Automatic control method, system and equipment for well logging crawler and storage medium

Abstract

The invention discloses an automatic control method, system and device for a logging crawler and a storage medium. The method belongs to the field of dynamic detection of petroleum industrial equipment, and comprises the following steps: sequentially sending an advancing instruction, a voltage increasing instruction and a voltage increasing instruction through a control end, so that an underground crawler executes the processes of advancing crawling, opening a pushing arm and accelerating crawling, and judging according to a preset threshold value by receiving the output quantity of a programmable program control direct-current power supply in real time. If the output quantity exceeds the preset current threshold value, a voltage relief instruction, a voltage reduction instruction and a shutdown instruction are sent in sequence, and the crawling action is ended; otherwise, the crawl device continues to crawl forwards until the output quantity exceeds the current threshold value; according to the method, the output quantity monitored in real time by the programmable program-controlled direct-current power supply is utilized to judge the current state of the underground crawler, so that the crawler can face a complex underground environment, the crawler can be automatically controlled by adopting the method, and the time efficiency and the operation success rate of the crawling operation are improved.

Description

Technical Field

[0001] The invention belongs to the field of dynamic detection of petroleum industry equipment, and in particular relates to an automatic control method of a well logging crawler and related equipment. Background Art

[0002] At present, the crawler systems used at home and abroad are composed of a crawler ground control system and a crawler downhole system. The crawler ground control system and the crawler downhole system are connected through the collector ring of the logging winch and the vehicle-mounted logging cable. The crawler ground control system provides voltage and current to the motor of the crawler downhole system, and then the motor drives the crawler wheel to rotate and the downhole crawler hydraulic pump to work to provide hydraulic energy to open the push arm, and operate the crawler downhole system to push the logging instrument forward in the casing; the crawler ground control system is composed of a laptop computer, a crawler control panel and a downhole instrument power supply, which are connected to each other through the logging winch cable. The crawler downhole system is composed of the downhole crawler power supply, communication and motor, hydraulic machinery and crawler power mechanism, which are connected to each other through cables and mechanical structures.

[0003] Crawler logging uses a crawler with the upper end connected to the Malvern head and the lower end connected to the upper end of the logging downhole instrument, which are connected by cables. In the highly deviated and horizontal sections of the oilfield cased well, the logging instrument cannot automatically descend by its own weight under the free suspension of the logging cable and encounters resistance. When it cannot reach the deepest section required for logging, the ground equipment starts the crawler to take over the right to use the logging cable, and uses crawling to provide power to push the logging instrument to overcome resistance and reach the target section. After that, the crawler stops working and returns the right to use the logging cable to the logging downhole instrument, and then the cable pulls the downhole logging instrument upward to complete the logging data collection task.

[0004] The crawler ground control system controls the crawling process by the operator making judgments based on various phenomena that occur during the crawling process underground when the crawler transports logging instruments. Especially when encountering complex casing structures underground, the operator needs to frequently adjust the power supply voltage and the stop and start of the crawler wheel, as well as the retraction and extension of the push-and-pull arm. This requires the operator to be familiar not only with the operation, but also with the instrument.

[0005] At present, the crawling speed of underground logging instruments is relatively low, generally below 400 meters per hour. Especially when used in long horizontal sections underground, the crawling speed gradually decreases as the crawling distance increases. When encountering complex casing structures in horizontal wells, the crawling speed is even slower. The entire process of the crawler conveying logging instruments in the casing is completed manually. For long-term operations in long well sections, operators are very likely to become tired, make mistakes, and damage instrument components. Summary of the invention

[0006] In order to overcome the shortcomings of the above-mentioned technology, the present invention provides an automatic control method, system, equipment and storage medium for a well logging crawler, which can solve the technical problem that it is difficult to effectively control the crawling speed in the complex downhole environment using current crawler control measures, resulting in low operating efficiency.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A method for automatically controlling a well logging crawler, applied to a control end, comprising:

[0009] Sending forward instructions, pressurization instructions and voltage-increasing instructions in sequence, so that the crawler can sequentially perform the processes of forward crawling, opening the push-and-lean arm and accelerating crawling according to the forward instructions, pressurization instructions and voltage-increasing instructions; at the same time, receiving the output of the programmable DC power supply in real time;

[0010] The received output is compared with the preset current threshold in real time. If the output exceeds the current threshold, the pressure relief command, voltage reduction command and shutdown command are sent in sequence, so that the crawler can execute the process of retracting the push arm, slowing down crawling and stopping crawling in sequence according to the pressure relief command, voltage reduction command and shutdown command; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0011] Furthermore, the output quantity includes output voltage data and output current data of the programmable direct current power supply.

[0012] Furthermore, when the output current data exceeds 1.5 times the current value corresponding to the normal crawling state of the crawler, a pressure relief instruction, a voltage reduction instruction and a shutdown instruction are sent in sequence.

