Drilling machine use track generation and abnormity early warning method

Abstract

The invention relates to the technical field of drilling machine early warning, solves the technical problems of low calculation efficiency and low algorithm robustness in the prior art, and particularly relates to a drilling machine use trajectory generation and abnormality early warning method, which comprises the following steps: S1, establishing a three-dimensional coordinate system by taking the position of a drilling machine as an original point, obtaining track data Xjb of a drill rod on a drilling machine, and preprocessing the track data Xjb to obtain a preprocessing point set; and S2, selecting a reference point A and a reference point B with the same cross section in the preprocessing point set, and calculating a reference coefficient Ckg according to the trajectory data Xjb of the reference point A and the reference point B. Through preprocessing the trajectory data, abnormal values of the cylindrical three-dimensional point set in the drilling trajectory can be rapidly removed, the position of the cylindrical trajectory can be more accurately determined, and the accuracy of the drilling trajectory is improved. Convenience is provided for subsequent steps, and the calculation accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drill rig warning, and particularly relates to a method for generating a drill rig usage trajectory and abnormal warning. Background Technique

[0002] The mine drill rig is an important device for mineral resource exploration and mining, and plays a key role especially in underground coal mine drilling. With the improvement of coal mine safety production requirements, the technology of mine drill rigs is also constantly progressing; the generation of drill rig trajectories refers to simulating or predicting the movement trajectory of a drill rig during the drilling process through specific technologies and algorithms, which is of great significance for improving drilling efficiency and ensuring borehole quality. The existing technology generally measures the usage trajectory of a drill rig through a while-drilling system and predicts the measured data through an artificial intelligence algorithm. The algorithm structure is complex and the calculation amount is huge, resulting in low calculation efficiency. The robustness of the artificial intelligence algorithm is low, and accurate trajectory prediction and warning cannot be performed. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a method for generating a drill rig usage trajectory and abnormal warning, solves the technical problems of low calculation efficiency and low robustness of the algorithm in the prior art, and achieves the purpose of high calculation efficiency, high accuracy and improved robustness of the operation.

[0004] To solve the above technical problems, the present invention provides the following technical solution: A method for generating a drill rig usage trajectory and abnormal warning, the method comprising the following steps:

[0005] S1. Establish a three-dimensional coordinate system with the position of the drill rig as the origin, and obtain the trajectory data Xj of the drill pipe on the drill rig b And perform preprocessing on the trajectory data Xj b To obtain a preprocessed point set;

[0006] S2. Select two reference points A and B with the same cross-section in the preprocessed point set, and calculate the reference coefficient Ck according to the trajectory data Xj of the reference points A and B b Calculate the reference coefficient Ck g ;

[0007] S3. Calculate the rod slope Gx according to the reference coefficient Ck g Calculate the rod slope Gx l , and construct an attitude coordinate model Zt according to the rod slope Gx l Construct an attitude coordinate model Zt zb ;

[0008] S4. Obtain a plurality of usage points Sy according to the attitude coordinate model Zt zb Obtain a plurality of usage points Sy, and perform surface fitting on the drill pipe trajectory according to the usage points Sy to obtain a surface axis model Qz m ;

[0009] S5. Calculate the offset Jy of the drill rig's trajectory based on the surface axis model Qz m and issue a warning for the drill rig's trajectory based on the offset Jy to obtain a warning message; p p

[0010] S6. Convert the warning message into image data and send it to the control center of the drill rig.

[0011] Preferably, in step S1, the specific implementation steps are as follows:

[0012] S11. Set the drill pipe lifting point of the drill rig as the initial point (x0, y0, z0), create a sliding window with a window size of C and a step size of τ, and calculate the mean value of the trajectory data Xj b within the sliding window. The calculation formula is:

[0013]

[0014] where represents the mean value of the d-th trajectory data Xj b .

[0015] S12. Calculate the standard deviation value Bc based on the mean value . The calculation formula is: e

[0016]

[0017] where Bc e represents the e-th standard deviation value;

[0018] S13. Eliminate the outliers of the trajectory data Xj based on the standard deviation value Bc e and collect the remaining trajectory data Xj b into the data to be processed; b

[0019] If it indicates that the trajectory data Xj b is abnormal and should be eliminated;

[0020] If it indicates that the trajectory data Xj b is normal and should be retained;

[0021] S14. Divide the eliminated trajectory data Xj b into depth Jd a , inclination angle value Px b and azimuth angle Fw c according to the type of data, and obtain the azimuth angles Fw t at adjacent times t and t - 1 and Fw​​​​​t-1 , and calculate the change factor The calculation formula is:

[0022]

[0023] where fw y represents the change threshold of the azimuth angle Fw c ;

[0024] S15. According to the change factor calculate the three-dimensional coordinate changes Δx, Δy, and Δz of the drill rig respectively;

[0025] S16. Calculate the updated coordinate values x gx , y gx and z gx of the drill rig according to the three-dimensional coordinate changes Δx, Δy, and Δz. The calculation formula is:

[0026] x gx = x0 + Δx

[0027] y gx = y0 + Δy

[0028] z gx = z0 + Δz

[0029] where, x gx , y gx and z gx respectively represent the updated coordinate values at adjacent times t and t - 1 after the drill rig is started;

[0030] S17. Convert the updated coordinate values x gx , y gx and z gx into a preprocessed point Yd(x gx , y gx , y gx ), and aggregate multiple preprocessed points Yd into a preprocessed point set.

