Petroleum and natural gas geological stratum directional well exploration intelligent bias guiding device and method

Abstract

The application discloses a petroleum and natural gas geological stratum directional well exploration intelligent bias guiding device and method. The device comprises two bias guiding mechanisms connected to axial two ends of a flexible pipe respectively, and an image collector is mounted at an end of a selected bias guiding mechanism. Each bias guiding mechanism comprises an assembly sleeve, a plurality of telescopic arms are uniformly hinged on the assembly sleeve in a circumferential direction, a walking assembly is hinged at one end of the telescopic arm away from the assembly sleeve, and an inclination sensor is mounted on an outer circumferential wall of the assembly sleeve. The method is to use the device to realize eccentric adjustment of a directional well, turning adjustment of the directional well and auxiliary movement of an exploration equipment. The application can effectively assist the exploration equipment to move along the extension direction of the directional well, avoids the situation that the exploration equipment is stuck, and controls the exploration equipment to approach the well wall according to requirements, so that the geological stratum at the well wall can be accurately surveyed. The application is suitable for the technical field of directional well exploration.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of geological stratum exploration, in particular to an intelligent bias guiding device and method for petroleum and natural gas geological stratum directional well exploration. BACKGROUND

[0002] At present, in the exploration of petroleum and natural gas geological stratum directional well, the exploration equipment is installed at one end of the flexible shaft, and the flexible shaft is driven to descend and rotate, so that the exploration equipment moves along the extension direction of the directional well. Since the exploration equipment is generally located near the axis of the directional well during the descending process, it has a distance from the well wall, and thus cannot accurately explore the geological stratum condition at the well wall, reducing the accuracy of exploration. Moreover, since the directional well is not straightly extended, part of the directional well is in a curved shape, and the exploration equipment does not have the ability to pass the bend, and often cannot move forward due to being stuck in the curved part of the directional well, and the flexible shaft needs to be frequently swung, so that the front end of the exploration equipment is accidentally aligned with the curved part, and then the flexible shaft is driven to continue to be lowered, so that the exploration equipment gradually enters the curved part of the directional well. This method not only affects the efficiency of exploration, but also easily causes damage to the exploration equipment. SUMMARY

[0003] The present application provides an intelligent bias guiding device and method for petroleum and natural gas geological stratum directional well exploration, which is used to assist the exploration equipment to smoothly move along the extension direction of the directional well, avoid the situation that the exploration equipment is stuck, and control the exploration equipment to approach the well wall according to the needs to accurately survey the geological stratum at the well wall.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0005] The intelligent bias guiding device for petroleum and natural gas geological stratum directional well exploration comprises two bias guiding mechanisms connected to the axial ends of the flexible pipe respectively, and the end of the selected bias guiding mechanism is provided with an image collector; each bias guiding mechanism comprises an assembly sleeve, a plurality of telescopic arms are uniformly hinged on the circumference of the assembly sleeve, a walking assembly is hinged to the end of the telescopic arm away from the assembly sleeve, and an inclination sensor is installed on the outer peripheral wall of the assembly sleeve.

[0006] Further, a tightening member is coaxially assembled in the assembly sleeve, the tightening member comprises an inflatable tightening bag, first fixed edges are respectively formed at the upper and lower ends of the inflatable tightening bag, the first fixed edges are detachably connected to the corresponding axial ends of the assembly sleeve, and an inflation joint is formed on the inflatable tightening bag.

[0007] Further, a tightening channel is formed in the middle part of the inflatable tightening bag, a support cylinder is fixed coaxially on the outer wall of the inflatable tightening bag, and the support cylinder is adapted to the inner wall of the assembly sleeve.

[0008] Further, the assembly sleeve comprises four sub-sleeves which are circumferentially arranged and spliced into a complete sleeve structure, an assembly opening is formed in the middle of the sleeve structure, a first hinged bowl is arranged between two adjacent sub-sleeves, and one end of the telescopic arm is hinged to the first hinged bowl.