[0013] Furthermore, the working mode of the crawler is determined according to the output current data of the programmable direct current power supply.

[0014] Furthermore, the working mode includes a normal working mode and a complex path working mode.

[0015] Furthermore, when the crawler is in a normal working mode, it continues to receive output current data of the programmable DC power supply until the output current data exceeds 1.5 times the current value corresponding to the normal crawling state of the crawler.

[0016] Furthermore, when the crawler is in a complex path working mode, the current change rate is calculated based on the output current data; combined with a preset current change rate threshold, a voltage adjustment instruction is output to keep the current change rate within a preset controllable threshold.

[0017] A well logging crawler automatic control system, used to implement the steps of the well logging crawler automatic control method described above, comprising:

[0018] The start-up module is used to send forward instructions, pressurization instructions and voltage increase instructions in sequence, so that the crawler can perform the processes of forward crawling, opening the push arm and accelerating crawling in sequence according to the forward instructions, pressurization instructions and voltage increase instructions; at the same time, it receives the output of the programmable DC power supply in real time;

[0019] The judgment module is used to make a real-time judgment between the received output and the preset current threshold. If the output exceeds the current threshold, a pressure relief instruction, a voltage reduction instruction and a shutdown instruction are sent in sequence, so that the crawler can execute the process of retracting the push arm, slowing down crawling and stopping crawling in sequence according to the pressure relief instruction, the voltage reduction instruction and the shutdown instruction; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0020] A device, characterized in that it comprises:

[0021] Memory for storing computer programs;

[0022] A processor is used to implement the steps of the above-mentioned logging crawler automatic control method when executing the computer program.

[0023] A computer-readable storage medium stores a computer program, which is used to implement the steps of the above-mentioned logging crawler automatic control method when executed by a processor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention provides an automatic control method for a well logging crawler. The method sequentially sends a forward instruction, a pressurization instruction and a voltage increase instruction through a control end, so that the downhole crawler executes the process of forward crawling, opening a push arm and accelerating crawling. The output of a programmable programmable DC power supply is received in real time and judged with a preset threshold. If the output exceeds the preset current threshold, a pressure relief instruction, a voltage reduction instruction and a shutdown instruction are sequentially sent to end the crawling action; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold. The method uses the output of the programmable programmable DC power supply monitored in real time to judge the current state of the downhole crawler, so that the crawler can face a complex downhole environment. The method can automatically control the crawler, thereby improving the crawling operation time efficiency and operation success rate.

[0026] Preferably, in the present invention, the working mode of the crawler is divided into a conventional working mode and a complex path working mode. When in the conventional working mode, the control end continues to receive the output current data of the programmable DC power supply until the crawling work is completed; when in the complex path working mode, the specific working condition of the crawler is determined by calculating the current change rate and combining the preset current change rate threshold, and the current change rate is kept within the preset controllable threshold by outputting a voltage adjustment instruction to the programmable DC power supply, so that the crawler maintains a certain crawling speed; through the above method, the power supply voltage of the downhole instrument is automatically adjusted, the power supply current is monitored, and the downhole wellbore environment of the crawler working well is determined by timely detecting abnormal current changes, so as to avoid sand chips getting stuck in the crawling wheel, casing deformation getting stuck in the instrument and unable to move forward, etc., which causes the downhole instrument to be unable to work. Timely alarms to remind operators can greatly reduce engineering accidents during crawling operations, save time for handling accidents, reduce engineering accidents, reduce instrument losses caused by accidents, and reduce instrument maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A structural block diagram of the automatic control system of a well logging crawler provided in Example 1 of the present invention;

[0028] Figure 2 A schematic diagram of the structure of a crawler surface control box in the automatic control system of a well logging crawler provided in Example 1 of the present invention;

[0029] Figure 3 A flowchart of initializing the automatic control system for a well logging crawler provided in Example 1 of the present invention;

[0030] Figure 4 A flowchart of the automatic control method of a well logging crawler provided in Example 1 of the present invention in a normal working mode;

[0031] Figure 5 A flow chart of the automatic control method of a well logging crawler provided in Example 2 of the present invention in a complex path working mode;

[0032] Figure 6 A flow chart of the automatic control method of the well logging crawler provided by the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the automatic control system of the well logging crawler provided by the present invention. DETAILED DESCRIPTION

[0034] The present invention provides an automatic control method for a well logging crawler, such as Figure 6 As shown, the following steps are included:

[0035] A method for automatically controlling a well logging crawler, applied to a control end, comprising:

[0036] S1: Send forward instructions, pressurization instructions and voltage increase instructions in sequence, so that the crawler can execute the process of forward crawling, opening the push arm and accelerating crawling in sequence according to the forward instructions, pressurization instructions and voltage increase instructions; at the same time, receive the output of the programmable DC power supply in real time.