[0031] Preferably, the three-dimensional coordinate changes Δx, Δy, and Δz of the drill rig are calculated by the following formula:

[0032]

[0033] where, Px t-1 represents the inclination angle value at time t - 1, ΔFw c represents the difference in azimuth angle between two points, and ΔJd a represents the change amount at the a-th depth.

[0034] Preferably, in step S2, the specific implementation steps are as follows:

[0035] S21. Calculate the first normal vector based on the oblique angle value Px of reference point A A and the azimuth angle Fw A , as well as the oblique angle value Px of reference point B B and the azimuth angle Fw B . The calculation formula is as follows: The calculation formula is:

[0036]

[0037] where e, f, and g respectively represent the projections of the first normal vector on the x-axis, y-axis, and z-axis;

[0038] S22. Calculate the angular mean value of the oblique angle value Px A and the oblique angle value Px B , as well as the positional mean value of the azimuth angle Fw and the azimuth angle Fw A and the azimuth angle Fw B . The calculation formula is as follows: The calculation formula is:

[0039]

[0040] where represents the z-th angular mean value, represents the u-th positional mean value;

[0041] S23. Calculate the second normal vector based on the angular mean value and the positional mean value . The calculation formula is as follows: The calculation formula is:

[0042]

[0043] where represents the e-th second normal vector;

[0044] S24. Calculate the included angle value J based on the first normal vector and the second normal vector. The calculation formula is as follows: f The calculation formula is:

[0045]

[0046] where J f represents the f-th included angle value;

[0047] S25. Calculate the reference coefficient Ck f based on the included angle value J. The calculation formula is as follows: g The calculation formula is:

[0048]

[0049] Among them, Ck g represents the g-th reference coefficient.

[0050] Preferably, in step S3, the specific implementation steps are as follows:

[0051] S31. Calculate the first variable value Yb g and the second variable value Eb h according to the reference coefficient Ck, and the calculation formula is: I

[0052]

[0053] Among them, D r and D e respectively represent the span length of the drill pipe above the selected point and the average span length of the drill pipe, L0 represents the diameter of the drilling, L c1 represents the diameter of the cross-section at the structural bending angle of the lower drill pipe and the upper drill pipe, L q1 represents the diameter of the lower cross beam column;

[0054] S32. Calculate the unknown span length D h through two sets of equations according to the first variable value Yb I and the second variable value Eb; s

[0055] S33. Calculate the rod slope Gx s according to the unknown span length D, and the calculation formula is: l

[0056]

[0057] Among them, Gx l represents the l-th rod slope;

[0058] S34. Calculate the inclination angle value Px l at the next moment and the azimuth angle Fw T+1 according to the rod slope Gx, and the calculation formula is: T+1

[0059] Px T+1 = Px T + arc sin[sin(Gx l · El f )cos μ]

[0060] Fw T+1 = Fw T + arc sin[sin(Gx l · El f )sin μ]

[0061] Among them, El​​​​f Indicates the length of the drill pipe above the selected points A and B, Px T and Fw T respectively represent the current inclination angle value and azimuth angle of the drill pipe, Px T+1 and Fw T+1 represent the inclination angle value and azimuth angle of the drill pipe at time T + 1, and μ represents the deviation angle of the drill pipe between the selected points A and B;

[0062] S35. According to the inclination angle value Px T+1 and azimuth angle Fw T+1 calculate the attitude coordinate model Zt of the drill pipe zb , where the coordinates of the attitude coordinate model Zt zb are (X T+1 , Y T+1 , Z T+1 ).

[0063] Preferably, the calculation formula for the unknown span D s is:

[0064]

[0065] where, A m and A n are respectively the structural bending angle and internal bending moment of the selected points A and B, Dy A , Dy B , Dx A , Dx B , Dz A and Dz B respectively represent the stress factors of the selected points A and B, O a and O b respectively represent the axial moment of inertia of the drill pipe on the upper and lower sides of the selected points A and B, R pA and R pB respectively represent the load densities of the selected points A and B, LO a and LO b respectively represent the stiffnesses of the drill pipe on the upper and lower sides of the selected points A and B, ω f represents the connection bending angle of the drill pipe.

[0066] Preferably, the coordinate values X zb , Y T+1 , and Z T+1 of the attitude coordinate model Zt T+1 are calculated as follows:

[0067]

[0068] where, X T+1 , Y T+1 , and Z T+1respectively represent the three-dimensional attitude coordinate values of the drill pipe at time T+1, X T , Y T and Z T respectively represent the three-dimensional attitude coordinate values of the drill pipe at time T.

