wellbore Internet of Things entrance of downhole tools while drilling, release the micro-robots stored in the intelligent pup joint as data carriers into the annulus and circulate to the wellhead, or upload the data required by downhole tools while drilling to the wellhead or transmit the signals for controlling downhole tools to the bottom of the well through the chain data transmission channel formed by the micro-robots in the wellbore annulus. It can intelligently judge the distribution of micro-robots in the wellbore and release the robots in time to ensure the continuity of the chain channel.

[0070] Micro-robots form the basic unit of the data transmission chain channel, which realizes fusion networking through low-power transmission protocols, such as fusion networking based on low-power Bluetooth (BLE) and LoRA. Micro-robots at different locations are wirelessly connected layer by layer with intelligent short sections and ground intelligent processing systems to realize two-way communication between underground and ground data. Micro-robots can also directly serve as carriers of downhole chain information measured by downhole tools while drilling, and circulate to the wellhead after being released by intelligent short sections.

[0071] The downhole chain information transmission Internet of Things system can provide a signal transmission channel for downhole tools while drilling. Downhole tools while drilling include but are not limited to MWD, LWD and other downhole tools with data transmission and downhole control requirements. They can access the downhole chain information transmission Internet of Things system with a short section as the entrance, transmit data to the ground intelligent processing system through the downhole chain information transmission Internet of Things system, and receive downhole tool control instructions transmitted from the ground through the downhole chain information transmission Internet of Things system and control instructions issued by the short section after intelligently judging sudden complex working conditions.

[0072] The main working modes and functions of the downhole chain information transmission Internet of Things system provided in this embodiment include: (1) establishing a real-time high-speed information transmission channel from the wellbore to the ground, which can timely transmit data measured by downhole tools, micro robots and other tools while drilling, and can transmit signals from the ground to control downhole tools; (2) The micro robots included in the downhole Internet of Things system can also simultaneously measure downhole chain information during the signal transmission and relay process; (3) When the micro robot measures sudden complex working conditions, the downhole chain information transmission Internet of Things system transmits the warning signal and the corresponding parameters to the short section, and the short section makes a quick and intelligent decision to control the downhole tool to make a timely response; (4) When the micro robot measures sudden complex working conditions, the downhole chain information transmission Internet of Things system transmits the warning signal and the corresponding parameters to the ground intelligent processing system, and the ground intelligent processing system promptly notifies the staff to make a decision, or gives decision suggestions through the cloud system large model calculation, and relies on the downhole chain information transmission Internet of Things system to transmit the control signal to control the downhole tool to make a response.

[0073] It can be seen from the above description that the downhole chain information transmission Internet of Things system provided by this embodiment can dynamically monitor various parameter profiles including but not limited to the temperature and pressure of the entire wellbore, and can build a chain wireless data transmission channel through a micro-robot or directly carry and transport data, providing a high-speed transmission channel for data interaction between downhole tools while drilling and the ground. Corresponding devices and Internet of Things systems can be built on site according to needs, and dynamic parameter changes of the entire wellbore can be obtained according to on-site needs, downhole chain information measured by downhole tools while drilling can be obtained efficiently, and downhole tools can be controlled. The downhole chain information transmission Internet of Things system can solve the limitations of existing downhole tools that can only measure parameters at the tool installation position, and the problems of low efficiency and poor timeliness of downhole tool data transmission to a certain extent, providing new means and new ideas for safe and efficient drilling and completion operations in the future. The downhole chain information transmission Internet of Things system provided by this embodiment specifically has the following beneficial effects:

[0074] 1. The new underground chain information transmission Internet of Things system can dynamically monitor various underground chain information profiles, such as temperature, pressure, flow rate, etc., filling the technical gap of full underground chain information profile measurement;

[0075] 2. The new underground chain information transmission Internet of Things system uses two intelligent terminals, the short joint and the ground intelligent processing system, combined with the micro-robots distributed in the wellbore, to establish an underground chain data transmission Internet of Things, which can form a variety of data transmission forms and provide a new solution to the problems of low data transmission efficiency and poor timeliness of traditional mud pulses or storage media;

[0076] 3. The new downhole chain information transmission IoT system can use the short joint as the interface to provide a high-speed data transmission channel for the traditional downhole tools while drilling to connect to the ground. The chain channel composed of micro robots can transmit the downhole chain information to the ground intelligent processing system, or transmit the control instructions from the ground intelligent processing system to the downhole tools.

[0077] 4. The new underground chain information transmission Internet of Things system can use the short joint as the intelligent decision-making center, timely identify sudden and complex situations underground through micro-robots and make intelligent decisions, control the underground tools to make timely response measures, and realize local small closed-loop measurement and control underground;

[0078] 5. The new underground chain information transmission IoT system can launch micro-robots from the wellhead, and can also release micro-robots pre-stored in the short section through radio frequency commands or intelligent judgment, which greatly improves the flexibility of the wellbore chain network;

[0079] 6. The micro-robot pre-stored in the short section of the new downhole chain information transmission Internet of Things system can be used as a storage carrier for downhole chain information measured by downhole tools while drilling. After being released, the micro-robot can carry a large amount of downhole chain information to the wellhead while serving as a basic chain unit of the Internet of Things, greatly improving the timeliness of downhole tool data transmission while drilling;

[0080] 7. The ground intelligent processing system of the new downhole chain information transmission Internet of Things system can be connected to the cloud data platform, and use cloud computing and artificial intelligence to analyze and predict downhole chain information, and display it to operators in a graphical form that is easy to develop, providing intelligent and efficient means for safe and efficient drilling and completion operations.