[0037] S2: Make a real-time judgment between the received output and the preset current threshold. If the output exceeds the current threshold, send a pressure relief command, a voltage reduction command and a shutdown command in sequence, so that the crawler can execute the process of retracting the push arm, slowing down crawling and stopping crawling in sequence according to the pressure relief command, the voltage reduction command and the shutdown command; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0038] The above output quantities include output voltage data and output current data of the programmable direct current power supply.

[0039] The preset current threshold is 1.5 of the current value corresponding to the normal crawling state of the crawler; when the output current data exceeds 1.5 times the current value corresponding to the normal crawling state of the crawler, a pressure relief command, a voltage reduction command and a shutdown command are sent in sequence.

[0040] Specifically, the control end sends a voltage increase instruction and a voltage reduction instruction to the programmable DC power supply; and sends a forward instruction, a pressurization instruction, a pressure relief instruction and a shutdown instruction to the crawler.

[0041] The working mode of the crawler is determined according to the current data of the programmable DC power supply. The working modes specifically include the conventional working mode and the complex path working mode.

[0042] On the one hand, when the crawler is in the normal working mode, it continues to receive current data from the programmable DC power supply until the output current data exceeds 1.5 times the current value corresponding to the normal crawling state of the crawler.

[0043] On the other hand, when the crawler is in the complex path working mode, the current change rate is calculated based on the output current data; combined with the preset current change rate threshold, the voltage adjustment instruction is output to keep the current change rate within the preset controllable threshold.

[0044] Among them, the above-mentioned control end refers to the device that initiates control, and all devices containing a control unit are included, such as a mobile phone, a PC, etc. The PC in the following embodiments refers to a notebook computer, wherein the crawler control program is stored in the notebook computer.

[0045] like Figure 7As shown, the present invention also provides an automatic control system for a well logging crawler, including: a starting module, which is used to send forward instructions, pressurization instructions and voltage increase instructions in sequence, so that the crawler can execute the process of forward crawling, opening the pushing arm and accelerating crawling in sequence according to the forward instructions, pressurization instructions and voltage increase instructions; at the same time, the output of the programmable DC power supply is received in real time; a judgment module, which is used to make a real-time judgment between the received output and a preset current threshold, and if the output exceeds the current threshold, a pressure relief instruction, a voltage reduction instruction and a shutdown instruction are sent in sequence, so that the crawler can execute the process of retracting the pushing arm, slowing down crawling and stopping crawling in sequence according to the pressure relief instruction, voltage reduction instruction and shutdown instruction; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0046] The present invention also provides a device, comprising: a memory for storing a computer program; and a processor for implementing the steps of the automatic control method of the well logging crawler when executing the computer program.

[0047] When the processor executes the computer program, the steps of automatically controlling the well logging crawler are implemented, for example:

[0048] The forward command, the pressurization command and the voltage increase command are sent in sequence, so that the crawler can execute the process of forward crawling, opening the pushing and leaning arm and accelerating crawling in sequence according to the forward command, the pressurization command and the voltage increase command; at the same time, the output of the programmable DC power supply is received in real time; the received output is compared with the preset current threshold in real time, and if the output exceeds the current threshold, the pressure relief command, the voltage reduction command and the shutdown command are sent in sequence, so that the crawler can execute the process of retracting the pushing and leaning arm, slowing down crawling and stopping crawling in sequence according to the pressure relief command, the voltage reduction command and the shutdown command; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0049] Alternatively, the processor implements the functions of each module in the above system when executing the computer program, for example: a starting module, which is used to send forward instructions, pressurization instructions and voltage increase instructions in sequence, so that the crawler can execute the process of forward crawling, opening the pushing arm and accelerating crawling in sequence according to the forward instructions, pressurization instructions and voltage increase instructions; at the same time, receive the output of the programmable DC power supply in real time; a judgment module, which is used to make a real-time judgment between the received output and a preset current threshold, and if the output exceeds the current threshold, send a pressure relief instruction, a voltage reduction instruction and a shutdown instruction in sequence, so that the crawler can execute the process of retracting the pushing arm, slowing down crawling and stopping crawling in sequence according to the pressure relief instruction, voltage reduction instruction and shutdown instruction; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0050] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of completing preset functions, and the instruction segments are used to describe the execution process of the computer program in the logging crawler automatic control device. For example, the computer program may be divided into a startup module and a judgment module; the specific functions of each module are as follows:

[0051] The starting module is used to send forward instructions, pressurization instructions and voltage increase instructions in sequence, so that the crawler can execute the process of forward crawling, opening the pushing and leaning arms and accelerating crawling in sequence according to the forward instructions, pressurization instructions and voltage increase instructions; at the same time, the output of the programmable DC power supply is received in real time; the judgment module is used to make a real-time judgment between the received output and the preset current threshold. If the output exceeds the current threshold, the pressure relief instruction, voltage reduction instruction and shutdown instruction are sent in sequence, so that the crawler can execute the process of retracting the pushing and leaning arms, slowing down crawling and stopping crawling in sequence according to the pressure relief instruction, voltage reduction instruction and shutdown instruction; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

[0052] The automatic control device for the well logging crawler can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The automatic control device for the well logging crawler can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above is an example of an automatic control device for a well logging crawler and does not constitute a limitation on the automatic control device for a well logging crawler. It can include more components than the above, or a combination of certain components, or different components. For example, the automatic control device for the well logging crawler can also include input and output devices, network access devices, buses, etc.