[0009] Further, the telescopic arm comprises a supporting cylinder, a first joint ball is arranged on the cylinder rod of the supporting cylinder, the first joint ball is movably assembled in the first hinged bowl, a second hinged bowl is arranged at the end of the cylinder body of the supporting cylinder, a connecting column is fixed to one end of the traveling assembly close to the supporting cylinder, a second joint ball is arranged on the connecting column, and the second joint ball is movably assembled in the second hinged bowl.

[0010] Further, a hard spring is arranged outside the supporting cylinder, and the two ends of the hard spring are fixedly connected with the sub-sleeve and the traveling assembly respectively.

[0011] Further, the traveling assembly comprises an assembly seat hinged to the telescopic arm, an assembly lug is arranged on the assembly seat, the traveling wheel is rotatably connected to the assembly lug through a coaxial connecting wheel shaft, the output shaft of the pneumatic motor is coaxially connected to one end of the connecting wheel shaft, and the pneumatic motor is installed on the assembly seat.

[0012] Further, an inner bending plate is arranged on both sides of the assembly seat and extends obliquely towards the assembly sleeve.

[0013] Further, the flexible pipe comprises a tubular body with a second fixed edge arranged at each axial end, and a through channel is formed in the middle of the tubular body.

[0014] The application also discloses a method for using the intelligent biasing guide device for directional well exploration of a petroleum and natural gas geological stratum.

[0015] Eccentric adjustment of directional well

[0016] Step 1. The flexible shaft connected with the exploration equipment passes through the flexible pipe and the two biasing guide mechanisms.

[0017] Step 2. All the telescopic arms on the two biasing guide mechanisms are controlled to be elongated, so that each traveling assembly is in contact with the well wall.

[0018] Step 3. One or more telescopic arms on each biasing guide mechanism are synchronously controlled to be elongated, and the other telescopic arms are controlled to be shortened.

[0019] Step 4. The assembly sleeve drives the flexible shaft to move along the radial direction of the directional well and deviate from the axis of the directional well, so that the flexible shaft drives the exploration equipment to deviate from the center and approach the well wall.

[0020] Turning adjustment of directional well

[0021] S1. Control the extension of each telescopic arm on the bias guide mechanism located above, so that each walking assembly is in contact with the well wall;

[0022] S2. Control the extension of one or more telescopic arms on the bias guide mechanism located below, while controlling the retraction of the other telescopic arms;

[0023] S3. The corresponding part of the soft shaft driven by the assembly sleeve on the bias guide mechanism located below moves along the radial direction of the directional well, and the flexible pipe and the soft shaft part inside it bend;

[0024] S4. Control the guiding movement of each walking assembly on the two bias guide mechanisms along the directional well, so that the two bias guide mechanisms drive the exploration equipment through the curved part of the directional well;

[0025] Auxiliary travel of the exploration equipment

[0026] Step 1. Fix the soft shaft with the two assembly sleeves;

[0027] Step 2. Control the extension of each telescopic arm, so that the walking assembly abuts against the well wall of the directional well;

[0028] Step 3. Control the action of each walking assembly, so that the two bias guide mechanisms drive the soft shaft to move along the extension direction of the directional well.

[0029] The present invention, by employing the aforementioned structure, achieves a technological advancement compared to existing technologies in the following ways: By controlling the relative radial displacement of two biasing guide mechanisms within the directional well, the flexible shaft passing through them bends. Furthermore, by controlling the movement of the two biasing guide mechanisms along the directional well, the exploration equipment at the ends of the flexible shafts smoothly traverses the curved sections of the directional well. When the two biasing guide mechanisms move synchronously radially along the directional well, the exploration equipment is brought closer to the wellbore wall via the flexible shafts, significantly improving the accuracy of the exploration. Moreover, the present invention uses an image acquisition device to determine the specific condition of the inner wall of the directional well and uses the acquired images to control the biasing guide mechanisms to adaptively bend the ends of the flexible shafts. During bending, data monitored by an inclination sensor is used to determine the degree of bending of the directional well, facilitating the recording of downhole data. The offset guiding mechanism of this invention can move actively or passively. Specifically, active movement involves controlling the extension of the telescopic arm so that the traveling components abut against the well wall of the directional well. During directional well eccentricity adjustment, directional well turning adjustment, and the assisted movement of the exploration equipment, the traveling components remain in contact with the well wall and can be controlled to move along the well wall to assist the flexible shaft in its movement within the directional well. Passive movement involves connecting the assembly to the flexible shaft and controlling the retraction of the telescopic arm so that all traveling components disengage from the well wall by a certain distance. As the flexible shaft moves within the directional well, the two offset guiding mechanisms move synchronously with it. When the required adjustment position is reached, the two offset guiding mechanisms are controlled to perform corresponding actions to assist the exploration equipment in completing deflection, turning, and other actions. In summary, this invention can effectively assist the exploration equipment in moving smoothly along the extension direction of the directional well, avoiding situations where the exploration equipment gets stuck. Furthermore, it can control the exploration equipment to approach the well wall as needed, allowing for accurate geological surveys of the strata at the well wall. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0031] In the attached diagram:

[0032] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of a single biasing guide mechanism according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the device connected to the tilt sensor in an embodiment of the present invention;

[0035] Figure 4 Structure diagram of the split sleeve body assembled with the embodiment of the present application;

[0036] Figure 5 Structure diagram of the connection between the telescopic arm and the walking assembly of the embodiment of the present application;

[0037] Figure 6 Structure diagram of the split between the telescopic arm and the walking assembly of the embodiment of the present application;

[0038] Figure 7 Structure diagram of the inflation tightening bag of the embodiment of the present application;

[0039] Figure 8 Structure diagram of the flexible tube of the embodiment of the present application;

[0040] Figure 9 Structure diagram of the connection between the telescopic arm and the assembly sleeve in the inclined state of the embodiment of the present application.

[0041] Label components: 100-assembly sleeve, 101-split sleeve body, 102-assembly port, 103-first hinged bowl, 104-connection edge, 200-telescopic arm, 201-cylinder body, 202-cylinder rod, 203-second hinged bowl, 204-first joint ball, 205-connection column, 206-second joint ball, 207-hard spring, 300-walking assembly, 301-assembly seat, 302-inner bending plate, 303-assembly ear, 304-adapter axle, 305-walking wheel, 306-pneumatic motor, 400-inclination sensor, 500-image collector, 600-tightening member, 601-supporting cylinder, 602-inflation tightening bag, 603-tightening channel, 604-inflation connector, 605-first fixed edge, 700-flexible tube, 701-tubular body, 702-second fixed edge, 703-conducting channel, 704-axial strip, 705-connection hose. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0043] The present application discloses an intelligent biasing guide device for directional well exploration of petroleum and natural gas geological strata, which comprises a telescopic arm, a walking assembly, an assembly sleeve, a flexible tube, an inflation tightening bag, an inflation connector, an inclination sensor, an image collector, a tightening member, a supporting cylinder, a first fixed edge, a second fixed edge, a first hinged bowl, a second hinged bowl, a first joint ball, a connection column, a second joint ball, a hard spring, an assembly seat, an inner bending plate, an assembly ear, an adapter axle, a walking wheel, a pneumatic motor, a conducting channel, an axial strip, a connection hose, and a telescopic arm. Figures 1-9As shown, including flexible tube 700 and two biasing guide mechanism, two biasing guide mechanism is connected at the axial both ends of flexible tube 700 respectively, the end of one of biasing guide mechanism is equipped with image collector 500.The biasing guide mechanism of the application includes assembly sleeve 100, a plurality of telescopic arms 200 and a plurality of walking assemblies 300 same as the number of telescopic arms 200, wherein the plurality of telescopic arms 200 are uniformly hinged on the outer circumferential wall of assembly sleeve 100 along the circumference of assembly sleeve 100, the end of telescopic arm 200 away from assembly sleeve 100 is hinged with corresponding walking assembly 300, and inclination sensor 400 is installed on the outer circumferential wall of assembly sleeve 100.The working principle and advantages of the application are as follows: by controlling the relative displacement of the two biasing guide mechanisms along the radial direction of the directional well, the soft shaft part passing through the two biasing guide mechanisms is bent, and the two biasing guide mechanisms are controlled to move along the directional well, so that the exploration equipment at the end of the soft shaft is smoothly passed through the bending part of the directional well.When the two biasing guide mechanisms are controlled to move synchronously along the radial direction of the directional well, the exploration equipment is driven by the soft shaft to approach the well wall of the directional well, so that the accuracy of exploration is greatly improved.Furthermore, the specific conditions of the inner wall of the directional well are judged by image collector 500, and the end of the soft shaft is bent adaptively by the biasing guide mechanism according to the collected image, and when bending, the bending degree of the directional well is judged according to the data monitored by inclination sensor 400, so as to record the downhole data of the directional well.The biasing guide mechanism of the application can be actively moved or passively moved, specifically, the active movement is to control telescopic arm 200 to extend, so that walking assembly 300 abuts against the well wall of the directional well, and in the process of directional well eccentric adjustment, directional well turning adjustment and auxiliary movement of exploration equipment, walking assembly 300 is always in abutment with the well wall, and walking assembly 300 can be controlled to walk on the well wall to assist the movement of the soft shaft in the directional well.The passive movement is to connect assembly sleeve 100 with the soft shaft, control telescopic arm 200 to contract, so that all walking assemblies 300 are separated from the well wall by a distance, so that the soft shaft moves in the directional well, and the two biasing guide mechanisms move synchronously with the soft shaft, and when reaching the position to be adjusted, the two biasing guide mechanisms are controlled to perform corresponding actions to assist the exploration equipment to complete the actions such as deviation and turning.It can be seen that the application can effectively assist the exploration equipment to move smoothly along the extension direction of the directional well, avoid the situation that the exploration equipment is stuck, and control the exploration equipment to approach the well wall according to the demand to accurately survey the geological stratum of the well wall.