[0081] Figure 4 is a schematic diagram of the structure of the micro robot in the embodiment of the present application, such as Figure 4 As shown, in order to improve the timeliness of downhole chain information transmission on the basis of realizing dynamic monitoring of downhole chain information from the wellhead to the full depth of the wellbore, in one embodiment, the micro robot includes:

[0082] A shell 01 and a core system arranged in the shell 01, wherein the core system includes: a main control chip 02, a parameter measurement module 03 and a data storage module 04; the parameter measurement module 03 includes: the multiple micro sensors 031, the parameter measurement module 03 includes: the multiple micro sensors 031; the main control chip is respectively connected to the ground intelligent processing system, the short section, the downhole tool, the data storage module and various micro sensors for communication; when the micro robot 0 is in a designated area underground, the main control chip 02 receives the downhole chain information and stores the downhole chain information in the data storage module 04; when the micro robot reaches the wellhead, the main control chip 02 obtains the downhole chain information from the data storage module 04 and sends the downhole chain information to the ground intelligent processing system.

[0083] Specifically, the main control chip can be integrated with a first signal transmission module; the main control chips of the microrobots can also be communicatively connected to each other, and the microprocessor of the short section can be communicatively connected to the main control chip of the microrobot and the downhole tool respectively. The data storage module 04 can be integrated on the main control chip, or it can be an external storage medium; when the data storage module 04 is an external storage medium, the main control chip 02 is connected to the external storage medium. The microrobots can be intermittently put into or released by the short sections, and a real-time information transmission network can be established between the microrobots and between the microrobots and the short sections to build an underground Internet of Things system, providing a channel for chain uploading of underground information.

[0084] Specifically, the microrobot provided in this embodiment is resistant to high temperature and high pressure as a whole, has a small enough size to pass through the drill bit water hole smoothly, can follow the wellbore fluid circulation to complete multi-parameter measurements including but not limited to temperature, pressure, magnetic field and device acceleration, can build a wellbore Internet of Things signal transmission link through the first signal transmission module, and can be used as a data carrier to carry the downhole chain information measured by the downhole tool to the wellhead in a timely manner. The first signal transmission module represents the signal transmission module in the microrobot, and the first data transmission interface represents the data transmission interface in the microrobot.

[0085] The main control chip is the overall control component of the core system. It can be responsible for the overall coordination and control of each module. It can be a microcontroller STM32, etc. It has the characteristics of low power consumption and can carry out corresponding functional control through different control instructions received by the first signal transmission module. Its main functions include: (1) Control the power supply module to intelligently power different modules, increase the overall standby time of the micro robot, and ensure that the power can maintain the full operation of the micro robot; (2) Control the parameter measurement module to realize the start and stop of the parameter measurement function; (3) Control the data storage module to realize the storage, reading, initialization and other operations of the underground chain information; (4) Control the first signal transmission module to process and identify various signals received, realize signal transfer and wireless networking; (5) Identify the parameter measurement module data to judge sudden complex working conditions, adjust the first signal transmission module to output warning signals, and realize timely control of complex situations through the underground chain information transmission Internet of Things system.

[0086] The parameter measurement module may include: a variety of micro sensors, such as temperature sensors, pressure sensors, magnetometers, conductivity sensors and acceleration sensors, which can measure downhole temperature, pressure, magnetic field strength, drilling fluid conductivity and other parameters by relying on various miniaturized, low-power sensors, and can also measure the dynamic data of the micro sensor itself. Among them, the temperature sensor measures downhole temperature, the pressure sensor measures downhole pressure, the magnetometer measures magnetic field strength, the conductivity sensor measures drilling fluid conductivity, and the acceleration sensor measures the acceleration parameters of the micro robot itself.

[0087] The data storage module can be responsible for the storage and reading of all data, and has the characteristics of low power consumption and high stability. The data storage module can be the microprocessor's built-in memory or an external storage medium. The two storage modules can exist at the same time and work together. When only the microprocessor's built-in memory is used, the size of the microrobot can be effectively reduced. For example, the main control chip can be an STM32L4 series low-power microprocessor with a large-capacity flash memory embedded, which can further reduce the system power consumption to extend the working time of the microrobot. When the microprocessor's built-in memory and external storage medium are used at the same time, the storage capacity of the microrobot can be enhanced to facilitate large-capacity data transmission and storage. The external storage medium can be a storage device with miniaturization characteristics, etc.