[0053] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The processor is the control center of the automatic control of the well logging crawler, and uses various interfaces and lines to connect various parts of the entire automatic control device of the well logging crawler.

[0054] The memory can be used to store the computer program and / or module, and the processor implements various functions of the logging crawler automatic control device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory.

[0055] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0056] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the automatic control method of a well logging crawler are implemented.

[0057] If the module / unit integrated in the logging crawler automatic control system is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0058] Based on this understanding, the present invention implements all or part of the processes in the above-mentioned logging crawler automatic control method, and can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned logging crawler automatic control method can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or preset intermediate form, etc.

[0059] The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0060] It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electrical carrier signals and telecommunication signals.

[0061] The present invention will be further described below in conjunction with the embodiments and drawings:

[0062] Example 1

[0063] As mentioned in the background technology: conventional crawler control measures are difficult to effectively control the crawling speed in the face of complex underground environments, resulting in low operating efficiency.

[0064] In order to solve the above technical problems: This embodiment provides a logging crawler automatic control method, system, equipment and storage medium. This automatic control method can solve the problems existing in the process of transporting logging downhole instruments in oilfield cased wells with high inclination and horizontal well sections, meet the needs of the crawler to transport logging instruments, overcome the adverse effects of the complex casing structure in horizontal wells on the crawling and transporting instruments, so as to achieve high-speed stable crawling and improve the operation timeliness. The crawler operation process is automated to improve the operation work efficiency.

[0065] In addition, the automatic control system of the logging crawler can automatically make intelligent judgments based on the working status information of the downhole instrument, issue corresponding control instructions, and automatically complete the operation process of the crawler conveying the instrument. The system also has an automatic protection function for the moving parts of the hydraulic mechanism of the downhole instrument during use.

[0066] In addition, the automatic control system of the well logging crawler also provides a crawler ground control box with the function of automatically adjusting the working voltage of the downhole instrument. In conjunction with a special motor drive power supply, it can automatically adjust the power supply voltage according to the working state of the motor of the downhole instrument, so that the motor can reach the best working state.

[0067] In addition, the automatic control system of the well logging crawler also provides a crawler downhole instrument circuit, which serves as the measurement and control circuit of the hydraulic part of the downhole instrument and is matched with the crawler ground control box, so that the downhole instrument and the ground instrument form a complete control system, realizing the automation of the crawler instrument conveying process.

[0068] The specific structure is as follows:

[0069] like Figure 1As shown in the figure, it is a block diagram of the automatic control system of the logging crawler; the system consists of the following parts: a notebook computer that realizes the process action of controlling the programmable program-controlled DC power supply and downhole instruments, completes the real-time control of the crawling work process, and the real-time data acquisition and recording functions; a crawler ground control box that connects the notebook computer with the programmable program-controlled DC power supply and downhole instruments to complete the communication between the three; a programmable program-controlled DC power supply that adjusts the power supply voltage and current setting for the downhole instruments under the control of the notebook computer; a cable that connects the crawler ground control box and the downhole instruments, as well as the winch and logging cable that the winch pulls the downhole instruments to move in the well; and a downhole instrument that pushes the logging downhole instruments to move in the casing under the control of the ground instruments.

[0070] The downhole crawler instrument (crawler) consists of two parts: a downhole instrument circuit part for detecting the working status of the downhole instrument and controlling the hydraulic part and the crawler wheel status function; and a downhole instrument motion mechanical part for realizing crawling operation and energy transmission.

[0071] The hydraulic and motion mechanical parts of the downhole instrument include a hydraulic pump driving a brushless DC motor that realizes the function of converting electrical energy into mechanical energy and transmitting it to the hydraulic pump; a push-pull solenoid valve that realizes the change of the oil inlet direction of the push-pull arm to complete the opening and closing function of the push-pull arm; hydraulic components and manifolds that realize the functions of hydraulic energy transmission and energy distribution; a hydraulic pump that realizes the function of converting mechanical energy into hydraulic energy; a pressure sensor that realizes the function of converting the pressure of the power hydraulic oil output by the hydraulic pump into an electrical signal; a temperature sensor that realizes the function of converting the temperature of the brushless DC motor and controller into an electrical signal; a push-pull arm that realizes the function of converting hydraulic energy into mechanical energy and pressing the creeping wheel against the inner wall of the casing; a transmission mechanical part that realizes the function of converting electrical energy into mechanical energy and transmitting it to the creeping wheel and a driving brushless DC motor.