[0044] As a preferred embodiment of the application, as Figure 3 、 4As shown, the assembly 100 includes four sleeve bodies 101 arranged circumferentially and sequentially spliced ​​to form a complete sleeve-like structure. An assembly opening 102 is formed in the middle of this sleeve-like structure. A first hinge cup 103 is constructed between two adjacent sleeve bodies 101, and one end of the telescopic arm 200 is hinged to the first hinge cup 103. In this embodiment, the first hinge cup 103 can be divided into two parts by splitting the sleeve bodies 101, thereby facilitating the assembly and disassembly of the end of the telescopic arm 200, and also facilitating the assembly and disassembly of the fastening member 600 described below.

[0045] As a preferred embodiment of the present invention, such as Figure 5 , 6 As shown, the telescopic arm 200 includes a support cylinder. A first articulated ball 204 is constructed on the cylinder rod 202 of the support cylinder, and the first articulated ball 204 is movably fitted within a first hinge cup 103. A second hinge cup 203 is constructed at the end of the cylinder body 201 of the support cylinder. A connecting post 205 is fixed at one end of the traveling assembly 300 near the support cylinder. A second articulated ball 206 is constructed on the connecting post 205, and the second articulated ball 206 is movably fitted within the second hinge cup 203. This achieves the purpose of hinged connection between the two ends of the support cylinder and the assembly 100 and the traveling assembly 300, respectively. In this embodiment, to avoid the support cylinder from drooping under gravity due to the lack of support at both ends being hinged, and to facilitate the subsequent return of the support cylinder during the eccentric movement of the adjustment bias guide mechanism, the two ends of the support cylinder change angles along their respective hinge points. The measure taken is to install a rigid spring 207 on the outer sleeve of the support cylinder. The two ends of the rigid spring 207 are fixedly connected to the corresponding sleeve body 101 and the traveling assembly 300, respectively. Whether the support cylinder extends or retracts, or its angle changes, the rigid spring 207 elastically extends or bends. When the support cylinder is not subjected to external force, the rigid spring 207 elastically returns to its original position, thereby achieving the purpose of providing elastic support to the support cylinder. In this embodiment, when installing the rigid spring 207, all the rigid springs 207 on the upper adjusting bias guide mechanism are inclined downwards, that is, the end of the rigid spring 207 away from the mounting assembly 100 is inclined downwards, so that the adjusting bias guide mechanism is as follows... Figure 9 As shown in the diagram; all the rigid springs 207 on the lower adjustment bias guide mechanism are extended upwards at an angle, that is, the end of the rigid spring 207 away from the assembly 100 is extended upwards at an angle, so that the adjustment bias guide mechanism is as shown in the diagram. Figure 9The structure is flipped vertically. In this way, when the auxiliary soft shaft moves downward, the upper adjustment biasing guide mechanism is disconnected from the soft shaft, and the lower adjustment biasing guide mechanism is connected to the soft shaft. When the soft shaft cannot move upward due to an obstacle, the lower adjustment biasing guide mechanism is disconnected from the soft shaft, and the upper adjustment biasing guide mechanism is connected to the soft shaft. When the soft shaft cannot move upward due to a lack of power, all the support cylinders on the upper adjustment biasing guide mechanism are simultaneously actuated to drive the soft shaft upward, assisting the upward movement of the soft shaft.