[0088] The first signal transmission module mainly includes: a command activation interface and a fast data transmission interface. The command activation interface is in a constant standby state and is used to receive control commands. The fast data transmission interface can realize the rapid reception and output of data, and can support the rapid writing of downhole chain information measured by downhole tools, the rapid output of stored data, and the relay of signals in the Internet of Things. The first signal transmission module can also carry a radio frequency identification RFID tag to transmit radio frequency control signals to the short section. The command activation interface and the fast data transmission interface can both be a modular program interface controlled by the main control chip, integrated on the main control chip, started under the control of the chip, and perform command issuance and data transmission.

[0089] The shell, i.e. the outer shell, can be integrally cast from a polymer protective material, and can provide a barrier and protection for the core system against the high temperature, high pressure, and high corrosion environment underground. The core system can be cast and solidified using a mold, and then demolded to achieve a smaller micro-robot volume. It is also possible to directly use a high-strength, impact-resistant, and corrosion-resistant material shell as a mold, and use a soft material to cast and fill the gap between the inner and outer parts to form an organic whole, thereby improving the overall strength of the micro-robot. The density of the micro-robot can be adjusted within a certain range by adjusting the brazing fiber content in the mold shell or the air-containing porosity of the polymer casting material. By adjusting the density of the micro-robot to be equivalent to the drilling fluid, it can overcome gravity and return to the ground from the annulus under the carrying flow of the drilling fluid.

[0090] The working modes of the micro robot include: wellhead deployment and underground release.

[0091] When the micro-robot is put into operation from the wellhead, the working process of the micro-robot is as follows: (1) Wireless charging is performed on the ground to ensure normal operation; (2) The micro-robot is put into the drilling fluid circulation in the drill pipe; (3) The micro-robot can start parameter measurement and Internet of Things networking functions individually or simultaneously according to the preset timing instructions, short sections or working instructions sent by other micro-robots at any depth; (4) The micro-robot can stop parameter measurement and Internet of Things networking functions individually or simultaneously according to the preset timing instructions, short sections or working instructions sent by other micro-robots at any depth; (5) Data output instructions are sent at the wellhead annulus drilling fluid outlet or after the micro-robot is recovered. After the ground intelligent processing system receives the downhole chain information, it performs data processing, display and analysis to support the staff in making decisions. (6) The micro-robot is tested. If it meets the conditions for continued work, it is sent an initialization instruction to prepare to enter the well again for measurement.

[0092] When releasing the micro robot underground, the working process is as follows: (1) The micro robot is loaded into the micro robot payload compartment of the short section and follows the short section to the underground; (2) The micro robot can start parameter measurement and Internet of Things networking functions individually or simultaneously according to the preset timing instructions, the working instructions sent by the short section or other micro robots at any depth; (3) The micro robot can stop parameter measurement and Internet of Things networking functions individually or simultaneously according to the preset timing instructions, the working instructions sent by the short section or other micro robots at any depth; (4) When it is necessary to use the micro robot to carry the underground chain information measured by the downhole tool to the ground, the short section sends a data write instruction to the micro robot, writes the measurement parameters of the downhole tool into the micro robot and releases it; (5) Send a data output instruction at the wellhead annulus drilling fluid outlet or after the micro robot is recovered. After the ground intelligent processing system receives the underground chain information, it performs data processing, display and analysis to support the staff in making decisions; (6) The micro robot is tested. If it meets the conditions for continuing to work, it is sent an initialization instruction to prepare to enter the well again for measurement.

[0093] In order to adjust the working parameters of the downhole tool in time when encountering accidents such as stuck drill or stick-slip, in one embodiment, the main control chip is provided with a radio frequency identification tag. Radio frequency identification can read data and perform command recognition through external materials.

[0094] Figure 5 Schematic diagram of the relationship between the power supply module 06 and the wireless power supply module 07 in this embodiment. In one embodiment of the present application, in one embodiment, the core system further includes:

[0095] The power supply module 06 and the wireless power supply module 07 are arranged in the housing; Figure 5 As shown, the power supply module 06 includes: a rechargeable micro-battery 061 and a voltage stabilizing chip 062 connected to the rechargeable micro-battery 061, and the wireless power supply module 07 includes: an energy receiving coil 071, a rectifier circuit 072 and a power supply filter circuit 073 connected in sequence; the voltage stabilizing chip 062 is connected to the power supply filter circuit 073; the rechargeable micro-battery 061 is respectively connected to the main control chip, the data storage module and various micro-sensors.

[0096] Specifically, the microrobot, i.e., the underground intelligent microrobot, may include: a core system established using micro-electromechanical technology and an external shell that protects the microrobot from extreme underground environments. The core system may include: a core control module (i.e., the above-mentioned main control chip), a power supply module, a wireless power supply module, a parameter measurement module, and a data storage module. The rechargeable microbattery can be connected to the main control chip, the command activation interface, the data transmission interface, the data storage module, and various microsensors, respectively. The power supply module is mainly composed of a rechargeable microbattery and a voltage stabilizing chip. The rechargeable microbattery can support the measurement, signal transmission, and other requirements of the microrobot during the circulation process in the drilling fluid, and can be charged through the wireless power supply module after being encapsulated in the shell. The voltage stabilizing chip can be used to regulate the output voltage of the battery and provide a stable voltage output for other modules in the core system.

