An all-around anti-deviation device for geological exploration and its usage method

Abstract

This invention relates to the field of geological exploration equipment technology, and provides an all-around anti-deviation device for geological exploration and its usage method. The device includes a hollow supporting shell, at least three telescopic probe units evenly distributed circumferentially along the supporting shell, a gyroscope module installed inside, and a central processing unit and controller. Each telescopic probe unit has a contact head at its end, which encapsulates a multi-dimensional force sensor and a high-frequency vibration sensor. The device actively probes the well wall through the telescopic probe units, constructs a circumferential lithological mechanical model using data acquired from the multi-dimensional force sensor and the high-frequency vibration sensor, and predicts the future deviation trajectory by combining the attitude data from the gyroscope module. When the predicted deviation exceeds a dynamic threshold, the telescopic probe unit on the opposite side of the deviation direction applies a reaction force to perform correction, realizing a shift from passive response to active prediction.

Description

Technical Field

[0001] This invention relates to the field of geological exploration equipment technology, specifically to an all-around anti-deviation device for geological exploration and its usage method. Background Technology

[0002] In deep geological exploration and directional drilling projects, ensuring that the drill string always travels precisely along the preset trajectory is crucial for success. However, due to the complex and varied formations and uneven lithological distribution downhole, the drill string is subjected to uneven lateral forces during drilling, making it prone to deviation. This not only seriously affects the accuracy of exploration data and the efficiency of subsequent resource development, but may even lead to drilling accidents and cause huge economic losses. Most existing anti-deviation technologies rely on inclination instruments (such as gyroscopes) to passively measure and lag-correct deviations that have already occurred. This approach is not timely and cannot prevent deviations from occurring at the source. In addition, these technologies usually lack the ability to perceive the real-time and precise lithological and mechanical properties of the well wall around the drill bit, and cannot predict deviation trends based on changes in the hardness of the formation. Their correction mechanisms are also relatively simple, often using fixed forces for correction, which is difficult to adapt to changing working conditions and can easily lead to overcorrection or low correction efficiency. Furthermore, severe downhole vibrations and high-temperature and high-pressure environments also seriously affect the accuracy of measurement sensors, reducing the reliability of the entire anti-deviation system. Summary of the Invention

[0003] This invention provides an all-around anti-deviation device for geological exploration and its usage method, aiming to solve the problem that the drilling tools are prone to deviating from the predetermined trajectory due to the complex and variable strata in the existing geological exploration drilling process, resulting in decreased exploration accuracy and increased costs.

[0004] The present invention is implemented as follows: an all-around anti-deviation device for geological exploration, comprising: a hollow supporting shell; at least three telescopic probe units evenly distributed along the outer wall of the supporting shell; and a gyroscope module installed inside the supporting shell.

[0005] The central processing unit and controller are installed inside the housing and electrically connected to the telescopic probe unit and the gyroscope module. Each telescopic probe unit has a contact head at its end, and each contact head encapsulates a multidimensional force sensor for measuring contact force and a high-frequency vibration sensor for collecting contact vibration signals. Both the multidimensional force sensor and the high-frequency vibration sensor are electrically connected to the central processing unit and controller.

[0006] Preferably, it also includes a self-sufficient energy and hydraulic power module, installed inside the supporting housing, for providing power to the central processing unit and controller, and driving the telescopic probe unit to extend and retract according to the instructions of the central processing unit and controller.

[0007] Preferably, the gyroscope module is mounted at the center of the inner part of the supporting shell via a multi-level gel damping base.

[0008] Preferably, an integrated environmental sensor is also fixed on the outer surface of the supporting housing, which is electrically connected to the central processing unit and controller, and is used to measure downhole environmental parameters to correct data from other sensors.

[0009] A method for using an all-around anti-deviation device for geological exploration includes the following steps:

[0010] The force data measured in real time by the multi-dimensional force sensor is defined as contact mechanics characteristic data; the vibration signal collected in real time by the high-frequency vibration sensor is defined as vibration response characteristic data; and the device attitude data measured in real time by the gyroscope module is defined as attitude drift characteristic data.

