Unity 3D-based automatic bit feeding virtual visualization system design method

Abstract

The invention discloses a virtual visualization system design method based on Unity3D automatic bit feeding, and relates to the technical field of virtual visualization in the drilling process. According to the method, a Unity3D-based automatic bit feeding virtual visualization system is constructed, system simulation layer and visualization layer design is included, system visualization is achieved through a UGUI interaction interface and multi-party communication, drilling parameters of the automatic bit feeding process of a well are reflected in real time, operators and experimenters are helped to visually understand the tripping process, and decision support is provided for actual automatic bit feeding operation. According to the system, by optimizing three-dimensional visualization and bit pressure rotating speed of main equipment of the automatic bit feeding simulation unit, visualization of automatic bit feeding process data and the main equipment is achieved, the operation risk of the main equipment is reduced, well drilling safety management and control intelligence is improved, and meanwhile the safety and efficiency of automatic bit feeding operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of virtual visualization, and particularly to a design method for an automatic drilling virtual visualization system based on Unity3D. Background Art

[0002] With the advent of digital technologies such as big data, artificial intelligence, and virtual reality, by creating a three-dimensional visualization model of the automatic drilling physical entity, the comprehensive simulation and analysis of the drilling process have been realized, promoting the further development of the "drilling technology" in the oil drilling industry. This three-dimensional visualization model can map the drilling data collected in the physical world to the virtual model for display and analysis. It can not only enable technicians to more intuitively understand the automatic drilling operation process and the reasonable setting range of parameters, but also provide decision-making support for actual automatic drilling operations. It meets the daily requirements of driller training and can also be used for driller teaching and training, effectively avoiding the problems of low efficiency, non-repeatable operation, and high cost in the actual drilling process. Summary of the Invention

[0003] The main purpose of the embodiments of the present invention is to provide a design method for an automatic drilling virtual visualization system based on Unity3D, aiming to solve the problems of daily driller training and low efficiency, non-repeatable operation, and high cost in the drilling process.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A design method for an automatic drilling virtual visualization system based on Unity3D includes the following steps:

[0006] 1. Establish a three-dimensional model of automatic drilling. The composition of automatic drilling equipment and three-dimensional modeling technology are the key to establishing a virtual simulation visualization system. The authenticity of the virtual scene depends on the real scene. Therefore, the size, visual effect, and overall layout of the drilling equipment are crucial;

[0007] (1) Collect the physical data information of each drilling module, and select a suitable modeling software tool according to the requirements to construct a three-dimensional model of the automatic drilling equipment in a 1:1 ratio;

[0008] (2) Modify the texture mapping, rendering, and material processing of the three-dimensional model, and use optimization commands to optimize the points and faces of the entity models in the scene to make the model more realistic. Finally, integrate the involved models into a complete automatic drilling platform.

[0009] 2. Establish an optimized control model for constant weight-on-bit automatic pipe feeding. To achieve the optimized control of constant weight-on-bit automatic pipe feeding, the primary task is to analyze the motion characteristics and working principles among various devices during the automatic pipe feeding process, establish a double-closed-loop control model for constant weight-on-bit automatic pipe feeding, and complete the multi-objective weight-on-bit optimization on this basis. Therefore, this model includes a double-closed-loop control model for constant weight-on-bit automatic pipe feeding and a multi-objective weight-on-bit and rotary speed optimization model.

[0010] (1) Establish a double-closed-loop control model for constant weight-on-bit automatic pipe feeding. Understand the working principle of the hydraulic disc type constant weight-on-bit automatic pipe feeding, analyze the structure of the hydraulic disc brake system, and establish the transfer function of the hydraulic disc brake constant weight-on-bit automatic pipe feeding; taking the constant weight-on-bit automatic pipe feeding system as the object, establish the dynamic model of the constant weight-on-bit automatic pipe feeding control system to provide a simulation basis for subsequent multi-objective weight-on-bit optimization.

[0011] (2) Establish a multi-objective weight-on-bit and rotary speed optimization model. Consider the weight-on-bit and rotary speed optimization problem as a multi-objective optimization problem, and use different objective functions to achieve the optimization of weight-on-bit and rotary speed during the drilling process; in the present invention, the mechanical drilling rate, drilling specific energy, and drilling cost are used as the objective functions to establish a multi-objective weight-on-bit optimization algorithm - a double-elite competition mechanism multi-objective particle swarm (DECMOPSO) algorithm model.