[0097] The wireless power supply module includes: energy receiving coil, power filter and rectifier circuit, which can wirelessly supplement the power reserve of the micro robot, while clamping the output voltage within a safe range, greatly reducing heat loss, and ensuring the safety of energy transmission. The energy receiving coil is used to receive energy in the form of an alternating magnetic field to achieve non-contact transmission of electrical energy; the power filter circuit is used to filter the high-frequency noise and interference signals in the electrical energy transmitted by the energy receiving coil to ensure the stability of the subsequent circuit voltage; the rectifier circuit is responsible for converting the AC power received by the transmission coil into DC power to charge the battery.

[0098] Furthermore, in one embodiment of the present application, the microrobot also includes: a microcircuit board, and the main control chip, parameter measurement module, data storage module, power supply module and wireless power supply module are all arranged on the microcircuit board; the connection of each module in the microrobot can be achieved via the microcircuit board, including: connecting the main control chip to the data storage module, the command activation interface and various microsensors respectively via the microcircuit board, connecting the rechargeable microbattery to the main control chip, the command activation interface, the data transmission interface, the data storage module and various microsensors respectively, connecting the energy receiving coil, the rectifier circuit and the power supply filter circuit in sequence; connecting the voltage stabilizing chip to the power supply filter circuit.

[0099] The micro-circuit board is the basis for carrying the main control chip, power supply module, wireless power supply module, parameter measurement module, and data storage module. The three-dimensional distribution of multi-layer circuit boards can be achieved by combining rigid circuit boards with flexible circuit boards. Flexible circuit boards have bendable properties, so the entire core system can be folded and placed in the outer shell of a micro-robot with strongly constrained geometric dimensions, achieving a high degree of miniaturization and integration.

[0100] In one embodiment of the present application, the microcircuit board includes: three circular rigid circuit boards 09 and two flexible circuit boards 08 for connecting the rigid circuit boards. The microcircuit board includes: a micro low-power main control chip, a temperature sensor, a magnetometer, a gyroscope accelerometer and a Wheatstone bridge pressure measurement circuit, which respectively serve as the core control module, temperature measurement module, magnetism measurement module, acceleration measurement module and pressure measurement module of the microrobot. The circuit board can be integrated with a micro button battery, a command activation interface and an interface for transmitting the first data. The entire microcircuit board is encapsulated and protected by a polymer protective material 010, a liquid silicone material polydimethylsiloxane (PDMS). By adjusting the air-containing porosity of PDMS, the density of the microrobot can be adjusted within the range of 1.1-1.8g / cm3. Figure 6 A side view of a microcircuit board in an example of the present application.

[0101] In one embodiment of the present application, the microcircuit board includes: three circular rigid circuit boards 09 and two flexible circuit boards 08 for connecting the rigid circuit boards. A high-strength polyetheretherketone (PEEK) material is selected to make a mold and also serves as a protective shell 011. Liquid silicone-like material polydimethylsiloxane (PDMS) is used to fill the gap between the inner and outer parts, and the protective shell is cast to form a protective film, thereby forming an organic whole. The organic whole can be used as a shell 01 to improve the sealing of the microrobot. By adjusting the carbon fiber content in the PEEK material and the air-containing porosity of the PDMS, the density of the microrobot can be between 1.1-1.8 g / cm 3 within the range of adjustment. Figure 7 A side view of a microcircuit board in another example of the present application.

[0102] Figure 8 Schematic diagram of the structure of the short section in the embodiment of the present application, such as Figure 8 As shown, in order to improve the timeliness of downhole chain information transmission on the basis of realizing dynamic monitoring of downhole chain information from the wellhead to the bottom of the wellbore at full depth, in one embodiment, the short section 1 includes:

[0103] A shell, a micro-robot payload compartment 15 arranged outside the shell, a radio frequency identification device 11 arranged inside the shell, a core control circuit 12 and a drive module 13; the core control circuit 12 is respectively connected to the downhole tool, the micro-robot, the drive module 13 and the radio frequency identification device 11, the drive module 13 is connected to the micro-robot payload compartment 15, and the micro-robot payload compartment 15 is used to load the micro-robot.

[0104] Specifically, the short section can represent an intelligent downhole short section; the short section provided in this embodiment can be installed at any depth position of the drill string in cooperation with the drill string, and a radio frequency instruction tag ball or a micro robot carrying an RFID tag can be dropped into the wellhead to transmit a control signal to the short section, which can intelligently judge the working condition and perform control operations, and can realize the reading of downhole chain information measured by downhole tools, the transmission of downhole tool control signals, the release of micro robots, the writing of downhole chain information measured by micro robots, and the charging of micro robots. The short section can be set in a single setting or in multiple levels at different depths according to actual use requirements. Downhole tools may include: downhole tools MWD, logging while drilling tools LWD, etc. The microprocessor of the core control circuit may be integrated with a second signal transmission module, which is the signal transmission module of the short section.