[0069] Preferably, in step S4, the specific implementation steps are as follows:

[0070] S41. Divide the multiple usage points Sy of each drill pipe into a drill pipe point set Gz corresponding to the drill pipe n , and the expression is:

[0071] Gz n = {gz1, gz2... gz n}

[0072] where gz n represents the subdivision point set of the nth drill pipe in the drill pipe point set Gz n ;

[0073] S42. Arbitrarily select a subdivision point set gz n in the drill pipe point set Gz q and q ≤ n, and calculate the central value Zx q of the subdivision point set gz v . The calculation formula is:

[0074]

[0075] where Zx v represents the vth central value, Q represents the number of usage points Sy, and gz q represents the coordinates of the usage point Sy in the qth subdivision point set gz q ;

[0076] S43. Calculate the covariance value Xf v according to the central value Zx k . The calculation formula is:

[0077]

[0078] where Xf k represents the kth covariance value;

[0079] S44. Calculate the orthogonal value V according to the covariance value Xf k . The calculation formula is:

[0080] Xf k = VΛV T

[0081] where Λ represents the diagonal value of the covariance value Xf k ;

[0082] S45. Obtain the first feature quantity v1, the second feature quantity v2, and the third feature quantity v3 from the orthogonal value V through the feature extraction method;

[0083] S46. Calculate the surface axis model Qz of the fitting surface according to the first feature quantity v1, the second feature quantity v2, and the third feature quantity v3 m , and the calculation formula is:

[0084]

[0085] where, and respectively represent the model coefficients.

[0086] Preferably, in step S5, the specific implementation steps are as follows:

[0087] S51. Calculate the initial axis distance Zx according to the first feature quantity v1 j , and the calculation formula is:

[0088] Zx j =(gz q -Zx v )×v1

[0089] where, Zx j represents the j-th initial axis distance;

[0090] S52. Calculate the initial section radius JR according to the initial axis distance Zx j , and the calculation formula is: s , and the calculation formula is:

[0091]

[0092] where, JR s represents the s-th initial section radius;

[0093] S53. Select the latest obtained update point Gt from multiple usage points Sy r , and calculate the offset Jy r from the update point Gt m to the surface axis model Qz p , and the calculation formula is:

[0094]

[0095] where, P represents the number of groups of the initial axis distance Zx j and the update point Gt r , ||Gt r -Qz m || 2 represents the distance from the update point Gt r to the surface axis model Qzm The distance between the centers of the closest circles;

[0096] S54, according to the initial section radius JR s Calculate the radius threshold R, the calculation formula is:

[0097]

[0098] Where U represents the initial section radius JR s the number of

[0099] S55: Update point Gt according to radius threshold R r Provide deviation warning;

[0100] If Jy p ≤R, then update point Gt r Normal, the drill does not need to be adjusted;

[0101] If Jy p >R, then update point Gt r Abnormal, the drilling rig trajectory needs to be adjusted and an early warning message is generated.

[0102] By means of the above technical solution, the present invention provides a drilling rig usage trajectory generation and abnormal warning method, which has at least the following beneficial effects:

[0103] 1. The present invention can quickly eliminate outliers from the cylindrical three-dimensional point set in the drilling trajectory by preprocessing the trajectory data, and on this basis, further process the curved trajectory of the drilling rig during its advancement, so as to more accurately determine the position of the cylindrical trajectory, provide more accurate data for subsequent steps, and improve the accuracy of the calculation.

[0104] 2. The present invention can calculate the reference coefficient to calculate the subsequent posture coordinate model Zt zb The construction of the system plays an auxiliary role, and through the processing of three-dimensional data, the changes in the drill pipe posture can be obtained more accurately, making the calculation of subsequent steps more accurate, improving the accuracy of the calculation results, and using simplified calculation steps to improve the calculation efficiency.

[0105] 3. The present invention predicts the deflection angle of the drill rod in the future by predicting the usage trajectory of the drill rod, and predicts the coordinate value at the future moment in combination with the coordinate value at the previous time, thereby completing the prediction of the drill rod trajectory. This method can accurately predict the movement of the drill rod through the inclination value and azimuth, and while improving the prediction accuracy, it can also be combined with three-dimensional images for vivid display, so that the staff can obtain the usage status of the drill rod in the first time, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0107] Figure 1 is a flowchart of a method for generating a drilling rig usage trajectory and abnormal warning according to the present invention; Detailed implementation manners

[0108] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Thus, the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0109] Due to the technical problems of low computational efficiency and low robustness of the algorithm in the prior art, please refer to Figure 1 , this embodiment provides a method for generating a drilling rig usage trajectory and abnormal warning, which can improve the computational efficiency of the algorithm, have high accuracy, and improve the robustness of the operation. The method includes the following steps:

[0110] S1. Establish a three-dimensional coordinate system with the position of the drilling rig as the origin, set the drill pipe lifting point of the drilling rig as the initial point (x0, y0, z0), and obtain the trajectory data Xj of the drill pipe b and perform preprocessing on the trajectory data Xj b to obtain a preprocessed point set. Since the obtained trajectory data Xj b may have outliers due to environmental reasons and needs to be preliminarily processed. The specific implementation steps are as follows:

[0111] S11. Set the drill pipe lifting point of the drilling rig as the initial point (x0, y0, z0), create a sliding window with a window size of C, the step size of the sliding window is τ, and calculate the mean value of the trajectory data Xj within the sliding window b of The calculation formula is:

[0112]

[0113] where represents the mean value of the d-th trajectory data Xj b ;

[0114] S12. Calculate the standard deviation value Bc according to the mean value , and the calculation formula is: e

[0115]

[0116]

[0116] where Bc eRepresents the e-th standard deviation value;

[0117] S13. According to the standard deviation value Bc e Eliminate the outliers from the trajectory data Xj b ;

[0118] If It indicates that the trajectory data Xj b Is abnormal and is eliminated;

[0119] If It indicates that the trajectory data Xj b Is normal and is retained;

[0120] S14. Divide the trajectory data Xj after elimination b Into depth Jd a , dip angle value Px b And azimuth angle Fw c , obtain the azimuth angles Fw t And Fw t-1 At adjacent times t and t - 1, and calculate the change factor The calculation formula is:

[0121]

[0122] Where, fw y Represents the change threshold of the azimuth angle Fw c ; Divide the data to be processed according to the data type. In the present invention, only depth Jd a , dip angle value Px b And azimuth angle Fw c These three types of data are taken as examples. In actual applications, there are various types of data for more accurate calculations.

[0123] S15. According to the change factor Calculate the three-dimensional coordinate changes Δx, Δy and Δz of the drill rig respectively. The calculation formula is:

[0124]

[0125] Where, Px t-1 Represents the dip angle value at time t - 1, ΔFw c Represents the difference in azimuth angle between two points, ΔJd a Represents the change amount of the a-th depth;

[0126] S16. Calculate the updated coordinate values x gx , y gx And z gx Of the drill rig according to the three-dimensional coordinate changes Δx, Δy and Δz. The calculation formula is:

[0127] xgx = x0 + Δx

[0128] y gx = y0 + Δy

[0129] z gx = z0 + Δz

[0130] Wherein, x gx , y gx and z gx respectively represent the updated coordinate values at adjacent times t and t - 1 after the drill starts;

[0131] S17. Convert the updated coordinate values x gx , y gx and z gx into a pre - processed point Yd(x gx , y gx , z gx ), and collect multiple pre - processed points Yd into a pre - processed point set. Through the pre - processing of the trajectory data, the present invention can quickly eliminate outliers from the cylindrical three - dimensional point set in the drilling trajectory, and on this basis, further process the curved trajectory during the advancement of the drill, enabling a more accurate determination of the position of the cylindrical trajectory, providing more accurate data for subsequent steps, and improving the accuracy of calculations.

[0132] S2. Select two adjacent reference points A and B with the same cross - section in the pre - processed point set, and calculate the reference coefficient Ck b according to the trajectory data Xj of the reference points A and B g . Since the attitude of the drill pipe will shift during the operation of the drill, it is necessary to predict the situation of the drill pipe. The specific implementation steps are as follows:

[0133] S21. Calculate the first normal vector A according to the inclination angle value Px A and azimuth angle Fw B of the reference point A, and the inclination angle value Px B and azimuth angle Fw The calculation formula is:

[0134]

[0135] Wherein, e, f, and g respectively represent the projections of the first normal vector on the x - axis, y - axis, and z - axis;

[0136] S22. Calculate the angular mean A of the inclination angle value Px B and the inclination angle value Px and the azimuth angle Fw A and the azimuth angle FwB Bit mean value The calculation formula is:

[0137]

[0138] Wherein, represents the z-th angular mean value, represents the u-th bit mean value;

[0139] S23. Calculate the second normal vector according to the angular mean value and the bit mean value The calculation formula is:

[0140]

[0141] Wherein, represents the e-th second normal vector;

[0142] S24. Calculate the included angle value J according to the first normal vector and the second normal vector f , and the calculation formula is:

[0143]

[0144] Wherein, J f represents the f-th included angle value;

[0145] S25. Calculate the reference coefficient Ck f according to the included angle value J g , and the calculation formula is:

[0146]

[0147] Wherein, Ck g represents the g-th reference coefficient. By calculating the reference coefficient Ck g , it can play an auxiliary role in constructing the subsequent attitude coordinate model Zt zb . And through the processing of three-dimensional data, the change of the drill pipe attitude can be obtained more accurately, making the calculation of the subsequent steps more accurate, improving the accuracy of the operation result, and using simplified operation steps to improve the operation efficiency.