[0011] a) Control the extension of the telescopic probe unit and simultaneously acquire its corresponding contact mechanical characteristic data and vibration response characteristic data;

[0012] b) Based on the signal quality of the vibration response characteristic data, one of the two preset calculation modes is adaptively selected, and combined with the contact mechanical characteristic data, a lithological index characterizing the lithological properties of the well wall at the current contact point is calculated.

[0013] c) Drive and repeat steps a) and b) sequentially to construct a circumferential lithological model consisting of multiple lithological indices;

[0014] d) Continuously acquire the attitude drift characteristic data and perform correlation analysis with the circumferential lithology model to predict the future offset trend of the device and generate a predicted offset trajectory;

[0015] e) When the predicted offset trajectory exceeds the preset dynamic safety threshold, a correction command is calculated based on the predicted offset trajectory, and the telescopic probe unit on the opposite side of the offset direction is controlled to apply a reaction force to the well wall to perform the correction.

[0016] Preferably, in step b), the two calculation modes are:

[0017] When the signal strength of the vibration response characteristic data is higher than the dynamically set noise baseline, the standard mode is entered. The force-vibration coupling coefficient is obtained as the lithological mechanical index by calculating the concentration of vibration energy in the high-frequency band under unit normal pressure.

[0018] When the signal strength is lower than the noise baseline, the compensation mode is entered. The probe is advanced a small distance under constant pressure, and the force-displacement gradient during the probe advancement process is calculated to obtain the force-displacement gradient index as the lithological mechanical index.

[0019] Preferably, in step d), the process of generating the predicted offset trajectory is as follows: a baseline offset trajectory is generated based on historical attitude drift characteristic data using a time series extrapolation model; dynamic lithological correction weights are calculated according to the circumferential lithology mechanics model; the baseline offset trajectory is corrected using the lithological correction weights to obtain the predicted offset trajectory.

[0020] Preferably, in step e), the calculation process of the correction command includes:

[0021] Taking into account the predicted offset, the accumulated offset error, and the rate of change of offset speed, the correction force value is calculated through proportional-integral-derivative control logic.

[0022] During the application of the reaction force, the contact mechanical characteristic data acquired by the telescopic probe unit on the action side is used as real-time feedback to adjust the applied force, so as to ensure that the actual force is exactly equal to the correction force value.

[0023] Preferably, the dynamic safety threshold mentioned in step e) is obtained by dividing a preset benchmark safety threshold by a risk factor calculated based on the degree of lithological imbalance at each point in the circumferential lithology model.

[0024] Compared with the prior art, the embodiments of this application have the following main advantages:

[0025] The omnidirectional anti-deviation device and its usage method for geological exploration provided by this invention utilizes a multi-dimensional force sensor and a high-frequency vibration sensor integrated at the end of a telescopic probe unit. Combined with two adaptive switching calculation modes, it can actively detect and construct a circumferential lithological mechanical model characterizing the lithological mechanical properties around the wellbore. By performing correlation analysis on this model with attitude drift characteristic data acquired by a gyroscope module, and using a time series extrapolation model combined with lithological correction weights, it can accurately generate a predicted deviation trajectory, achieving a forward-looking prediction of future deviation trends. When the predicted deviation trajectory exceeds the dynamic safety threshold calculated based on the degree of lithological imbalance, this method can calculate a precise correction force value through proportional-integral-derivative control logic and adjust it using real-time force feedback from the multi-dimensional force sensor. This controls the telescopic probe unit on the opposite side of the deviation direction to apply a precise reaction force to perform the correction, thereby nipping the deviation trend in the bud. This significantly improves the accuracy, timeliness, and adaptability to complex formations in well trajectory control. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall external structure supporting the outer shell;

[0028] Figure 2 This is a schematic diagram of the internal connection structure of the supporting shell;

[0029] Figure 3 This is a schematic diagram showing the location and structure of the self-sufficient energy and hydraulic power module;

[0030] Figure 4 This is a schematic diagram of the cross-sectional structure of the contact head;

[0031] Figure 5 This is a schematic diagram of the control method of the present invention;

[0032] In the diagram: 100, housing; 200, gyroscope module; 300, telescopic probe unit; 310, contact head; 320, multi-dimensional force sensor; 330, high-frequency vibration sensor; 400, integrated environmental sensor; 500, central processing unit and controller; 600, self-sufficient energy and hydraulic power module. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0034] To address the problem that complex and variable geological formations can easily cause drilling tools to deviate from their intended paths during existing geological exploration drilling processes, resulting in decreased exploration accuracy and increased costs, this invention provides an all-around anti-deviation device for geological exploration and its usage method.