[0105] Preferably, the shell is a hollow circular pipe column structure. The internal channel of the short section can be connected to the pipe in the drill string, and the outside has a micro robot load compartment interface, which can transmit torque and drilling pressure together with the drill string to release the micro robot. The short section can be integrated with the entire drill pipe while serving as a micro robot release mechanism.

[0106] The RFID device can be located inside the short section. The RFID device can be an RFID coil. After the corresponding RFID instruction tag ball or the micro robot carrying the RFID tag is dropped from the wellhead, the control instruction can be transmitted through the RFID coil as the core control circuit. The size of the RFID tag ball can smoothly pass through the drill bit water hole to avoid interfering with the normal advancement of the drilling operation. The RFID device mainly receives the RFID control signal of the channel in the drill string.

[0107] The core control circuit is the general control circuit of the short section, which can be a micro integrated circuit board equipped with a microcontroller. The microcontroller can be connected to the driving module 13 and the radio frequency identification device 11 respectively. The microcontroller can be a common microcontroller, such as an STM32 microcontroller. It is an underground intelligent terminal of the underground chain information transmission Internet of Things system, which is responsible for the overall coordination and control of each module and device structure. It can carry out corresponding functional control through different control instructions received by the second signal transmission module and the radio frequency identification device, and can intelligently judge the distribution of micro robots in the wellbore, and release the robots in time to ensure the continuity of the chain channel composed of micro robots. Its main functions include: (1) controlling the driving module to open the micro-robot payload compartment, releasing the micro-robot into the drilling annulus, and determining the number, frequency, function, etc. of releases based on the command signal, and sending commands to control the micro-robot to start the corresponding function; (2) writing the downhole chain information measured by the downhole tool into the micro-robot to be released through the micro-controller in the core control circuit, and releasing the micro-robot into the drilling annulus after the data is written, and using the micro-robot as a data transmission medium to carry the downhole chain information measured by the downhole tool to the ground; (3) outputting the downhole chain information measured by the downhole tool to the downhole Internet of Things formed by the micro-robot through the micro-controller in the core control circuit, and transmitting the downhole chain information measured by the downhole tool to the ground intelligent processing system through the continuous signal relay of the micro-robot; (4) when the micro-robot identifies a sudden and complex situation in the well, the warning signal and corresponding measurement data sent out will be received by the core control circuit, and a decision will be made after the intelligent judgment of the core control system to control the downhole tool to respond.

[0108] The drive module is composed of a control circuit and a transmission system. When the micro robot needs to be released, it controls the micro robot payload compartment to open through the transmission system to release the micro robot. The core control circuit, the control circuit and the transmission system can be connected in sequence. The core control circuit (the main control circuit of the short section) can send control instructions to the drive module. The control circuit of the drive module controls the transmission system to produce mechanical movement through electric control to open the hatch, similar to an automatic control mechanical structure. The transmission system is controlled by electricity. The control circuit can be an H-bridge drive module, and the transmission system can be a motor.

[0109] The micro robot payload compartment can be loaded with multiple micro robots. The micro robot payload compartment is opened and closed by the driving module. The micro robot payload compartment is connected to the second charging module and the microprocessor in the core control circuit respectively, which can charge the micro robot and perform signal transmission interaction with it. The short section can be equipped with multi-stage payload compartments to realize the controlled release of micro robots in large quantities.

[0110] The second signal transmission module mainly includes: an early warning signal activation interface and a second data transmission interface. The early warning signal activation interface is in a constant standby state and is used to receive the early warning signal issued by the micro robot. The second data transmission interface can realize the rapid reception and output of data, can form data transmission with the micro robot, and can also send command signals to the micro robot to control the functions of the micro robot. The second signal transmission module can also form data transmission with the downhole tool, can send control signals to the downhole tool, control the downhole tool to adjust the working parameters, turn on and off the measurement function, etc. The core control circuit can be connected to the early warning signal activation interface and the second data transmission interface respectively. The second data transmission interface can represent the data transmission interface in the second signal transmission module. The early warning signal activation interface and the second data transmission interface can both be virtual program interfaces, integrated on the microprocessor of the core control circuit, and rely on program control to realize function activation and startup.

[0111] In one embodiment of the present application, the short section also includes: a wireless charging module arranged in the micro-robot payload compartment, for providing electrical energy to the micro-robot. The wireless charging module is mainly installed in part of the micro-robot payload compartment, and can replenish electrical energy for the micro-robot via the wireless power supply module to maintain the standby state of the micro-robot. The wireless charging module may include: a rechargeable micro-battery, a battery control circuit, and an energy transmitting coil connected in sequence. The wireless charging module and the wireless power supply module are used to transmit electrical energy and receive electrical energy respectively, and wireless electrical energy transmission is performed by relying on the energy transmitting coil and the energy receiving coil.