[0012] (3) Establish an optimized control model for constant weight-on-bit automatic pipe feeding. Apply the DECMOPSO algorithm to the double-closed-loop control of constant weight-on-bit automatic pipe feeding to achieve the optimized control of constant weight-on-bit automatic pipe feeding.

[0013] 3. Virtual visualization of the automatic pipe feeding system. Use the UGUI controls built in Unity3D to design an interactive interface to achieve the visualization of the entire automatic pipe feeding system, including the visualization of the three-dimensional model of automatic pipe feeding, the visualization of the optimization results of weight-on-bit and rotary speed, the visualization of automatic pipe feeding operations, and the visualization of tripping data.

[0014] (1) Visualization of the three-dimensional model of automatic pipe feeding. To visually present the three-dimensional model in Blender in Unity3D, it needs to be saved in the FBX format and then imported into Unity3D.

[0015] (2) Visualization of the optimization results of weight-on-bit and rotary speed. The virtual automatic pipe feeding environment in the present invention is implemented based on Unity3D, while the optimization of constant weight-on-bit automatic pipe feeding based on DECMOPSO is implemented based on Matlab; to achieve the visualization of the optimization results of weight-on-bit and rotary speed, it needs to be realized by establishing data communication between Unity3D and Matlab.

[0016] (3) Visualization of automatic pipe feeding operations. According to the constant weight-on-bit automatic pipe feeding process, apply the optimization results of weight-on-bit and rotary speed to the setting of tripping parameters, and operate the virtual visualization system of automatic pipe feeding to simulate and complete the tripping operations.

[0017] (4) Visualize the data of tripping in and out. Clean and improve the collected drilling data such as weight on bit, rotary speed, drilling length, and hook load, including handling missing data and normalization, etc.; mine the collected data, establish the variability correlation of the data, and present it in the form of charts on the UGUI interface.

[0018] 4. Release the Unity3D automatic drilling virtual visualization system.

[0019] Advantages of the present invention:

[0020] This application innovatively proposes a design method for an automatic drilling virtual visualization system based on Unity3D, and provides a system construction and specific implementation method. Through the three-dimensional visualization of the main equipment of the automatic drilling simulation unit and the optimization of weight on bit and rotary speed, the visualization of the data and main equipment in the automatic drilling process is realized. While reducing the operation risk of the main equipment and improving the intelligent management of drilling safety control, it enhances the safety and efficiency of automatic drilling operations, as well as the intuitive display and efficient management of drilling data. Description of the drawings

[0021] Figure 1 is the framework of an automatic drilling virtual visualization system based on Unity3D provided by an embodiment of the present invention;

[0022] Figure 2 is the three-dimensional model of the automatic drilling equipment virtual visualization system;

[0023] Figure 3 is the flow chart of the multi-objective weight on bit and rotary speed optimization algorithm based on DECMOPSO;

[0024] Figure 4 is the visualization of the automatic drilling virtual system based on Unity3D;

[0025] (a) Visualization of the system registration and login interface; (b) Visualization of the system initial interface;

[0026] (c) Visualization of the weight on bit and rotary speed optimization results; (d) Visualization of the simulated automatic drilling interface. Detailed implementation manners

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of the present invention will be described in detail below in conjunction with the drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. All other implementation manners obtained by those of ordinary skill in the art without creative efforts based on the embodiments in this application belong to the scope protected by this application.

[0028] The present invention provides a design method for an automatic drilling virtual visualization system based on Unity3D, as Figure 1 shown, which specifically includes the following steps:

[0029] S1. Establish a three-dimensional model of automatic drilling;

[0030] S11. Collect the physical data information of each unit module, analyze and record the relevant data to prepare for creating a three-dimensional visualization model of automatic drilling;

[0031] S12. Select a suitable modeling software tool to construct a three-dimensional model of the automatic drilling equipment according to a 1:1 ratio; compare numerous three-dimensional modeling tool software on the market, and finally select the three-dimensional modeling software tool Blender to build a three-dimensional visualization model of automatic drilling to achieve a 1:1 reproduction of the automatic drilling module;

[0032] S121. Perform transformation modifications such as texturing, rendering, and material processing on the three-dimensional model, and use optimization commands to optimize the points and faces of the solid models in the scene to make the model more realistic; save the three-dimensional model of the automatic drilling equipment processed in Blender in FBX format and then import it into Unity3D;

[0033] S13. Adjust each module model one by one according to the position and direction in the actual scene to make it highly consistent with the actual situation, and integrate them into a complete automatic drilling platform.