[0072] Among them, the laptop computer of this system is equipped with a 64-bit operating system Windows 11 operating system, based on an x64-bit processor. The crawler application is based on system software and hardware resources, connected to the network communication board of the ground control box, and communicates with it through the ETHERNET LAN network to control the crawler downhole instruments and programmable DC power supply.

[0073] According to the requirements of crawler operation control, the system laptop controls the programmable DC power supply to power the downhole instruments. The laptop and the crawler ground control box use ETHERNET LAN network cable communication to transmit data, and the crawler ground control box and the programmable DC power supply use RS485 serial port communication to transmit data.

[0074] The system collects the working status information of the hydraulic part of the downhole instrument and its power supply information. Based on the collected downhole instrument information, it automatically makes intelligent judgments according to the program setting conditions, obtains the judgment results, and issues control instructions to the motor drive power supply and downhole instruments according to the results, automatically adjusting the working status of the crawler operation. The notebook computer records the crawler operation data in real time, and the data can be played back and printed out.

[0075] like Figure 2 As shown, the crawler ground control box of the present system includes a downhole power supply system for separating and adding ground and downhole instrument communication signals, and a programmable DC power supply to supply power to the downhole; a power supply module for accessing the mains to power the circuits in the box; a modem board for receiving downhole instrument communication signals and sending communication signals to the downhole instruments; an ETHERNET LAN network for accessing a notebook computer, and a network communication board for accessing the RS485 interface of the programmable DC power supply and communicating with it.

[0076] The downhole power supply system consists of a downhole power supply interface that is connected to a programmable DC power supply to output voltage and current to power downhole instruments, and a DC isolation circuit interface that separates downhole communications.

[0077] The power supply module consists of a rectifier and voltage regulator circuit and a switching power supply, which converts the incoming 220V AC mains power into a DC power supply of different voltage values ​​required by the circuits in the ground control box.

[0078] The modem board consists of two parts: a signal sending circuit that modulates the digital quantity sent from the laptop computer and sends it to the downhole cable; and a signal receiving circuit that demodulates the signal uploaded from the downhole instrument from the cable into a digital quantity and sends it to the network communication board.

[0079] The network communication board uses the single-chip microcomputer AT91SAM7X256-AU as the core controller, which processes the connected laptop computer ETHERNET LAN network communication and forwards it to the modem board to the downhole instrument and receives the information uploaded by the downhole instrument, as well as transfers the connected programmed DC power supply RS485 serial port communication to the laptop computer ETHERNET LAN network communication.

[0080] The logging connection method of this system is that the logging cable and winch slip ring are connected to the horse head, the slip ring line is connected to the ground control box, and the crawler downhole instrument is connected to the horse head; the operation working method is to use two types of multi-core or single-core logging cables. The logging cable connects the crawler downhole instrument and the ground instrument, and the communication transmission and power supply between them are connected. The logging cable is released by rotating the logging winch drum. In a highly deviated well or horizontal well, the downhole instrument rotates the crawler wheel under the control of the ground crawler system, pushes the push arm, and the crawler wheel presses against the inner wall of the casing and crawls along the inner wall of the casing. The logging cable is dragged behind the crawler downhole instrument, and the logging instrument is pushed to the bottom of the well forward to push the logging instrument, so that the logging instrument is transported to the destination, and then the cable usage right is returned to the logging instrument for logging.

[0081] The crawler downhole instrument of this system is connected to the well logging cable faucet, and is composed of the crawler downhole instrument circuit, the crawler downhole instrument mechanical hydraulic part, and is distributed in the rotating short section, magnetic positioning short section, centralizer, circuit short section, centralizer, hydraulic power short section, crawling drive short section, hydraulic balance short section, centralizer and other short sections. The specific structure is as follows Figure 1 shown.

[0082] The crawler downhole instrument circuit includes communication control, power supply, magnetic positioning detector, sensor acquisition circuit of the instrument hydraulic part, hydraulic circuit solenoid valve control circuit, brushless DC motor and controller, etc. It receives the control command of the ground system, the magnetic positioning signal of the casing of the crawler downhole instrument in the downhole crawling position, and transmits the downhole instrument status data to the ground. Under the control of the ground system, the hydraulic part of the downhole instrument provides hydraulic power to the crawler actuator and provides pushing power to the crawler wheel. The brushless DC motor drives the crawler wheel to rotate and crawl along the inner wall of the casing to complete the traction process of pushing the logging instrument.

[0083] The rotating short section consists of a slip ring, a through line and a hydraulic sealing device. It is used to adjust the instrument's posture underground so that the malachite and logging cable do not roll with the crawler's posture changes, preventing the cable from generating additional rotational torque and causing cable entanglement, leading to engineering accidents.

[0084] The magnetic positioning nipple is composed of magnetic steel and winding coils, and is used as a sensor for measuring coupling signals. When the crawler passes through the casing coupling, the generated voltage signal is transmitted to the communication measurement control unit, the coupling is detected, and the crawling process is reflected.