[0112] Fig. 9 FIG. 1 is a schematic diagram of a first process of a downhole chain information transmission method in an embodiment of the present application. Fig. 9 To further illustrate the present solution, the present application provides an embodiment of a downhole chain information transmission method, wherein the method includes:

[0113] Step 100: The micro robot enters the wellbore annulus and collects the first downhole chain information.

[0114] Specifically, the first downhole chain information may represent downhole chain information collected by the micro robot, such as temperature, pressure, magnetic field, and device acceleration.

[0115] Step 200: The micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information to the ground intelligent processing system.

[0116] Fig.10 FIG. 2 is a second flow chart of the downhole chain information transmission method in the embodiment of the present application. Fig.10As shown, in order to realize the dynamic monitoring of downhole chain information from the wellbore to the wellbore at full depth, a micro robot is put into and recovered from the wellbore. In one embodiment of the present application, step 100 includes:

[0117] Step 101: inject the micro robot into the mud pipeline to start collecting the first downhole chain information.

[0118] Step 102: The mud pump is started, and the micro robot enters the channel in the drill pipe and is released into the wellbore annulus through the drill bit water hole.

[0119] Fig.11 This is a schematic diagram of the wellhead input and recovery method of the micro robot in the downhole chain information transmission Internet of Things system in the embodiment of the present application. Fig.11 As shown, in this embodiment, during the drilling process, the mud pump 45 is connected to the inner channel of the drill pipe 410, and the ground part of the connecting pipe is opened with an injection valve 43. The micro robot can be put into the micro robot injection device 44, and the micro robot can be injected into the mud pipeline through the injection valve 43. When the micro robot is injected, it has been fully charged through the wireless charging function. When injected, a measurement instruction is issued to it, and the parameter measurement begins at this time. With the start of the mud pump, the micro robot enters the inner channel 49 of the drill pipe, and when it reaches the position of the drill bit 42, it enters the wellbore annulus 41 through the drill bit water hole. At the same time, the micro robots in the inner channel 49 of the drill pipe and the wellbore annulus 41 are continuously interacting with nearby micro robots in a chain signal, forming a signal interaction channel that runs through the entire wellbore circulation. The micro robot circulates to the wellhead with the wellbore annulus drilling fluid, passes through the vibrating screen 48, and is collected by the micro robot collection device 46 before entering the mud pool 47. Finally, the ground intelligent processing system is used to interact with the micro robot to process the signal obtained by the micro robot. At the same time, the ground intelligent processing system, as a ground signal terminal, also constantly interacts with the micro-robots entering the wellbore circulation.

[0120] Fig.12 FIG. 3 is a schematic diagram of a third process of the downhole chain information transmission method in an embodiment of the present application, such as Fig.12 As shown, in order to realize that the downhole tool while drilling transmits data to the ground through the downhole chain information transmission Internet of Things system, and improve the timeliness of the downhole chain information transmission collected by the downhole tool, in one embodiment of the present application, step 100 includes:

[0121] Step 111: the short section receives the second downhole chain information collected by the downhole tool, and the short section sends the second downhole chain information to the micro robot in the short section and releases the micro robot into the wellbore annulus; correspondingly, step 200 includes:

[0122] Step 201: The microrobot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information and the second downhole chain information to the ground intelligent processing system.

[0123] Specifically, the second downhole chain information may represent downhole chain information collected by the downhole tool, such as temperature, pressure, magnetic field, and device acceleration.

[0124] In this embodiment, the short section can be installed between the upper drill collar and the downhole tool while drilling. When the downhole tool recognizes an abnormal signal or needs to transmit a large amount of data measured by the downhole tool to the wellhead, the short section receives the downhole chain information transmitted by the downhole tool and writes the downhole chain information into the micro robot in the short section. When the data is written, the micro robot will be released. The released micro robot will circulate to the wellhead with the drilling fluid in the wellbore annulus, and the ground processing system will process the data and transmit it to the staff.

[0125] In one embodiment of the present application, step 100 includes: the short section releases the micro-robot in the micro-robot payload compartment into the wellbore annulus.

[0126] In one embodiment of the present application, step 100 includes:

[0127] Step 121: Inject the microrobot into the mud pipeline.

[0128] Step 122: The mud pump is started, and when the micro robot enters the channel in the drill pipe and the distance between the micro robot and the pup joint or the drill bit is less than a distance threshold, the micro robot starts and continues to collect the first downhole chain information.

[0129] In this embodiment, a function activation device for the microrobot can be installed near the drill bit, or a short section can be used to activate the measurement and networking functions of the microrobot. At this time, the microrobot put into the wellhead has not turned on any function and is in a standby state ready to receive a function activation signal. When the microrobot circulates to the short section or near the drill bit, the measurement and networking functions of the microrobot are activated. At this time, the microrobot continues to circulate out of the drill bit with the drilling fluid and continues to measure and network the downhole chain information. In this case, the microrobot does not participate in the measurement and networking in the inner cavity of the drill string, which can minimize the demand for power of the microrobot and more flexibly respond to the measurement needs of the dynamic parameter profile of the wellbore of deep wells, ultra-deep wells, and ultra-deep wells.