[0034] S2. Establish a double-closed-loop control model for constant bit pressure automatic drilling; analyze the structure of the hydraulic disc brake system, which consists of a braking actuator, a hydraulic station, a console, etc.; model the drum-hoisting-drill string system;

[0035] S22. Through the analysis of the constant bit pressure automatic drilling process of the hydraulic disc brake, establish a transfer function for the constant bit pressure automatic drilling of the hydraulic disc brake;

[0036] S23. Take the constant bit pressure automatic drilling system as the object and establish a dynamic model of the constant bit pressure automatic drilling control system.

[0037] S3. Establish a multi-objective bit pressure and rotary speed optimization model; understand the basic laws of the drilling process, analyze various factors affecting this process, and select the mechanical drilling rate v, drilling specific energy DSE, and drilling cost C ps as the objective functions to optimize the bit pressure and rotary speed; consider the relationship among the three, and construct a multi-objective mathematical model of mechanical drilling rate - drilling specific energy - drilling cost as shown in Equation (1);

[0038]

[0039] S32. Based on the MOPSO algorithm and the particle swarm optimization algorithm based on the elite competition mechanism, a double elite competition mechanism multi-objective particle swarm (DECMOPSO) algorithm is proposed;

[0040] S321. Randomly generate an initial population P of size N in the solution space t , set the number of iterations to T, and calculate the objective function values of the individuals in the population, as shown in Equation (1);

[0041] S322. When the number of iterations t < T, execute the following loop;

[0042] S323. Double-standard elite particle selection, update the population according to the crowding distance and dominance strength ranking, select elite particles, and the calculation formulas are shown in the following Equations (2) and (3) respectively; Select the two groups of solutions with the highest rankings respectively to form the elite solution set L;

[0043]

[0044] In the formula, f j，k+1 is the objective function value of the j-th particle at k + 1, f j，k-1 is the objective function value of the i-th particle at k - 1, f jmax is the maximum objective function value of the j-th particle, f jmin is the minimum objective function value of the j-th particle;

[0045]

[0046] In the formula, f j，k is the objective function value of the j-th particle at k, f i，k is the objective function value of the i-th particle at k, m is the number of objective functions, n is the population size, is rounding up, |·| is taking the absolute value, S i is the degree to which x i approximates the true Parato front relative to other particles in the population;

[0047] S324. Particle pair competition, randomly select two elite solution sets a and b from the elite solution set, and calculate the angles q 1 , q 2 formed by each particle with a and b respectively;

[0048] S325. If q 1 < q 2 , then select the elite particle a to guide the update of the particle's velocity and position, otherwise, select the elite particle b to guide the update of the particle's velocity and position;

[0049] Assume that the position attribute of the particle P to be updated is Pi, and the velocity attribute is Vi. The position attribute of the winning particle in the competition can be expressed as Pw , the updated formulas for the velocity and position of particle P can be finally obtained, as shown in Eqs. (4) and (5):

[0050] V′ i = R 1 V i + R 2 (P w - P i ) (4)

[0051] P′ i = P i + V′ i (5)

[0052] Wherein, R 1 and R 2 are random vectors randomly generated within the interval [0, 1];

[0053] S326. Perform polynomial mutation on the updated particles, as shown in Eq. (6), update the positions of some individuals, and calculate the fitness of some updated individuals to generate the offspring population P′ t ;

[0054] X new = X + δ·(ub - lb) (6)

[0055]

[0056] Wherein, δ 1 = (X - lb) / (ub - X), δ 2 = (ub - X) / (ub - lb), ub and lb are the upper and lower limits of the value space, r is a random number uniformly distributed within the interval [0, 1], η m is the distribution index specified by the user, X and X new are the parent individual and the offspring individual;

[0057] S327. Combine the offspring population P′ t and the parent population P t , and select a new population P t+1 through the environmental selection strategy;

[0058] S328. When the number of iterations reaches T, the loop ends, and the Pareto solution of the multi-objective optimization is output, that is, the optimized WOB.