[0085] The circuit subsection includes a circuit power supply unit and a communication measurement control unit, which receives control instructions from ground equipment and controls the crawler's underground crawling movement.

[0086] The centralizer pup section includes mechanical structures such as circuit wires and wheeled arms, which support the instrument underground so that the crawler instrument body does not cling to the inner wall of the casing, reducing the friction resistance between the instrument and the casing when crawling.

[0087] The hydraulic power pup section contains a brushless DC motor and controller, solenoid valve, hydraulic pump, pressure sensor, etc. Under the control of the circuit pup section, it generates hydraulic power to push open the push arm in the creep drive pup section.

[0088] The crawling drive subsection contains a brushless DC motor, a controller, and a mechanical push arm. Under the control of the circuit subsection, the brushless DC motor rotates through the transmission device to rotate the crawling wheel at the far end of the push arm. The push arm is opened to make the crawling wheel close to the inner wall of the casing, generating a crawling force to push the instrument to crawl. The controller of each brushless DC motor is an intelligent unit and an independent data node for communication with the ground.

[0089] The hydraulic balance nipple contains circuit wires, balance cylinders and other mechanical components to balance the internal hydraulic system of the instrument with the liquid environment pressure in the wellbore and protect the safety of the instrument structure.

[0090] The brushless DC motor and controller are composed of a controller and a motor. The controller supplies power to the synchronous motor according to the fixed control parameters set by the instrument, controls the motor speed and direction, receives the control of the communication measurement control unit of the circuit short section, drives the motor to rotate, drives the crawler wheel to rotate through the mechanical transmission mechanism, and drives the hydraulic pump to rotate to generate hydraulic power to push the push arm, so that the crawler wheel is close to the inner wall of the casing, so that the crawler pushes the logging instrument along the inner wall of the casing in the wellbore to move together.

[0091] like Figure 3 As shown, when the system is crawling, it is necessary to initialize each module, specifically:

[0092] During the crawling operation, the crawler downhole instrument and the connected logging instrument are connected to the armored seven-core or single-core cable on the logging winch, and are lowered to a position where the instrument can no longer slide freely down the well, and the crawling operation begins. The laptop computer, the crawler ground control box, and the programmable program-controlled DC power supply are started, and the laptop computer runs the crawler program, first completing the initialization, establishing communication with the crawler ground control box and the programmable program-controlled DC power supply, adjusting the programmable program-controlled DC power supply output voltage, and supplying the crawler downhole instrument DC output voltage from 0V to 70±5V. After reaching the value of 70±5V, wait for the crawler to respond. When the output current jumps from the initial 30mA to greater than or equal to 150mA, adjust the voltage to 240V. When the output voltage reaches 240±10V, the current drops from 150mA to 75±10mA. The crawler is powered on, the communication measurement control unit is initialized, the laptop computer connects to the logging crawler to establish communication with it, and the crawler crawling speed automatic control system is initialized.

[0093] Below, use Figure 4 The operation process of conveying logging instruments by the crawler automatic control system of this embodiment is described.

[0094] like Figure 4 As shown, the crawler and logging instrument assembly slides freely down the well and encounters an obstruction. The crawling operation begins and the crawler crawling speed automatic control system is initialized. The crawler application on the laptop computer addresses each intelligent unit of the crawler downhole instrument and registers with it, collects the node status data of each intelligent unit, controls each intelligent unit, and then runs the control process, sends forward instructions to the crawler to start the brushless DC motors corresponding to each registered intelligent node in sequence, and the crawling wheel also rotates in sequence. The corresponding speed, current and temperature data under each brushless DC motor number, the cable head voltage and cable head current data of the circuit short section are displayed in the crawling data display area, and the CCL signal data curve and pressure data collected by the magnetic positioning short section are displayed in a time-driven manner in the drawing area. According to the curve and crawler speed data curve; a pressurization command is sent to the crawler to energize the solenoid valve, the solenoid valve changes the oil circuit, the hydraulic oil drags the hydraulic cylinder, the push arm is opened, the crawler wheel gradually sticks to the inner wall of the casing, and the pressure gradually rises to the preset pressure setting value, pushing the crawler instrument forward in the casing; a voltage increase command is sent to the programmable DC power supply, the cable head voltage and current increase, the brushless DC motor power supply voltage increases, the speed increases, the crawler wheel speed increases, and the crawler accelerates to the rated crawling speed; the changes in the CCL signal data curve indicate that the movement state of the crawler in the casing has changed. When the crawler crawls to the bottom of the well, the instrument encounters resistance, and the output current of the programmable DC power supply increases, exceeding the current value during normal crawling movement by 1.5 times. A pressure relief command is sent to the crawler, and the push arm is retracted into the push arm compartment in the crawler. Then a voltage reduction command is sent to the programmable DC power supply. When the output voltage value is lower than 200V, a stop command is sent to the crawler, and the brushless DC motor stops rotating. When the hydraulic pressure drops to 0MPa, the display prompts that the crawling work is completed. The crawler's underground operation is completed, and the cable usage rights are returned to the logging instrument.