[0148] S3. Calculate the rod slope Gx g according to the reference coefficient Ck l , and construct the attitude coordinate model Zt l based on the rod slope Gx zb . In order to more accurately construct the drill pipe attitude model, the attitude coordinate model Zt zb is constructed based on the reference coefficient. The specific implementation steps are as follows:

[0149] S31. Calculate the first variable value Yb g and the second variable value Eb h according to the reference coefficient Ck, and the calculation formula is: I , the calculation formula is:

[0150]

[0151] where D r and D e respectively represent the span length of the drill pipe above the selected point and the average span length of the drill pipe, L0 represents the diameter of the wellbore, L c1 represents the diameter of the cross-section at the structural bend of the lower drill pipe and the upper drill pipe, and L q1 represents the diameter of the lower cross-beam column; before the drilling rig drills the well, the span lengths D r and D s of the upper drill pipe and the lower drill pipe, the diameter L0 of the wellbore, the diameter L c1 of the cross-section at the structural bend of the lower drill pipe and the upper drill pipe, and the diameter L q1 of the lower cross-beam column can be obtained in advance by measurement.

[0152] S32. Calculate the unknown span length D h through two sets of equations according to the first variable value Yb I and the second variable value Eb, and the expression is: s , the expression is:

[0153]

[0154] where A m and A n respectively represent the structural bend angle and the internal bending moment of the selected points A and B, Dy A , Dy B , Dx A , Dx B , Dz A and Dz B respectively represent the stress intensification factors of the selected points A and B, O a and O b respectively represent the moment of inertia of the drill pipe on the upper and lower sides of the selected points A and B, R pA and R pB respectively represent the load densities of the selected points A and B, LO a and LO b respectively represent the stiffnesses of the drill pipe on the upper and lower sides of the selected points A and B, ω fIndicates the connection bend angle of the drill pipe; the stress intensification factor can facilitate the stress analysis of the drill pipe of the drilling rig and can be obtained by the displacement method. The displacement method is a common method for obtaining the stress intensification factor and will not be elaborated here. The load density refers to the ratio of the sum of all loads acting on a certain area to the area. The moment of inertia of the shaft, the load density, and the stiffness of the drill pipe can all be obtained by calculation methods or through the historical data of the drilling rig, which will not be elaborated here.

[0155] S33. According to the unknown span D s Calculate the rod slope Gx l , and the calculation formula is:

[0156]

[0157] Among them, Gx l Indicates the l-th rod slope;

[0158] S34. According to the rod slope Gx l Calculate the inclination angle value Px T+1 and the azimuth angle Fw T+1 at the next moment, and the calculation formula is:

[0159] Px T+1 = Px T + arcsin[sin(Gx l · El f ) cos μ]

[0160] Fw T+1 = Fw T + arcsin[sin(Gx l · El f ) sin μ]

[0161] Among them, El f Indicates the length of the drill pipe above the selected points A and B, Px T and Fw T respectively represent the current inclination angle value and azimuth angle of the drill pipe, Px T+1 and Fw T+1 represent the inclination angle value and azimuth angle of the drill pipe at time T + 1, and μ represents the deviation angle of the drill pipe between the selected points A and B;

[0162] S35. According to the inclination angle value Px T+1 and the azimuth angle Fw T+1 Calculate the attitude coordinate model Zt zb of the drill pipe, where the coordinates of Zt zb are (X T+1 , Y T+1 , Z T+1 ), and the coordinate values X T+1 , Y T+1 and ZT+1 The calculation formula is:

[0163]

[0164] Wherein, X T+1 , Y T+1 and Z T+1 respectively represent the three-dimensional attitude coordinate values of the drill pipe at time T + 1. X T , Y T and Z T respectively represent the three-dimensional attitude coordinate values of the drill pipe at time T. In this step, through the prediction of the usage trajectory of the drill pipe, the deflection angle of the drill pipe at future time T + 1 is predicted, and the coordinate values at future moments are predicted by combining the coordinate values of the previous time, thereby completing the prediction of the drill pipe trajectory. This method can accurately predict the movement of the drill pipe through the inclination angle value Px T+1 and the azimuth angle Fw T+1 While improving the prediction accuracy, it can also be vividly displayed in combination with three-dimensional images, enabling the staff to obtain the usage situation of the drill pipe in the first time and improving the work efficiency.

[0165] S4. Obtain multiple usage points Sy according to the attitude coordinate model Zt zb and perform surface fitting on the drill pipe trajectory according to the usage points Sy to obtain the surface axis model Qz m , and the specific implementation steps are as follows:

[0166] S41. Divide the multiple usage points Sy of each drill pipe into a drill pipe point set Gz n corresponding to the drill pipe, and the expression is:

[0167] Gz n ={gz1, gz2... gz n}

[0168] Wherein, gz n represents the subdivision point set of the nth drill pipe in the drill pipe point set Gz n ; In this step, through the drill pipe prediction model Yc zg the predicted trajectory of the drill pipe can be obtained. According to the trajectory, the usage point Sy of each drill pipe can be aggregated into a drill pipe point set Gz n , and multiple drill pipe point sets Gz n of multiple drill pipes are obtained. In this way, surface fitting in the later stage can facilitate the generation of the surface of the same drill pipe and increase the accuracy of detection.