[0059] S4. Establish an optimized control model for constant WOB automatic feed, and apply the DECMOPSO algorithm to the double closed-loop control of constant WOB automatic feed to achieve the optimized control of constant WOB automatic feed.

[0060] S5. Virtual visualization of the automatic drilling system. Use the UGUI controls built into Unity3D to design the interactive interface to achieve the visualization of the entire automatic drilling system;

[0061] S51. Visualization of the 3D model of the automatic drilling system. When importing the 3D model of the automatic drilling equipment in Blender into Unity3D, select the FBX format; because there are differences in the coordinate systems of Blender and Unity3D, the rotation of the 3D model needs to be adjusted after import; achieve the visualization of the 3D model of the automatic drilling system;

[0062] S52. Visualization of the optimized results of the drilling pressure and rotation speed. Achieve it by establishing data communication between Unity3D and Matlab;

[0063] S521. Since both Unity3D and Matlab support the reading and writing operations of Excel files, Excel files are used as the data carrier for communication between the two;

[0064] S522. Export the well drilling data processed in Matlab in the form of an Excel table;

[0065] S523. Import the Excel file library ExcelData or Epplus in the Unity project, write a C# script to read the well drilling data in Excel, and present it on the UGUI interface and refresh it in real time;

[0066] S53. Visualization of the automatic drilling operation. According to the constant drilling pressure automatic drilling process, apply the optimized results of the drilling pressure and rotation speed to the setting of the tripping parameters, and operate the automatic drilling virtual visualization system to simulate the tripping operation;

[0067] S54. Visualization of the tripping data. Clean and improve the collected well drilling data, including data missing processing and normalization, etc.; mine the collected data, establish the variability correlation of the data, and present it in the form of a chart on the UGUI interface;

[0068] S541. Obtain the real-time well drilling data from various sensors and monitoring devices, such as drilling pressure, drilling speed, drilling length, and hook load;

[0069] S542. Process the sample data set of the well drilling control parameters, use the mean filling method to process the missing values to improve the quality and accuracy of data analysis; perform min-max normalization to improve the accuracy and generalization ability of the model;

[0070] S543. Divide the data set. Divide the processed data set into two parts. Among them, randomly select 90% of the data in the data set as the training set, and then use the remaining 10% of the data as the test set;

[0071] S544. PCA data processing and analysis to reduce the dimensionality of multi-dimensional data while preserving the correlation of the original data; establish the variability association of the data and present the drilling-related data in the form of graphs and tables.

[0072] S6. Release of the Unity3D automatic drilling virtual visualization system;

[0073] S61. System module integration. Add scenes for each module, including the registration and login interface, the main interface, and the running program, according to the running logic of the system. Click File→Build Settings→Add openScenes and add them to Scense InBuild.

[0074] S62. System release. Taking the PC side as an example, select File→Build Settings→Player Settings. After the pop-up interface appears, complete the filling of Company Name and Product Name. After setting, select Unity->BuildSettings, select the current scene in the Scenes In Build window, select the PC platform, and finally click the Build button to complete the release.

Claims

1. A design method for an automatic drill feeding virtual visualization system based on Unity3D, characterized in that: The following steps are involved: (1) Establish a 3D model of the automatic drill feeding. The composition of the automatic drill feeding equipment and the 3D modeling technology are the key to establishing a virtual simulation visualization system. The authenticity of the virtual scene depends on the real scene. Therefore, the size, visual effect and overall layout of the drill feeding equipment are crucial. (2) Establishing a constant drilling pressure automatic drilling optimization control model. To achieve constant drilling pressure automatic drilling optimization control, the first task is to analyze the motion characteristics and working principles of each device in the automatic drilling process, establish a constant drilling pressure automatic drilling double closed-loop control model, and complete the multi-objective drilling pressure optimization on this basis. Therefore, the model includes a constant drilling pressure automatic drilling double closed-loop control model and a multi-objective drilling pressure speed optimization model. (3) Virtual visualization of the automatic drill feeding system. The interactive interface is designed using the built-in UGUI control of Unity3D to realize the visualization of the entire automatic drill feeding system, including the visualization of the automatic drill feeding 3D model, the visualization of the drilling pressure and speed optimization results, the visualization of the automatic drill feeding operation, and the visualization of the drilling data.