[0095] Below, use Figure 5 In Example 2, the logging crawler automatic control system crawls over obstacles (complex path mode) to transport the logging instrument.

[0096] Example 2

[0097] like Figure 5 As shown in FIG. 1 , according to the construction process of conveying logging instruments by crawlers, when the crawler and logging instrument assembly is lowered by the logging winch cable to the high-angle well section and encounters an obstacle, the winch stops the instrument lowering process and starts the crawling operation. First, the operator lets the logging crawler crawling speed automatic control system take over the cable usage and completes the initialization process of the logging crawler crawling speed automatic control system (such as Figure 3As shown in the figure, the complex path working mode is selected. First, the logging crawler automatic control system starts the normal working mode, sends a voltage increase command to the programmable DC power supply, the crawler wheel speed increases, and the crawler accelerates to the rated crawling speed state. Then, according to the complex well conditions provided by the well team, the logging crawler crawling speed automatic control system crawls the complex path to transport the logging instrument. The laptop crawler application automatically detects the output current I of the programmable DC power supply, regulates the voltage U, detects the changes ΔU and ΔI of the voltage and current within the time Δt, and checks the current I time change rate K = ΔI / Δt, where Δt is the time required for the change.

[0098] When the crawler logging instrument assembly crawls underground, as the horizontal section of the crawler increases, the cable dragged behind it continues to grow, and the load continues to increase. The crawler needs to increase the crawling power, maintain the crawling speed, and maintain a small output current I. The laptop computer crawler application automatically adjusts the output voltage U of the programmable DC power supply to keep K in the numerical range [K0, K1], that is, within the controllable threshold.

[0099] During the process of conveying logging instruments in the horizontal section of the well, due to the requirements of cementing technology itself and the characteristics of the wellbore structure, in the horizontal section, the wellbore is tilted up at a certain angle to the front of the crawler to convey the instrument, forming an uphill crawling distance. When the crawler encounters an uphill journey in the horizontal section, the load increase exceeds the horizontal section of the same distance. The crawler needs to increase the crawling power, maintain the crawling speed, and maintain a small output current I. The laptop crawler application automatically adjusts the voltage U so that K is in the value range [K1, K2]. K0, K1 and K2 represent the three preset thresholds corresponding to the current change rate, which are empirical values ​​for reference. The actual working conditions are not limited to the three preset current change rate thresholds.

[0100] In horizontal well cementing technology, when the casing connection in the horizontal well section is too long, and the well construction requirements require the use of floating short casing for adjustment in the middle. When the crawler is transporting logging instruments in the horizontal well section with floating short casing, the instrument will not be affected if it passes through the floating short casing. If it cannot pass through, it will encounter resistance, and the output current of the programmable DC power supply will increase, exceeding the current value during normal crawling movement by 1.5 times, and sending a pressure relief command to the crawler, so that the push arm is retracted into the push arm compartment in the crawler, and then sending a voltage reduction command to the programmable DC power supply. When the output voltage value is lower than 200V, a stop command is sent to the crawler, and the brushless DC motor stops rotating. When the hydraulic pressure drops to 0MPa, the display prompts the end of the operation.

[0101] When there are complex wellbore conditions such as sand coming out of the bottom of the production well, residual dirt after well washing, and casing deformation, obstacles will be formed for the crawling conveying instrument, hindering the movement of the crawler. The crawler must make correct handling when encountering obstacles in front of it to ensure safe construction with maximum work efficiency and benefits.

[0102] When the crawler logging instrument assembly crawls underground, there is a small amount of sand and sludge with high viscosity in the casing, which will adhere to the crawling wheel and cause crawling obstacles. The rotation resistance of the crawling wheel increases, causing the output current I of the programmable DC power supply to increase, K>K2, and the crawling speed is less than the rated value. If the situation is very serious, the operation of the crawling conveying logging instrument can no longer be continued, and it is necessary to terminate the operation, pull out the instrument, and report to the operation team for well washing operations.

[0103] When the crawler logging instrument assembly crawls underground, the horizontal section casing will be deformed due to corrosion over the years. The severely deformed casing will jam the instrument assembly, causing the output current I of the programmable DC power supply to increase, K>K2, the instrument stagnates, and the current suddenly increases by about 1.5 times the value during crawling. When this happens, the crawler is required to stop crawling, retreat and cooperate with the winch to unblock. After unblocking, the crawling and conveying logging instrument operation must be stopped and the operation team must be reported to carry out underground casing processing.