[0035] like Figure 1-4As shown, an all-around anti-deviation device for geological exploration is characterized by comprising: a hollow supporting shell 100; at least three telescopic probe units 300 evenly distributed along the outer circumference of the supporting shell 100; a gyroscope module 200 installed inside the supporting shell 100; and a central processing unit and controller 500 installed inside the supporting shell 100 and electrically connected to the telescopic probe units 300 and the gyroscope module 200; wherein each telescopic probe unit 300 has a contact head 310 at its end, and each contact head 310 encapsulates a multidimensional force sensor 320 for measuring contact force and a high-frequency vibration sensor 330 for collecting contact vibration signals, and both the multidimensional force sensor 320 and the high-frequency vibration sensor 330 are electrically connected to the central processing unit and controller 500.

[0036] The hollow supporting shell 100 serves as the overall supporting structure, with standard threaded interfaces at both ends allowing for easy connection to the drill string. At least three circumferentially distributed telescopic probe units 300 on the outer wall of the supporting shell 100 enable omnidirectional detection and force application to the wellbore. An internal gyroscope module 200 acquires the device's three-dimensional spatial attitude in real time, while the central processing unit and controller 500 serve as the core for data processing and decision-making. Specifically, the contact head 310 at the end of each telescopic probe unit 300 integrates a multi-dimensional force sensor 320 and a high-frequency vibration sensor 330, ensuring the device perceives the multi-dimensional physical characteristics of the wellbore. The multi-dimensional force sensor 320 directly measures the contact force with the wellbore, while the high-frequency vibration sensor 330 collects subtle vibration signals from the rock during contact. All sensors and actuators are uniformly coordinated by the central processing unit and controller 500. Instead of passively measuring existing deviations, it actively detects the lithological mechanics around the wellbore, providing a basis for predicting deviation trends and implementing preventative corrections. In practical applications, this device is typically encapsulated in a specially designed connector connected in series between the drill pipe and the drill bit, as part of the near-bit assembly. When the drilling trajectory deviates—for example, if the gyroscope module 200 detects the drill string shifting eastward—the central processing unit and controller 500 precisely control one or more telescopic probe units 300 located on the west side to extend based on the predicted deviation trajectory, applying a westward-directed reaction force to the wellbore. This reaction force effectively counteracts the lateral force causing the eastward deviation, thereby guiding the drill string back to the predetermined trajectory and achieving real-time, proactive correction of the drilling trajectory.

[0037] Furthermore, a self-sufficient energy and hydraulic power module 600 is included, installed inside the supporting housing 100. This module provides power to the central processing unit and controller 500 and drives the telescopic probe unit 300 to extend and retract according to instructions from the central processing unit and controller 500. In this embodiment, the self-sufficient energy and hydraulic power module 600, installed inside the supporting housing 100, supports the long-term reliable operation of the entire anti-deviation device. Specifically, this module includes a micro-turbine generator driven by drilling fluid and a high-capacity rechargeable battery pack. Together, they provide a continuous and stable power supply to the central processing unit and controller 500 and various sensors. Simultaneously, this module also integrates a micro-hydraulic power unit, including a high-pressure hydraulic pump, an electromagnetic control valve group, and a hydraulic oil tank. This hydraulic power unit receives instructions from the central processing unit and controller 500 and provides high-pressure, precisely controllable hydraulic power for the extension and retraction of each telescopic probe unit 300.

[0038] Furthermore, the gyroscope module 200 is mounted at the center of the inner part of the supporting housing 100 via a multi-level gel damping base.