[0169] S42. Arbitrarily select a subdivision point set gz n in the drill pipe point set Gz q and q ≤ n, and calculate the central value Zx q of the subdivision point set gz v, the calculation formula is:

[0170]

[0171] Among them, Zx v represents the v-th central value, Q represents the number of points Sy used, and gz q represents the coordinates of the points Sy used in the q-th subdivision point set gz q ;

[0172] S43. Calculate the covariance value Xf v according to the central value Zx k , the calculation formula is:

[0173]

[0174] Among them, Xf k represents the k-th covariance value;

[0175] S44. Calculate the orthogonal value V according to the covariance value Xf k , the calculation formula is:

[0176] Xf k = VΛV T

[0177] Among them, Λ represents the diagonal value of the covariance value Xf k ;

[0178] S45. Obtain the first eigenquantity v1, the second eigenquantity v2, and the third eigenquantity v3 from the orthogonal value V through the feature extraction method;

[0179] S46. Calculate the surface axis model Qz of the fitting surface according to the first eigenquantity v1, the second eigenquantity v2, and the third eigenquantity v3 m , the calculation formula is:

[0180]

[0181] Among them, and respectively represent the model coefficients; in this step, the two-dimensional coordinates of the fitting circle are obtained through the two-dimensional fitting method, and the horizontal and vertical coordinates of the two-dimensional coordinates are used as the model coefficients of the surface axis model Qz m for the representation of the axis. Through the establishment of the surface axis model Qz m , a cylindrical model of the usage trajectory of the drill pipe can be initially obtained, which is convenient for the staff to present the working state. Moreover, based on the cylindrical model, the usage trajectory of the drill pipe can be predicted and warned more accurately, facilitating the implementation of subsequent steps and improving the work efficiency of model establishment.

[0182] S5. According to the surface axis model Qzm Calculate the offset Jy of the drill rig's trajectory p , and based on the offset Jy p issue a warning about the drill rig's trajectory to obtain warning information. The specific implementation steps are as follows:

[0183] S51. Calculate the initial axis distance Zx based on the first characteristic quantity v1 j , and the calculation formula is:

[0184] Zx j = (gz q - Zx v ) × v1

[0185] where Zx j represents the j-th initial axis distance;

[0186] S52. Calculate the initial cross-sectional radius JR based on the initial axis distance Zx j , and the calculation formula is: s

[0187]

[0188] where JR s represents the s-th initial cross-sectional radius;

[0189] S53. Select the most recently obtained update point Gt among multiple usage points Sy r , and calculate the offset Jy of the update point Gt r to the surface axis model Qz m , and the calculation formula is: p

[0190]

[0191] where P represents the number of groups of the initial axis distance Zx j and the update point Gt r , ||Gt r - Qz m || 2 represents the distance from the update point Gt r to the nearest center of the circle in the surface axis model Qz m ; the update of the update point Gt r and the update of the surface axis model Qz m are synchronized. Therefore, when generating the update point Gt r , it will be generated by the center of the corresponding surface axis model Qz m . By calculating the distance from the update point Gt r to the nearest center of the circle in the surface axis model Qz m , the deviation of the update point Gt r can be detected.​​

[0192] S54. According to the initial cross-sectional radius JR s Calculate the radius threshold R, and the calculation formula is:

[0193]

[0194] where U represents the quantity of the initial cross-sectional radius JR s ;

[0195] S55. Conduct deviation warning on the updated point Gt r ;

[0196] If Jy p ≤R, then the updated point Gt r is normal, and the drill rig does not need to be adjusted;

[0197] If Jy p >R, then the updated point Gt r is abnormal, and the drill rig trajectory needs to be adjusted and a warning message is generated.

[0198] S6. Convert the warning message into image data and send it to the control center of the drill rig. The specific implementation steps are as follows:

[0199] S61. Construct the three-dimensional space of the drill rig through the regular grid method;

[0200] S62. Construct image information in the three-dimensional space according to the attitude coordinate model Zt zb , the curved surface axis model Qz m , the initial cross-sectional radius JR s and the warning message; during the process of constructing the image information, it is necessary to present the attitude coordinate model Zt zb , the curved surface axis model Qz m , the initial cross-sectional radius JR s and the warning message in the form of an image, which can increase the vividness of the model, and by presenting the model with points or lines of different colors, it can enable the staff to quickly identify the abnormality of the model and quickly adjust the drill rig, improving the work efficiency.

[0201] S63. Process the image information through compression encoding to obtain image data, and transmit the image data to the control center of the drilling rig. Since the amount of image information data is huge, it is necessary to use compression encoding for transmission. Compression encoding is a commonly used method for processing images and will not be elaborated here. Through this method, the data with warning information can be quickly transmitted, not only quickly completing the information transmission, but also improving the image processing efficiency. The appearance of the model is vividly presented through a three-dimensional image, and the model is presented by points or lines of different colors, enabling the staff to quickly identify the abnormalities of the model and quickly adjust the drilling rig, thus improving the work efficiency.

