Hall sensor-based guiding nipple attitude measurement method

Abstract

The invention discloses a guide pup joint attitude measurement method based on a Hall sensor, and relates to the technical field of well drilling. A magnetic tool face angle B of a non-magnetic drill collar is obtained by using a wireless while-drilling instrument; when the Hall sensor is located at the zero-degree position of the gravity tool face angle, the gravity tool face angle F in the wireless while-drilling instrument is read; according to the sum of the fixed angle difference G between the gravity tool face angle starting point and the magnetic tool face angle starting point and the gravity tool face angle F, the angle difference C between the Hall sensor and the wireless while-drilling instrument is obtained; obtaining an angular difference D between the magnet and the rib plate; when the non-magnetic drill collar rotates at a constant speed, the angular difference E between the magnet and the Hall sensor is calculated based on t / T * 360 degrees; the magnetic tool face angle A of the rib plate is obtained according to the sum of the magnetic tool face angle B, the angular difference C, the angular difference D and the angular difference E, and the posture of the guide nipple is judged based on the magnetic tool face angle A of the rib plate. The magnetic tool face angle of the rib plate is obtained based on cooperation of the wireless while-drilling instrument, the Hall sensor and the magnet, so that attitude information of the guide nipple is obtained, and the measurement precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of drilling, and in particular to a method for measuring the attitude of a guide sub based on a Hall sensor. Background Art

[0002] As a key factor in determining the attitude of the steering sub, the accurate measurement of the tool face angle is crucial to the success of the rotary steerable system. Both the magnetic tool face angle and the gravity tool face angle play an irreplaceable role in the drilling process. At present, the following methods are usually used to measure the magnetic tool face angle of the steering sub:

[0003] (1) Based on the three-axis magnetic sensor measurement method, the projection direction of the geomagnetic field on the drill collar cross section is measured by the three-axis magnetic sensor. The magnetic tool face angle is calculated by combining the drill collar reference position and the magnetometer measurement component. However, this method is affected by the steel material of the guide pup joint, and the three-axis magnetic sensor may be disturbed, resulting in limited measurement accuracy.

[0004] (2) A measurement method that integrates data from multiple sensors, such as a three-axis magnetic sensor, an accelerometer, and a gyroscope. The accelerometer and gyroscope can assist in measuring the attitude and angular velocity of the drill collar, thereby further correcting the measured value of the magnetic tool face angle. This method requires more complex hardware and software support and is more expensive.

[0005] (3) The measurement method based on the rotary transformer measures the angular position of the motor rotor relative to the stator through the rotary transformer, thereby indirectly obtaining the magnetic tool face angle; its algorithm is complex, requires dedicated chip support, and has a high cost. Summary of the invention

[0006] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method for measuring the attitude of a guide pup joint based on a Hall sensor, and to obtain the magnetic tool face angles of three ribs based on the cooperation of a wireless drilling instrument, a Hall sensor and a magnet, thereby obtaining the attitude information of the guide pup joint and improving the measurement accuracy.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] An embodiment of the present invention provides a method for measuring the attitude of a guide sub based on a Hall sensor, comprising:

[0009] The magnetic tool face angle B of the non-magnetic drill collar is obtained by using a wireless while-drilling instrument;

[0010] When the Hall sensor is located at the gravity tool face angle 0 degree position, the gravity tool face angle F in the wireless drilling tool is read; the angle difference C between the Hall sensor and the wireless drilling tool is obtained according to the sum of the fixed angle difference G between the starting point of the gravity tool face angle and the starting point of the magnetic tool face angle and the gravity tool face angle F;

[0011] Obtain the angular difference D between the magnet and any rib;

[0012] When the non-magnetic drill collar rotates at a constant speed, the angular difference E between the magnet and the Hall sensor is calculated based on t / T*360°; where t is the time from the moment when the magnetic field is the strongest, and T is the time required for the non-magnetic drill collar to rotate one circle;

[0013] The magnetic tool face angle A of the rib is obtained according to the sum of the magnetic tool face angle B, the angle difference C, the angle difference D and the angle difference E. The attitude of the guide pup joint is determined based on the magnetic tool face angle A of the rib.

[0014] As a further implementation, the magnetic tool face angles of the other two ribs are A+120° and A+240° respectively.

[0015] As a further implementation, the fixed angle difference G is 0.

[0016] As a further implementation, the angular difference D is a constant.

[0017] As a further implementation method, when the non-magnetic drill collar rotates at a constant speed, the MCU always reads the value of the Hall sensor and records the moment when the magnetic field is the strongest and the time T required for one rotation.

[0018] As a further implementation method, the MCU obtains the magnetic tool face angle B of the wireless drilling tool at the same time as reading the Hall sensor value.

[0019] As a further implementation method, the Hall sensor measures the magnet once per revolution, and the angular difference between the Hall sensor and the magnet at different time points is calculated according to the uniform drilling speed.