[0104] When the crawler logging instrument assembly crawls underground and reaches the bottom of the well, the instrument encounters resistance and the current suddenly increases to about 1.5 times the value during crawling. The laptop computer crawler application automatically judges and issues a pressure relief command, the solenoid valve is powered off and reset, the oil circuit is changed, the push cylinder unloads oil, the mechanical push arm is retracted, and the crawler wheel is out of contact with the inner wall of the casing; a voltage reduction command is issued to the programmable DC power supply. When the voltage drops below 200V, a shutdown command is issued, and all brushless DC motors and controller-controlled motors stop rotating. When the voltage drops to 0V, the crawler application reports that the crawler operation is completed.

[0105] In summary, the automatic control method and system of the well logging crawler provided by the present invention have the following advantages over the existing control measures:

[0106] The method and system can issue corresponding control instructions, automatically adjust the crawling speed of the crawler during the process of crawling and conveying logging instruments underground, intelligently control the crawling process, and timely detect that the current increases with the weight load of the towing cable as the crawling working time increases. The system automatically adjusts and increases the power supply voltage, increases the output power of the crawler, reduces the current increment, and adapts to the increase in the workload of the crawler. It can automatically avoid manual misoperation caused by operator fatigue caused by long-term crawling of the instrument, thereby reducing labor intensity and improving the timeliness and success rate of the crawling operation.

[0107] In addition, it can automatically adjust the power supply voltage of downhole instruments, monitor the power supply current, and judge the downhole wellbore environment of the crawler by timely detecting abnormal current changes, so as to avoid sand chips getting stuck in the crawling wheel, casing deformation blocking the instrument from moving forward, etc., which would cause the crawler's downhole instruments to be unable to work. Timely alarms can be issued to prompt operators, which can greatly reduce engineering accidents during crawling operations, save time in handling accidents, reduce instrument losses caused by accidents, and reduce instrument maintenance costs.

[0108] The above embodiment is only one of the implementation methods that can realize the technical solution of the present invention. The scope of protection claimed by the present invention is not limited only to this embodiment, but also includes changes, replacements and other implementation methods that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention.

Claims

1. A method for automatically controlling a well logging crawler, characterized in that: Applied to the control end, including: Sending forward instructions, pressurization instructions and voltage-increasing instructions in sequence, so that the crawler can sequentially perform the processes of forward crawling, opening the push-and-lean arm and accelerating crawling according to the forward instructions, pressurization instructions and voltage-increasing instructions; at the same time, receiving the output of the programmable DC power supply in real time; The received output is compared with the preset current threshold in real time. If the output exceeds the current threshold, the pressure relief command, voltage reduction command and shutdown command are sent in sequence, so that the crawler can execute the process of retracting the push arm, slowing down crawling and stopping crawling in sequence according to the pressure relief command, voltage reduction command and shutdown command; otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

2. The automatic control method of a well logging crawler according to claim 1, characterized in that: The output quantity includes output voltage data and output current data of the programmable direct current power supply.

3. The automatic control method of a well logging crawler according to claim 2, characterized in that: When the output current data exceeds 1.5 times the current value corresponding to the normal crawling state of the crawler, a pressure relief command, a voltage reduction command and a shutdown command are sent in sequence.

4. The automatic control method of a well logging crawler according to claim 2, characterized in that: The working mode of the crawler is determined based on the output current data of the programmable DC power supply.

5. The automatic control method of a well logging crawler according to claim 4, characterized in that: The working modes include a normal working mode and a complex path working mode.

6. The automatic control method of a well logging crawler according to claim 5, characterized in that: When the crawler is in normal working mode, it continues to receive output current data of the programmable DC power supply until the output current data exceeds 1.5 times the current value corresponding to the normal crawling state of the crawler.

7. The automatic control method of a well logging crawler according to claim 5, characterized in that: When the crawler is in the complex path working mode, the current change rate is calculated based on the output current data; combined with the preset current change rate threshold, the voltage adjustment instruction is output to keep the current change rate within the preset controllable threshold.

8. A well logging crawler automatic control system, used to implement the steps of the well logging crawler automatic control method according to any one of claims 1 to 7, characterized in that: include: The start-up module is used to send forward instructions, pressurization instructions and voltage increase instructions in sequence, so that the crawler can perform the processes of forward crawling, opening the push arm and accelerating crawling in sequence according to the forward instructions, pressurization instructions and voltage increase instructions; at the same time, it receives the output of the programmable DC power supply in real time; A judgment module is used to make a real-time judgment between the received output and the preset current threshold. If the output exceeds the current threshold, a pressure relief instruction, a voltage reduction instruction and a shutdown instruction are sent in sequence, so that the crawler can sequentially execute the process of retracting the push arm, slowing down crawling and stopping crawling according to the pressure relief instruction, the voltage reduction instruction and the shutdown instruction; Otherwise, the crawler continues to crawl forward until the output exceeds the current threshold.

9. A device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the automatic control method of a well logging crawler according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it is used to implement the steps of the automatic control method of a well logging crawler according to any one of claims 1 to 7.

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