[0130] In one embodiment of the present application, the underground chain information transmission method further includes:

[0131] Step 300: The microrobot injected into the mud pipe is installed with a radio frequency identification tag. When the microrobot enters the channel inside the short section, the short section identifies the radio frequency identification tag and controls the downhole tool to adjust the working parameters according to the radio frequency identification tag. After the adjustment is completed, a control success signal is written to the microrobot in the microrobot payload compartment, and the microrobot is released into the wellbore annulus.

[0132] Step 400: The released micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, and sends the control success signal to the ground intelligent processing system.

[0133] In this embodiment, when encountering accidents such as stuck drill or stick-slip, the micro-robot is installed with an RFID tag, and is injected into the channel inside the drill pipe through the micro-robot injection device on the ground, and moves to the bottom of the well following the circulation of the drilling fluid. When it reaches the position of the short section, the short section can identify the RFID tag through the radio frequency identification device, and transmit a control signal to the downhole tool to control, for example, the torsion impact tool and the shaft-torsion coupling impact tool, and adjust the working parameters to achieve unblocking and stick-slip processing. When the control is successful, the short section will write a control success signal to the micro-robot to be released. After the writing is completed, the corresponding micro-robot is released, and it circulates with the annular drilling fluid to the wellhead. When it is detected by the ground intelligent processing system through wireless signals, or after being collected by the micro-robot collection device, the contained signal is further detected, so that the operator can get timely feedback. In this embodiment, the downhole tool can be controlled to handle complex downhole situations by a single injection of a micro-robot at the wellhead.

[0134] In one embodiment of the present application, after the micro-robot in step 100 enters the wellbore annulus, the process further includes:

[0135] When there is first downhole chain information that does not meet the preset parameter conditions, the microrobot transmits the first downhole chain information and corresponding warning information to the short section, and the short section controls the downhole tool according to the first downhole chain information and the corresponding warning information.

[0136] Specifically, when the microrobot determines that there is first downhole chain information that does not meet the preset parameter conditions, the microrobot transmits the first downhole chain information and the corresponding warning information to the short section. The preset parameter conditions can be set according to actual conditions, and this application does not limit this. For example, when the collected temperature is greater than the temperature threshold, it is determined that the collected temperature does not meet the preset parameter conditions.

[0137] In this embodiment, the short section can exchange data with the micro robot in the wellbore annulus, mainly in the near-bit area. When the micro robot identifies a possible sudden and complex situation, it will immediately transmit the warning signal and the corresponding measurement signal to the short section, make a decision through the fast and intelligent analysis of the short section, and control the downhole tools while drilling to make the fastest countermeasures. At the same time, the warning signal of the micro robot will also be transmitted to the ground through the chain Internet of Things in the annulus to help the staff make the next decision. This embodiment can realize the early identification and control of complex situations underground through the interaction between the short section and the intelligent micro robot.

[0138] In one embodiment of the present application, the distance between adjacent micro-robots injected from the mud pipe during the underground circulation process does not exceed the maximum distance of wireless communication. The maximum distance of wireless communication can be set according to actual conditions, and the present application does not impose any restrictions on this.

[0139] Specifically, the operator can continuously put the micro-robot into the channel inside the drill pipe according to the opening of the drilling pump, or a controller can continuously put the micro-robot into the channel inside the drill pipe according to the opening of the drilling pump; the micro-robot has already turned on the networking and measurement functions when it is put in, and the interval of putting in is determined according to the density, structure and displacement of the micro-robot and the standard is to ensure that the distance between adjacent micro-robots in the underground circulation process does not exceed the maximum distance of wireless communication. When the micro-robot initially put into the wellbore circulates once and arrives at the wellhead, the chain signal transmission network composed of micro-robots is completed. At this time, the micro-robots circulating inside the wellbore continuously receive and send data while measuring the underground chain information, and the signal of the wellbore profile will be continuously received by the intelligent processing device on the ground, so as to realize the monitoring of the dynamic profile of the dynamic parameters of the wellbore. This embodiment can realize the real-time measurement of the dynamic parameter profile of the wellbore by continuously putting in the micro-robot at the wellhead.

[0140] In one embodiment of the present application, when the downhole tool detects that it is drilling to a certain accident-prone well section, it transmits a control signal to the short section, and the short section intermittently releases the micro-robot stored inside according to the drilling depth or fixed time intervals. At the same time, the short section can identify the micro-robot dropped from the wellhead into the channel inside the drill string, thereby intelligently controlling the release speed and interval of the stored micro-robot. The released micro-robot and the micro-robot dropped from the wellhead will measure the downhole chain information in real time. When the data monitored by the micro-robot matches the characteristics of the sudden complex working conditions in the well, the micro-robot will wirelessly send an early warning signal and corresponding measurement data, which will be transmitted through the wellbore wireless network to the ground intelligent processing system. The ground intelligent processing system processes the data and forms a visual display, which is convenient for the staff to identify and confirm the downhole working conditions. This embodiment can realize key monitoring and early warning in abnormal working conditions or designated well sections.