[0020] As a further implementation method, the angular difference C is measured before drilling, and the rotary steering system equipped with the Hall sensor and the magnet is placed horizontally so that the Hall sensor is located on the vertical plane of the center of the non-magnetic drill collar and above the center of the non-magnetic drill collar.

[0021] As a further implementation, the Hall sensor is fixed to the outer wall of the drill pipe portion inside the guide pup joint, the magnet is fixed to the inner wall of the guide pup joint, and the installation height of the magnet corresponds to that of the Hall sensor.

[0022] As a further implementation, the wireless drilling tool is installed inside a non-magnetic drill collar.

[0023] The beneficial effects of the present invention are as follows:

[0024] The present invention calculates the angular difference between the Hall sensor and the magnet at different time points according to the uniform drilling speed; firstly measures the gravity tool face angle of the Hall sensor through the wireless drilling instrument, then calculates the angular difference of the magnetic tool face angle of the Hall sensor according to the fixed angular difference between the gravity tool face angle and the magnetic tool face angle in the wireless drilling instrument, and then comprehensively calculates the magnetic tool face angles of three ribs on the guide short section according to the fixed angular difference between the magnet and the rib, so that the accurate posture of the guide short section can be obtained and the measurement accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0026] Figure 1 is a flow chart of Embodiment 1 of the present invention;

[0027] Figure 2 is a stereoscopic diagram of a rotary steering system according to Embodiment 1 of the present invention;

[0028] Figure 3 It is a transverse cross-sectional view of the guide short section of Example 1 of the present invention.

[0029] Among them, 1. non-magnetic drill collar, 2. guide short section, 3. wireless drilling instrument, 4. magnet, 5. rib plate, 6. Hall sensor, 7. drill pipe part. DETAILED DESCRIPTION

[0030] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0031] Embodiment 1:

[0032] This embodiment provides a method for measuring the attitude of a guide pup joint based on a Hall sensor, and uses a rotary guide system equipped with a Hall sensor 6 to obtain the magnetic tool face angle of the guide pup joint 2. The attitude of the guide pup joint 2 can be obtained according to the magnetic tool face angle of the guide pup joint 2; Figure 2 and Figure 3 As shown, the rotary steering system consists of a guide short section 2, a non-magnetic drill collar 1, an MCU, etc. A wireless drilling instrument 3 is arranged in the non-magnetic drill collar 1, three ribs 5 are evenly distributed on the outer side of the guide short section 2, a Hall sensor 6 is fixed to the outer wall of the drill pipe part 7 on the inner side of the guide short section 2, and a magnet 4 is fixed to the inner wall of the guide short section 2 and is located at the same installation height as the Hall sensor 6.

[0033] During the drilling process, the guide sub 2 is in close contact with the underground mud and rock and basically does not rotate, while the non-magnetic drill collar 1 rotates continuously; although the speed of the non-magnetic drill collar 1 will be adjusted during the entire drilling process, at a specific moment, within a few minutes, the non-magnetic drill collar 1 can be regarded as rotating at a uniform speed.

[0034] like Figure 1 As shown, the specific measurement method is:

[0035] The wireless drilling instrument 3 can obtain the magnetic tool face angle B of the non-magnetic drill collar 1 at any time. Since the non-magnetic drill collar 1 rotates continuously, the magnetic tool face angle B of the non-magnetic drill collar 1 is not equal to the magnetic tool face angle A of the rib plate 5 relative to the earth's magnetic field, and the magnetic tool face angle A of the rib plate 5 is the measurement data that needs to be obtained in the end.

[0036] Since the Hall sensor 6 is installed at the part corresponding to the guide sub 2, due to the installation process limitation, there is an angle difference C between the Hall sensor 6 and the wireless drilling tool 3. The angle difference C needs to be measured before drilling. The measurement method of the angle difference C is:

[0037] The rotary steering system is placed horizontally on the ground, and the Hall sensor 6 is located at the position of the gravity tool face angle of 0 degrees. Specifically, the Hall sensor 6 is located at the upper side and is in the same vertical plane as the center of the non-magnetic drill collar 1; the gravity tool face angle F in the wireless drilling instrument 3 is read. Among them, F is the angle between the starting point of the wireless drilling instrument 3 and the gravity tool face angle of 0 degrees. Since there is also a fixed angle difference G between the starting point of the gravity tool face angle and the starting point of the magnetic tool face angle in the wireless drilling instrument 3, C is equal to F+G. Normally, the fixed angle difference G is 0; of course, for some manufacturers' wireless drilling instruments 3, the fixed angle difference G is not 0, such as 45° or 90°.

[0038] Since the magnet 4 is mounted on the guide nipple 2 at the same mounting height as the Hall sensor 6, the relative positions of the magnet 4 and the three ribs 5 are fixed, and there is an angular difference D, which is a constant and determined by the physical structure.