[0039] In this embodiment, to ensure that the gyroscope module 200 can still output pure and accurate attitude data in the downhole environment with high-intensity vibration and impact, the gyroscope module 200 is fixed to the internal central cavity of the supporting shell 100 and connected to the supporting shell 100 through a multi-stage gel damping base. The base has a dual damping structure: the first stage uses a set of high-damping gel pads with a Shore A hardness in the range of 20-30 to effectively filter out high-frequency vibrations generated during drilling; the second stage uses a set of impact-resistant gel pads with a Shore A hardness in the range of 50-60 to buffer the large impacts that are unavoidable downhole. The gyroscope module 200 is installed in a central position away from the energy and hydraulic power modules in order to reduce electromagnetic and mechanical vibration interference from these components.

[0040] Furthermore, an integrated environmental sensor 400 is fixed on the outer surface of the supporting housing 100. It is electrically connected to the central processing unit and controller 500 and is used to measure downhole environmental parameters to correct data from other sensors.

[0041] The integrated environmental sensor 400 in this embodiment is fixed to the outer surface of the supporting housing 100. It integrates a temperature sensor and a pressure sensor and its function is to monitor the downhole environment temperature and fluid pressure in real time.

[0042] like Figure 5 As shown, to ensure the stable operation of this invention, a method for using an all-around anti-deviation device for geological exploration includes the following steps:

[0043] The force value data measured in real time by the multi-dimensional force sensor 320 is defined as contact mechanical characteristic data, the vibration signal collected in real time by the high-frequency vibration sensor 330 is defined as vibration response characteristic data, and the device attitude data measured in real time by the gyroscope module 200 is defined as attitude drift characteristic data.

[0044] a) Control the extension of the telescopic probe unit 300 and simultaneously acquire its corresponding contact mechanical characteristic data and vibration response characteristic data;

[0045] b) Based on the signal quality of the vibration response characteristic data, one of the two preset calculation modes is adaptively selected, and combined with the contact mechanical characteristic data, a lithological index characterizing the lithological properties of the well wall at the current contact point is calculated.

[0046] c) Drive and repeat steps a) and b) sequentially to construct a circumferential lithological model consisting of multiple lithological indices;

[0047] d) Continuously acquire the attitude drift characteristic data and perform correlation analysis with the circumferential lithology model to predict the future offset trend of the device and generate a predicted offset trajectory;

[0048] e) When the predicted offset trajectory exceeds the preset dynamic safety threshold, a correction command is calculated based on the predicted offset trajectory, and the telescopic probe unit 300 on the opposite side of the offset direction is controlled to apply a reaction force to the well wall to perform the correction.

[0049] This embodiment defines the data acquired by each sensor. The force value obtained by the multi-dimensional force sensor 320 is defined as contact mechanical characteristic data, the signal obtained by the high-frequency vibration sensor 330 is defined as vibration response characteristic data, and the attitude information obtained by the gyroscope module 200 is defined as attitude drift characteristic data. A lithological mechanical model of the wellbore is established through active detection, and predictive correction is performed based on this model. The process is as follows: the central processing unit and controller 500 periodically drive a telescopic probe unit 300 to extend, contacting the wellbore with minute pressure, and simultaneously collecting contact mechanical characteristic data and vibration response characteristic data at the contact point. The system judges the quality of the vibration signal and automatically... The system selects a calculation mode and integrates two sets of data to calculate a single lithological mechanical index. By sequentially driving all probe units, a ring-shaped circumferential lithological mechanical model can be quickly constructed, which is a real-time hardness distribution map around the well wall. At the same time, the system continuously uses the gyroscope module 200 to acquire attitude drift characteristic data and performs correlation analysis with the circumferential lithological mechanical model to predict the deviation trajectory in the near future. When the predicted deviation trajectory exceeds a safety threshold that is dynamically adjusted according to risk, the system will calculate a precise correction command and drive the probe unit in the opposite direction of the deviation to apply an appropriate reaction force to the well wall, thereby nipping the deviation trend in the bud.

[0050] Furthermore, in step b), the two calculation modes are:

[0051] When the signal strength of the vibration response characteristic data is higher than the dynamically set noise baseline, the standard mode is entered. The force-vibration coupling coefficient is obtained as the lithological mechanical index by calculating the concentration of vibration energy in the high-frequency band under unit normal pressure.