[0046] As a preferred embodiment of the present application, as shown in Figure 5 、 6 The walking assembly 300 includes an assembly seat 301, a walking wheel 305, and a pneumatic motor 306. The assembly seat 301 is connected to the connecting column 205, thereby achieving the purpose of hinging the assembly seat 301 to the cylinder body 201 of the support cylinder. One end of the hard spring 207 is fixed to the end face of the assembly seat 301. The assembly seat 301 is provided with an assembly lug 303. The walking wheel 305 is coaxially connected to an adapter wheel shaft 304, which is rotatably connected to the assembly lug 303. The output shaft of the pneumatic motor 306 is coaxially connected to one end of the adapter wheel shaft 304. The pneumatic motor 306 is installed on the assembly lug 303 or the assembly seat 301. When the walking wheel 305 abuts against the well wall of the directional well and needs to be moved, the pneumatic motor 306 is controlled to drive the walking wheel 305 to rotate through the adapter wheel shaft 304. In the process of rotation, the walking wheel 305 moves along the extension direction of the directional well on the well wall of the directional well. The assembly seat 301 is provided with two inward bending plates 302 on both sides. Each inward bending plate 302 extends obliquely towards the assembly sleeve 100, and is used to protect the connection between the support cylinder and the assembly seat 301.

[0047] As a preferred embodiment of the present application, as shown in Figure 1 、 3As shown in FIG. 7, the tightening member 600 is assembled in the assembly sleeve 100, and the axis of the tightening member 600 coincides with the axis of the assembly sleeve 100. The tightening member 600 comprises an inflatable tightening bag 602, and an inflation joint 604 is arranged on the inflatable tightening bag 602. In the present embodiment, a first fixing edge 605 is arranged on each of the upper and lower ends of the inflatable tightening bag 602, and a connecting edge 104 is arranged on each of the upper and lower ends of the assembly sleeve 100. The two connecting edges 104 are located between the two first fixing edges 605, and the corresponding first fixing edge 605 and connecting edge 104 are connected and fastened by a plurality of fastening bolts, so as to achieve the purpose of detachable connection between the tightening member 600 and the assembly sleeve 100. In the present embodiment, a tightening channel 603 is formed in the middle of the inflatable tightening bag 602, and a support cylinder 601 is fixed coaxially on the outer wall of the inflatable tightening bag 602, and the support cylinder 601 is adapted to the inner wall of the assembly sleeve 100. In the present embodiment, the inflatable tightening bag 602 is inflated through the inflation joint 604, so that the tightening channel 603 of the inflatable tightening bag 602 gradually becomes smaller, and the soft shaft passing through the tightening channel 603 is tightly tightened. In order to improve the friction, a friction layer is arranged on the inner wall of the inflatable tightening bag 602 (i.e. the circumferential wall of the tightening channel 603), so that the biasing guide mechanism drives the soft shaft to move during the movement along the directional well.