[0039] When the non-magnetic drill collar 1 rotates at a constant speed, the MCU always reads the value of the Hall sensor 6 and records the moment when the magnetic field is the strongest and the time T required for one rotation. When the angle A needs to be measured, the MCU calculates the angular difference E between the magnet 4 and the Hall sensor 6 using t / T*360° based on the time t from the moment when the magnetic field is the strongest, that is, the angular difference E=t / T*360°.

[0040] At the same time when the value of the Hall sensor 6 is read, the MCU reads the magnetic tool face angle B of the wireless drilling instrument 3. Then, the magnetic tool face angle A of one of the ribs 5 on the guide short section 2 is B+C+D+E, and the magnetic tool face angles of the other two ribs 5 are A+120° and A+240° respectively; the posture of the guide short section 2 can be determined by the magnetic tool face angles of the above ribs 5.

[0041] During the drilling process, this embodiment measures the magnet 4 once per circle based on the Hall sensor 6, and calculates the angular difference between the Hall sensor 6 and the magnet 4 at different time points according to the uniform drilling speed; the gravity tool face angle of the Hall sensor 6 is first measured by the wireless drilling instrument 3, and then the angular difference of the magnetic tool face angle of the Hall sensor 6 is calculated according to the fixed angular difference between the gravity tool face angle and the magnetic tool face angle in the wireless drilling instrument 3, and then the magnetic tool face angle of the three ribs 5 on the guide short section 2 is comprehensively calculated according to the fixed angular difference between the magnet 4 and the rib 5, so that the accurate posture of the guide short section 2 can be obtained, and the measurement accuracy is improved.

[0042] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for measuring the attitude of a guide pup joint based on a Hall sensor, characterized in that: include: The magnetic tool face angle B of the non-magnetic drill collar is obtained by using a wireless while-drilling instrument; When the Hall sensor is located at the gravity tool face angle 0 degree position, read the gravity tool face angle F in the wireless drilling tool; The angle difference C between the Hall sensor and the wireless drilling tool is obtained according to the sum of the fixed angle difference G between the starting point of the gravity tool face angle and the starting point of the magnetic tool face angle and the gravity tool face angle F; Obtain the angular difference D between the magnet and any rib; When the non-magnetic drill collar rotates at a constant speed, the angular difference E between the magnet and the Hall sensor is calculated based on t / T*360°; where t is the time from the moment when the magnetic field is the strongest, and T is the time required for the non-magnetic drill collar to rotate one circle; The magnetic tool face angle A of the rib is obtained according to the sum of the magnetic tool face angle B, the angle difference C, the angle difference D and the angle difference E. The attitude of the guide pup joint is determined based on the magnetic tool face angle A of the rib.

2. According to the method for measuring the attitude of a guide pup joint based on a Hall sensor according to claim 1, it is characterized in that: The magnetic tool face angles of the other two ribs are A+120° and A+240° respectively.

3. The method for measuring the attitude of a guide pup joint based on a Hall sensor according to claim 1, characterized in that: The fixed angular difference G is 0.

4. The method for measuring the attitude of a guide pup joint based on a Hall sensor according to claim 1, characterized in that: The angular difference D is a constant.

5. The method for measuring the attitude of a guide sub based on a Hall sensor according to claim 1, characterized in that: When the non-magnetic drill collar rotates at a constant speed, the MCU always reads the value of the Hall sensor and records the moment when the magnetic field is the strongest and the time T required for one rotation.

6. The method for measuring the attitude of a guide sub based on a Hall sensor according to claim 5, characterized in that: At the same time when the MCU reads the Hall sensor value, it obtains the magnetic tool face angle B of the wireless drilling tool.

7. A method for measuring the attitude of a guide pup joint based on a Hall sensor according to claim 5 or 6, characterized in that: The Hall sensor measures the magnet once per revolution, and the angular difference between the Hall sensor and the magnet at different time points is calculated according to the uniform drilling speed.

8. The method for measuring the attitude of a guide sub based on a Hall sensor according to claim 1, characterized in that: The angular difference C is measured before drilling. The rotary steering system equipped with the Hall sensor and the magnet is placed horizontally so that the Hall sensor is located in the vertical plane of the center of the non-magnetic drill collar and above the center of the non-magnetic drill collar.

9. A method for measuring the attitude of a guide sub based on a Hall sensor according to claim 1, 5 or 6, characterized in that: The Hall sensor is fixed to the outer wall of the drill rod part inside the guide short section, the magnet is fixed to the inner wall of the guide short section, and the installation height of the magnet corresponds to that of the Hall sensor.

10. The method for measuring the attitude of a guide sub based on a Hall sensor according to claim 1, characterized in that: The wireless drilling instrument is installed inside the non-magnetic drill collar.

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