2. The system design method according to claim 1, characterized in that: Build a 3D model of the automatic drill feeding simulation unit. Observe the actual size of each part of the automatic drill feeding simulation unit, draw the three-dimensional graphics of the components according to the drawing standards, and restore the real experimental equipment and experimental environment. Save the created 3D model of the automatic drill feeding equipment in FBX format and import it into Unity3D. Develop an automatic drill feeding virtual simulation environment based on Unity3D simulation software, which mainly includes the 3D model of the automatic drill feeding equipment and the surrounding environment of the well site.

3. The system design method according to claim 1, characterized in that: Establish a constant drilling pressure automatic drilling optimization control model, including: The double closed-loop control model of constant drilling pressure and automatic drilling is established to understand the working principle of hydraulic disc type constant drilling pressure and automatic drilling, analyze the structure of hydraulic disc brake system, and establish the transfer function of hydraulic disc brake constant drilling pressure and automatic drilling; taking the constant drilling pressure and automatic drilling system as the object, the dynamic model of the constant drilling pressure and automatic drilling control system is established to provide a simulation basis for the subsequent multi-objective drilling pressure optimization; The multi-objective drilling pressure speed optimization model regards the drilling pressure speed optimization problem as a multi-objective optimization problem, and uses different objective functions to achieve the drilling pressure speed optimization during the drilling process; the present invention takes mechanical drilling speed, drilling specific energy, and drilling cost as objective functions, and establishes a multi-objective optimization algorithm-double elite competition mechanism multi-objective particle swarm (DECMOPSO) algorithm model; the drilling parameter optimization model is built, and a mechanical drilling speed-drilling specific energy-drilling cost multi-objective optimization model is established, and a double elite competition mechanism multi-objective particle swarm (DECMOPSO) algorithm is introduced to select the optimal drilling pressure speed combination for the constant drilling pressure automatic drilling process; An optimization control model for automatic drill feeding under constant drilling pressure is established, and the DECMOPSO algorithm is used in the double closed-loop control of automatic drill feeding under constant drilling pressure to achieve optimal control of automatic drill feeding under constant drilling pressure.

4. The system design method according to claim 1, characterized in that: The success of the virtual visualization of the automatic drilling system and the visualization interface design is mainly due to the UGUI controls built into Unity3D; including: To visualize the 3D model of the automatic drilling, the 3D model in Blender needs to be saved in FBX format before it can be imported into Unity3D; Visualization of drilling pressure and speed optimization results. The virtual automatic drilling environment in the present invention is implemented based on Unity3D, while the constant drilling pressure automatic drilling optimization based on DECMOPSO is implemented based on Matlab. To realize the visualization of drilling pressure and speed optimization results, it is necessary to establish data communication between Unity3D and Matlab. The automatic drill feeding operation is visualized. According to the process of automatic drill feeding at constant drilling pressure, the optimization results of drilling pressure and speed are applied to the setting of tripping parameters. The automatic drill feeding virtual visualization system is operated to simulate the tripping operation. The drilling data is visualized, and the collected drilling data such as drilling pressure, rotation speed, drilling length, and hanging weight are cleaned and improved, including data missing processing and normalization; the collected data are mined, and the variability association of the data is established, and presented in the form of charts on the UGUI interface.

5. The system design method according to claim 1, characterized in that: Through virtual reality and visualization technology, an automatic drill feeding virtual visualization system model is generated according to the data itself, the constant drill pressure automatic drill feeding optimization control model and the automatic drill feeding three-dimensional model, including: constructing a three-dimensional model of automatic drill feeding visualization according to the data; designing and generating an automatic drill feeding virtual visualization system based on Unity3D with a visualization model built with the output of the constant drill pressure automatic drill feeding optimization control model.

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