[0048] As a preferred embodiment of the present application, as shown in FIG. 6, Figure 1 、 8 The flexible pipe 700 comprises a tubular body 701, and a second fixing edge 702 is arranged on each of the axial ends of the tubular body 701. The two second fixing edges 702 are detachably connected with the corresponding axial ends of the assembly sleeve 100. A guide channel 703 is formed in the middle of the tubular body 701, and one end of the soft shaft passes out of the other end of the guide channel. In the present embodiment, an axial strip 704 is arranged on the inner circumferential wall of the tubular body 701, and the axial strip 704 extends from the lower end of the tubular body 701 to the upper end of the tubular body 701 along the axial direction. A gas guide channel is formed in the axial strip 704 and extends upward from the lower end of the axial strip 704. A connecting hose 705 is fixed on the outer circumferential wall of the tubular body 701, and the connecting hose is in communication with the gas guide channel. The biasing guide mechanism located below is connected with an inflatable tightening bag 602, and the inflation joint 604 of the inflatable tightening bag 602 is inserted into the gas guide channel from the lower end of the gas guide channel. The inflatable tightening bag 602 is in communication with the connecting hose 705 through the gas guide channel, and the pressurized air enters the inflatable tightening bag 602 through the connecting hose 705, so as to drive the inflatable tightening bag 602 to gradually expand, thereby achieving the purpose of tightening the soft shaft by the inflatable tightening bag 602.

[0049] The present application also discloses a method for utilizing the intelligent biasing guide device for directional well exploration of oil and gas geological strata.

[0050] Directional well eccentricity adjustment

[0051] Step 1. The flexible shaft connected with the exploration equipment passes through the flexible pipe 700 and the two biasing guide mechanisms;

[0052] Step 2. Control all the telescopic arms 200 on the two biasing guide mechanisms to extend, so that the respective walking assemblies 300 are in contact with the well wall;

[0053] Step 3. Synchronously control one or more telescopic arms 200 on the upper and lower corresponding biasing guide mechanisms to extend, while controlling the other telescopic arms 200 to shorten;

[0054] Step 4. The assembly sleeve 100 drives the flexible shaft to move in the radial direction of the directional well and deviate from the axis of the directional well, so that the flexible shaft drives the exploration equipment to deviate from the center and approach the well wall;

[0055] Directional well turning adjustment

[0056] S1. Control the respective telescopic arms 200 on the biasing guide mechanism located above to extend, so that the respective walking assemblies 300 are in contact with the well wall;

[0057] S2. Control one or more telescopic arms 200 on the biasing guide mechanism located below to extend, while controlling the other telescopic arms 200 to shorten;

[0058] S3. The assembly sleeve 100 on the biasing guide mechanism located below drives the corresponding part of the flexible shaft to move in the radial direction of the directional well, and the flexible pipe 700 and the part of the flexible shaft inside it are bent;

[0059] S4. Control the respective walking assemblies 300 on the two biasing guide mechanisms to move in the guide direction of the directional well, so that the two biasing guide mechanisms drive the exploration equipment to pass through the curved part of the directional well;

[0060] Auxiliary travel of exploration equipment

[0061] Step 1. Fix the flexible shaft with the two assembly sleeves 100;

[0062] Step 2. Control the respective telescopic arms 200 to extend, so that the walking assemblies 300 abut against the well wall of the directional well;

[0063] Step 3. Control the respective walking assemblies 300 to act, so that the two biasing guide mechanisms drive the flexible shaft to move in the extension direction of the directional well.