[0052] When the signal strength is lower than the noise baseline, the compensation mode is entered. The probe is advanced a small distance under constant pressure, and the force-displacement gradient during the probe advancement process is calculated to obtain the force-displacement gradient index as the lithological mechanical index.

[0053] This embodiment can adaptively respond to different geological conditions. During exploration, the controller uses a high-frequency vibration sensor 330 to collect background vibration and establish a real-time vibration noise baseline. When the probe contacts the well wall, if the intensity of the collected vibration response characteristic data signal is significantly higher than this dynamic baseline, it is determined to be a valid signal, and the system enters standard mode. In this mode, the algorithm analyzes the power spectral density of the vibration signal, quantifies the energy of the high-frequency components, and normalizes it with the normal pressure value measured by the multi-dimensional force sensor 320 to calculate a force-vibration coupling coefficient. Specifically, the force-vibration coupling coefficient... It can be calculated using the following formula:

[0054] ,

[0055] It is the normal pressure value measured by a multi-dimensional force sensor;

[0056] It is the power spectral density function of the high-frequency vibration signal;

[0057] and These are the preset upper and lower limits of the high-frequency band (e.g., 5kHz to 20kHz).

[0058] This coefficient directly reflects the hardness and density of the rock; harder rocks correspond to higher coefficient values. Conversely, if the signal strength is lower than the noise baseline, it indicates the encounter with extremely soft or highly fractured strata, and the system automatically switches to compensation mode. In this mode, the controller instructs the probe to advance a precise distance (e.g., 0.5 mm) beyond the current pressure, while simultaneously recording the change in normal pressure. By dividing the pressure change by the advance distance, the force-displacement gradient index is calculated. This index effectively quantifies the intrusiveness of the strata; the index value is extremely low for soft strata. The automatic switching between these two modes ensures that the system obtains an effective and quantifiable lithological mechanical index regardless of the lithology encountered.

[0059] Furthermore, in step d), the process of generating the predicted offset trajectory is as follows: based on historical attitude drift characteristic data, a time series extrapolation model is used to generate a baseline offset trajectory; dynamic lithological correction weights are calculated according to the circumferential lithology mechanics model; the baseline offset trajectory is corrected using the lithological correction weights to obtain the predicted offset trajectory.

[0060] In this embodiment, the generation process of the predicted migration trajectory in step d) is not a simple linear extrapolation, but a comprehensive prediction that integrates historical trends and the characteristics of the preceding stratigraphy. The specific extrapolation process is divided into two steps: First, the algorithm uses an autoregressive (AR) model, which extrapolates the time series based solely on the historical attitude drift characteristic data provided by the gyroscope module 200 over the past few seconds to obtain a baseline migration trajectory that does not consider the influence of lithology. To ensure the adaptability and accuracy of this AR model, its model order is automatically optimized and determined using the Akaike Information Criterion (AIC). Second, the algorithm uses the previously constructed circumferential lithology mechanical model to correct the baseline trajectory. The core of the correction lies in dynamically calculating the lithology correction weight. It can be generated by a function related to the rate of change of the lithological mechanical index, for example:

[0061] ,

[0062] It is the average lithological mechanical index at the current location;

[0063] It is a lithological mechanical index that predicts the trajectory direction;

[0064] It is a preset proportional coefficient;

[0065] This weight It was subsequently used to correct the angle and magnitude of the baseline offset trajectory;

[0066] The derivation logic is as follows: The algorithm analyzes the changing trend of lithological hardness along the predicted trajectory direction. If the strata in the predicted direction soften significantly (lithological hardness index decreases rapidly), a larger positive weight is generated, increasing the final predicted offset. Conversely, if the strata change is slight or hardens, a smaller or negative weight is applied. In this way, the inertial trend prediction based on historical data is combined with the physical cause prediction based on the previous geological model, and the final predicted offset trajectory can more accurately reflect the future actual offset evolution. Further, in step e), the calculation process of the correction command includes:

[0067] Taking into account the predicted offset, the accumulated offset error, and the rate of change of offset velocity, the correction force value is calculated using proportional-integral-derivative control logic; the final correction force value... Determined by the following PID control logic:

[0068] ,

[0069] It is the difference between the predicted offset and the dynamic safety threshold (i.e., the predicted offset error).