[0141] Specific embodiments are used in this application to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core idea of ​​this application. At the same time, for those skilled in the art, according to the idea of ​​this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. An underground chain information transmission Internet of Things system, characterized in that: include: Ground intelligent processing systems, short sections and micro-robots; The micro-robots are connected to each other, the micro-robots and the short sections, the micro-robots and the downhole tools, and the short sections and the downhole tools; the ground intelligent processing system is connected to the micro-robots; When the microrobot is in a designated area underground, the microrobot receives underground chain information. When the microrobot reaches the wellhead, the microrobot sends the underground chain information to the ground intelligent processing system. The underground chain information includes: the first underground chain information collected by the microrobot's multiple microsensors and / or the second underground chain information collected by the downhole tool sent by the short section.

2. The underground chain information transmission Internet of Things system according to claim 1 is characterized in that: The micro robot comprises: A housing, and a core system arranged in the housing, wherein the core system comprises: a main control chip, a parameter measurement module and a data storage module; The parameter measurement module includes: the various micro sensors; the main control chip is respectively connected to the ground intelligent processing system, the short joint, the downhole tool, the data storage module and the various micro sensors for communication; When the micro robot is in a designated area underground, the main control chip receives underground chain information and stores the underground chain information in the data storage module; when the micro robot reaches the wellhead, the main control chip obtains the underground chain information from the data storage module and sends the underground chain information to the ground intelligent processing system.

3. The underground chain information transmission Internet of Things system according to claim 2 is characterized in that: The main control chip is provided with a radio frequency identification tag; The kernel system also includes: A power supply module and a wireless power supply module disposed in the housing; The power supply module includes: a rechargeable micro battery and a voltage stabilizing chip connected to the rechargeable micro battery, and the wireless power supply module includes: an energy receiving coil, a rectifier circuit and a power supply filter circuit connected in sequence; the voltage stabilizing chip is connected to the power supply filter circuit; The rechargeable micro-battery is respectively connected to the main control chip, the data storage module and various micro-sensors.

4. The underground chain information transmission Internet of Things system according to claim 1 is characterized in that: The short section comprises: A housing, a micro robot payload compartment disposed outside the housing, a radio frequency identification device disposed inside the housing, a core control circuit and a drive module; The core control circuit is connected to the downhole tool, the micro robot, the driving module and the radio frequency identification device respectively. The driving module is connected to the micro robot load compartment, and the micro robot load compartment is used to load the micro robot.

5. The underground chain information transmission Internet of Things system according to claim 4 is characterized in that: The shell is a hollow circular tubular column structure; the short section also includes: a wireless charging module arranged in the micro-robot payload compartment, which is used to provide electrical energy for the micro-robot.

6. A downhole chain information transmission method, characterized in that: The method is implemented by applying the underground chain information transmission Internet of Things system according to any one of claims 1 to 5, and comprises: The micro robot enters the wellbore annulus and collects the first downhole chain information; The micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information to the ground intelligent processing system.

7. The underground chain information transmission method according to claim 6, characterized in that: The micro robot enters the wellbore annulus, comprising: injecting the micro robot into the mud pipeline to start collecting the first downhole chain information; The mud pump is started, and the micro robot enters the channel in the drill pipe and is released into the wellbore annulus through the drill bit water hole.

8. The underground chain information transmission method according to claim 6, characterized in that: The micro robot enters the wellbore annulus, comprising: The short section receives second downhole chain information collected by the downhole tool, and the short section sends the second downhole chain information to the micro-robot in the short section and releases the micro-robot into the wellbore annulus; Correspondingly, the micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information to the ground intelligent processing system, including: The micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, ends the collection of the first downhole chain information, and transmits the first downhole chain information and the second downhole chain information to the ground intelligent processing system.

9. The underground chain information transmission method according to claim 6, characterized in that: The micro robot enters the wellbore annulus and collects first downhole chain information, including: injecting the microrobot into a mud pipeline; When the mud pump is started and the micro robot enters the channel in the drill pipe and the distance between the micro robot and the short section or the drill bit is less than a distance threshold, the micro robot starts and continues to collect the first downhole chain information.

10. The underground chain information transmission method according to claim 7, characterized in that: Also includes: The microrobot injected into the mud pipeline is equipped with a radio frequency identification tag. When the microrobot enters the inner channel of the short section, the short section identifies the radio frequency identification tag, controls the downhole tool to adjust the working parameters according to the radio frequency identification tag, and after the adjustment is completed, writes a control success signal to the microrobot in the microrobot payload cabin, and releases the microrobot into the wellbore annulus; The released micro robot circulates to the wellhead along with the drilling fluid in the wellbore annulus, and sends the control success signal to the ground intelligent processing system.

11. The underground chain information transmission method according to claim 6, characterized in that: After the micro robot enters the wellbore annulus, the method further comprises: When there is first downhole chain information that does not meet the preset parameter conditions, the microrobot transmits the first downhole chain information and corresponding warning information to the short section, and the short section controls the downhole tool according to the first downhole chain information and the corresponding warning information.

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