[0064] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent ones. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for directional well exploration using intelligent biasing steering devices for petroleum and natural gas geological formations, characterized in that, It comprises the following steps: Directional well eccentricity adjustment: Step 1. The flexible pipe passes through the flexible pipe and the two eccentric guide mechanisms connected with the exploration equipment; Step 2. Control all the telescopic arms on the two eccentric guide mechanisms to extend so that each walking assembly is in contact with the well wall; Step 3. Synchronously control one or more telescopic arms on the upper and lower corresponding eccentric guide mechanisms to extend, while controlling the other telescopic arms to shorten; Step 4. The assembly set drives the flexible shaft to move radially along the directional well and deviate from the axis of the directional well, so that the flexible shaft drives the exploration equipment to deviate and approach the well wall; Directional well turning adjustment: S1. Control each telescopic arm on the upper eccentric guide mechanism to extend so that each walking assembly is in contact with the well wall; S2. Control one or more telescopic arms on the lower eccentric guide mechanism to extend, while controlling the other telescopic arms to shorten; S3. The corresponding part of the flexible shaft driven by the assembly set on the lower eccentric guide mechanism moves radially along the directional well, and the flexible pipe and the part of the flexible shaft inside it bend; S4. Control each walking assembly on the two eccentric guide mechanisms to move along the guide of the directional well, so that the two eccentric guide mechanisms drive the exploration equipment to pass through the curved part of the directional well; Auxiliary travel of exploration equipment: Step 1. Fix the flexible shaft with the two assembly sets; Step 2. Control each telescopic arm to extend so that the walking assembly abuts against the well wall of the directional well; Step 3. Control each walking assembly to move so that the two eccentric guide mechanisms drive the flexible shaft to move along the extension direction of the directional well; The intelligent eccentric guide device for directional well exploration of oil and gas geological strata comprises two eccentric guide mechanisms connected to the axial ends of a flexible pipe respectively, and an image collector is mounted at the end of a selected eccentric guide mechanism; each eccentric guide mechanism comprises an assembly set, a plurality of telescopic arms are uniformly hinged to the circumference of the assembly set, a walking assembly is hinged to the end of the telescopic arm away from the assembly set, and an inclination sensor is mounted on the outer peripheral wall of the assembly set.

2. The method of claim 1, wherein the intelligent biasing guiding device is used for directional well exploration of petroleum and natural gas geological strata. A tightening member is coaxially assembled in the assembly set, the tightening member comprises an inflatable tightening bag, first fixed edges are respectively formed at the upper and lower ends of the inflatable tightening bag, each first fixed edge is detachably connected to the corresponding axial end of the assembly set, and an inflation joint is formed on the inflatable tightening bag.

3. The method of claim 2, wherein the intelligent biasing guiding device is used for directional well exploration of petroleum and natural gas geological strata. A tightening channel is formed in the middle part of the inflatable tightening bag, a support cylinder is fixed coaxially to the outer wall of the inflatable tightening bag, and the support cylinder is adapted to the inner wall of the assembly set.

4. The method of claim 1, wherein the intelligent biasing steering device is used for directional well exploration of petroleum and natural gas geological formations. The assembly set comprises four split sets which are circumferentially arranged and spliced into a complete sleeve structure, an assembly opening is formed in the middle part of the sleeve structure, and a first hinged bowl is formed between two adjacent split sets, and one end of the telescopic arm is hinged to the first hinged bowl.

5. The method for directional well exploration with intelligent biasing steering device for petroleum and natural gas geological formation according to claim 4, characterized in that: The telescopic arm comprises a support gas cylinder, a first joint ball is formed on the cylinder rod of the support gas cylinder, the first joint ball is movably assembled in the first hinged bowl, a second hinged bowl is formed at the end of the cylinder body of the support gas cylinder, a connecting column is fixed to one end of the walking assembly close to the support gas cylinder, a second joint ball is formed on the connecting column, and the second joint ball is movably assembled in the second hinged bowl.

6. The method for directional well exploration with intelligent biasing steering device for petroleum and natural gas geological formation according to claim 5, characterized in that: A hard spring is arranged outside the supporting cylinder, and two ends of the hard spring are fixedly connected with the split sleeve body and the traveling assembly respectively.

7. The method for directional well exploration with intelligent biasing steering device for petroleum and natural gas geological formation according to claim 1, characterized in that: The traveling assembly comprises an assembling seat hinged with the telescopic arm, assembling ears are arranged on the assembling seat, traveling wheels are rotatably connected with the assembling ears through coaxially connected adapter shafts, output shafts of pneumatic motors are coaxially connected with one ends of the adapter shafts, and the pneumatic motors are installed on the assembling seat.

8. The method for directional well exploration with intelligent biasing steering device for petroleum and natural gas geological formation according to claim 7, characterized in that: Inner bending plates are arranged on two sides of the assembling seat and extend towards the assembling sleeve.

9. The method of claim 1, wherein the method further comprises: determining a direction of a wellbore based on the geological formation of the petroleum and natural gas. The flexible pipe comprises a tubular body with second fixing edges arranged at two axial ends respectively, and a through channel is formed in the middle of the tubular body.

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