[0202] Those of ordinary skill in the art can understand that all or part of the steps in implementing the method of the above embodiments can be completed by instructing relevant hardware through a program. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0203] The above embodiments have introduced the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for generating a drilling rig usage trajectory and abnormal warning, characterized in that, The method comprises the following steps: S1. Establish a three-dimensional coordinate system with the position of the drill rig as the origin, and obtain the trajectory data Xj of the drill pipe on the drill rig b And for the trajectory data Xj b Perform preprocessing to obtain a preprocessed point set; S2. Select two reference points A and B on the same cross-section in the preprocessed point set, and calculate the reference coefficient Ck according to the trajectory data Xj of the reference points A and B b Calculate the reference coefficient Ck g ; S3. Calculate the rod slope Gx according to the reference coefficient Ck g and construct the attitude coordinate model Zt according to the rod slope Gx l ; l zb ;​ S4. According to the attitude coordinate model Zt zb Obtain multiple use points Sy, and perform surface fitting on the drill pipe trajectory according to the use points Sy to obtain a surface axis model Qz m ; S5. According to the curved surface axis model Qz m Calculate the offset Jy of the drill rig's trajectory p , and based on the offset Jy p Warn the drill rig's trajectory to obtain warning information; S6. Convert the warning information into image data and send it to the control center of the drill rig.

2. The trajectory generation and anomaly warning method according to claim 1, characterized in that In step S1, the specific implementation steps are as follows: S11. Set the drill pipe lifting point of the drill rig as the initial point (x0, y0, z0), create a sliding window with a window size of C, and the step size of the sliding window is τ, and calculate the mean value of the trajectory data X within the sliding window jb The mean value The calculation formula is as follows: Among them, represents the mean value of the d-th trajectory data X jb ; S12. According to the mean value calculate the standard deviation value Bc e , and the calculation formula is: Among them, Bc e represents the e-th standard deviation value; S13. According to the standard deviation value Bc e exclude the outliers from the trajectory data Xj b and collect the remaining trajectory data Xj b as the data to be processed; If it indicates that the trajectory data Xj b is abnormal and should be excluded; If the trajectory data Xj b is normal and retained; S14. Divide the remaining trajectory data Xj b into depth Jd a , bevel value Px b and azimuth Fw c according to the type of data, and obtain the azimuth Fw t and Fw t-1 at adjacent times t and t - 1, and calculate the change factor The calculation formula is: Among them, fw y represents the change threshold of the azimuth Fw c ; S15. Calculate the three-dimensional coordinate change amounts Δx, Δy, and Δz of the drilling rig respectively according to the change factor ​ S16. Calculate the updated coordinate values x, y, and z of the drill rig based on the three-dimensional coordinate changes Δx, Δy, and Δz. The calculation formula is as follows: gx y gx and z gx The calculation formula is as follows: x gx = x0 + Δx y gx = y0 + Δy z gx = z0 + Δz where x gx , y gx and z gx respectively represent the updated coordinate values at adjacent times t and t - 1 after the rig starts; S17. Convert the updated coordinate values x gx , y gx and z gx to the pre-processed point Yd(x gx , y gx , z gx ), and collect multiple pre-processed points Yd into a pre-processed point set.

3. According to the trajectory generation and anomaly warning method described in claim 2, the three-dimensional coordinate change amounts Δx, Δy, and Δz of the drill rig are calculated by the following formula: Among them, Px t-1 represents the bevel angle value at time t - 1, ΔFw c represents the difference in azimuth between two points, ΔJd a represents the change amount at the a-th depth.

4. The trajectory generation and anomaly warning method according to claim 1, wherein In step S2, the specific implementation steps are as follows: S21. Calculate the first normal vector based on the oblique angle value Px of reference point A A and the azimuth angle Fw A , as well as the oblique angle value Px of reference point B B and the azimuth angle Fw B . The calculation formula is as follows: The calculation formula is: where e, f, and g respectively represent the projections of the first normal vector on the x-axis, y-axis, and z-axis; S22. Calculate the bevel angle value Px A and the bevel angle value Px B of the angular mean value as well as the azimuth angle Fw A and the azimuth angle Pw B of the position mean value The calculation formula is as follows: Among them, represents the z-th angular mean, represents the u-th bit mean; S23. Calculate the second normal vector according to the angular mean value and the position mean value The calculation formula is as follows: The calculation formula is: Among them, represents the e-th second normal vector; S24. Calculate the included angle value J based on the first normal vector and the second normal vector f . The calculation formula is: Among them, J f represents the f-th included angle value; S25. According to the included angle value J f calculate the reference coefficient Ck g , and the calculation formula is: Among them, Ck g represents the g-th reference coefficient.

5. The trajectory generation and anomaly warning method according to claim 1, wherein In step S3, the specific implementation steps are as follows: S31. Calculate the first variable value Yb g and the second variable value Eb h according to the reference coefficient Ck I , and the calculation formula is: Among them, D r and D e respectively represent the span length of the drill pipe above the selected point and the average span length of the drill pipe, L0 represents the diameter of the wellbore, L c1 represents the diameter of the cross-section at the structural bend of the lower drill pipe and the upper drill pipe, L q1 represents the diameter of the lower cross beam-column; S32. Calculate the unknown span length D according to the first variable value Yb h and the second variable value Eb I by means of two sets of equations s ; S33. According to the unknown span length D s calculate the rod slope Gx l , and the calculation formula is: where, Gx l represents the slope of the l-th rod; S34. According to the rod slope Gx l Calculate the inclination angle value Px at the next moment T+1 and the azimuth angle Fw T+1 , and the calculation formula is: Px T+1 = Px T + arcsin[sin(Gx l · El f ) cos μ] Fw T+1 = Fw T + arcsin[sin(Gx l · El f ) sin μ] Among them, El f represents the length of the drill pipe above the selected points A and B, Px T and Fw T respectively represent the current inclination angle value and azimuth angle of the drill pipe, Px T+1 and Fw T+1 represent the inclination angle value and azimuth angle of the drill pipe at time T + 1, and μ represents the deviation angle of the drill pipe between the selected points A and B; S35. Calculate the attitude coordinate model Zt of the drill pipe based on the bevel value Px T+1 and the azimuth angle Fw T+1 , where the coordinates of the attitude coordinate model Zt zb are (X zb , Y T+1 , Z T+1 , T+1 ).​ 6. The trajectory generation and anomaly warning method according to claim 5, characterized in that The unknown span D s has the following calculation formula: Among them, A m and A n are respectively the structural camber angle and the internal bending moment of the selected points A and B, Dy A 、Dy B 、Dx A 、Dx B 、Dz A and Dz B respectively represent the stress intensification factors of the selected points A and B, O a and O b respectively represent the axial moment of inertia of the drill pipes on the upper and lower sides of the selected points A and B, R pA and R pB respectively represent the load densities of the selected points A and B, LO a and LO b respectively represent the stiffnesses of the drill pipes on the upper and lower sides of the selected points A and B, ω f represents the connecting camber angle of the drill pipes.

7. The trajectory generation and anomaly warning method according to claim 5, wherein The pose coordinate model Zt zb has coordinate values X T+1 , Y T+1 and Z T+1 with the calculation formula as follows: Among them, X T+1 , Y T+1 and Z T+1 respectively represent the three-dimensional attitude coordinate values of the drill pipe at time T+1. X T , Y T and Z T respectively represent the three-dimensional attitude coordinate values of the drill pipe at time T.

8. The trajectory generation and anomaly warning method according to claim 1, wherein In step S4, the specific implementation steps are as follows: S41. Divide multiple usage points Sy of each drill pipe into a drill pipe point set Gz corresponding to the drill pipe, and the expression is: n , Expression: Gz n = {gz1, gz2…gz n} Among them, gz n represents the subdivision point set of the nth drill pipe in the drill pipe point set Gz n ; S42. Arbitrarily select a sub-point set gz from the drill pipe point set Gz n and q ≤ n, calculate the central value Zx of the sub-point set gz q The calculation formula is as follows: q for the central value Zx v of the sub-point set gz Among them, Zx v represents the v-th central value, Q represents the number of points Sy used, and gz q represents the q-th subdivision point set gz q in which the coordinates of the points Sy are used; S43. Calculate the covariance value Xf based on the central value Zx v The calculation formula is as follows: k ​ Among them, Xf k represents the covariance value of the kth; S44. According to the covariance value Xf k Calculate the orthogonal value V, and the calculation formula is: Xf k = V Λ V T where, Λ represents the diagonal value of the covariance value Xf k ; S45. Obtain the first feature quantity v1, the second feature quantity v2, and the third feature quantity v3 from the orthogonal value V through the feature extraction method; S46. Calculate the surface axis model Qz of the fitting surface according to the first feature quantity v1, the second feature quantity v2, and the third feature quantity v3 m , and the calculation formula is as follows: Among them, and respectively represent the model coefficients.

9. The trajectory generation and anomaly warning method according to claim 1, characterized in that In step S5, the specific implementation steps are as follows: S51. Calculate the initial axis distance Zx based on the first characteristic quantity v1 j , and the calculation formula is as follows: Zx j = (gz q - Zx v ) × v1 Among them, Zx j represents the distance of the j-th initial axis; S52. Calculate the initial cross-sectional radius JR based on the initial axial distance Zx j The calculation formula is as follows: s to calculate the initial cross-sectional radius JR Among them, JR s represents the S-th initial cross-sectional radius; S53. Select the most recently obtained update point Gt among multiple usage points Sy r , and calculate the offset Jy of the update point Gt r to the surface axis model Qz m , and the calculation formula is: p ​ where P represents the initial axis distance from Zx j and the number of update points Gt r is ||Gt r -Qz m || 2 represents the distance from the update point Gt r to the closest center of the circle in the surface axis model Qz m ; S54. According to the initial cross-sectional radius JR s Calculate the radius threshold R, and the calculation formula is: where U represents the quantity of the initial cross-sectional radius JR s ; S55. Perform deviation warning on the updated point Gt according to the radius threshold R r ; If Jy p ≤ R, then update the point Gt r is normal and the drill does not need to be adjusted; If Jy p > R, then update point Gt r Abnormal, the drill rig trajectory needs to be adjusted and a warning message is generated.

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