[0070] These are the gain coefficients of the proportional, integral, and derivative components, respectively.

[0071] During the application of the reaction force, the contact mechanical characteristic data acquired by the telescopic probe unit 300 on the action side is used as real-time feedback to adjust the applied force, so as to ensure that the actual force is exactly equal to the correction force value.

[0072] In this embodiment, the magnitude of the correction force is not a fixed value, but is dynamically calculated through a set of control logic similar to proportional-integral-derivative. The proportional loop calculates a basic reaction force based on the difference between the predicted offset and the threshold, which is used to quickly respond to the current main offset trend. The integral loop focuses on eliminating the persistent small cumulative offset error by gradually increasing the force to overcome the steady-state error caused by factors such as the tilt of stable formations. The derivative loop analyzes the rate of change of offset velocity and makes predictive adjustments to the acceleration or deceleration trend of offset to suppress excessively rapid changes and prevent overcorrection, making the correction process smoother. The algorithm superimposes the forces calculated by these three parts to form the final correction force command. When this command is executed, the multi-dimensional force sensor 320 on the telescopic probe unit 300 on the action side continuously feeds back the actual applied force value to the controller at high frequency. Based on the real-time feedback of this contact mechanics characteristic data, the controller continuously adjusts the hydraulic output to ensure that the actual force acting on the well wall is exactly equal to the theoretical correction force value calculated by the PID logic, avoiding insufficient or excessive force.

[0073] Furthermore, the dynamic safety threshold mentioned in step e) is obtained by dividing a preset benchmark safety threshold by a risk factor calculated based on the degree of lithological imbalance at each point in the circumferential lithology model.

[0074] In this embodiment, the dynamic safety threshold for the correction action is not a fixed empirical value, but rather is linked to risk assessment in real time. The system adjusts the threshold based on the engineering requirements for wellbore trajectory accuracy. For example, for horizontal wells requiring high-precision trajectory control, the baseline safety threshold can be set to a smaller value, such as a predicted offset angle of 0.1 degrees; while for pilot holes with relatively lower exploration accuracy requirements, a larger value, such as 0.5 degrees, can be set. This baseline value can also be initially set based on engineering parameters such as drill string rigidity and drill pressure, through offline simulation or by referencing empirical data from neighboring wells. A baseline safety threshold is preset. During drilling, the algorithm analyzes the lithological hardness index of all measuring points in the circumferential lithology model in real time and calculates its coefficient of variation (the ratio of standard deviation to mean). This coefficient is used to accurately quantify the degree of lithological unevenness around the wellbore. The algorithm converts this coefficient of variation (CV) into a risk factor using a preset function. For example, a simple linear or exponential function:

[0075] ,

[0076] It is the risk sensitivity coefficient;

[0077] The more heterogeneous the lithology, the larger the coefficient of variation (CV) value, and the greater the risk factor. The risk factor also increases accordingly. The dynamic safety threshold is obtained by dividing the baseline safety threshold by this risk factor. When the drill bit is traveling in a formation with uniform lithology, the risk factor is close to 1, and the safety threshold is maintained at a relatively lenient baseline level. However, when the circumferential lithology model shows that there are drastic changes in the formation ahead and the lithology is extremely heterogeneous, the risk factor will increase significantly, which will cause the dynamic safety threshold to be automatically tightened (the value will become smaller). This makes the system more sensitive to even very small deviation trends and intervenes earlier. This mechanism enables the device's correction behavior to intelligently adapt to the risk level of the formation.

[0078] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0079] It should be understood that the disclosed apparatus can be implemented in other ways, given the several embodiments provided in this application. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units described above may be implemented in other ways in practice. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or communication connections shown or discussed may be through some interfaces; indirect coupling or communication connections between devices or units may be electrical or other forms.

[0080] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A full-azimuth deviation-preventing device for geological exploration, characterized in that, The application relates to a full-range deviation-preventing device for a borehole wall probe. The device comprises: a hollow bearing shell; at least three telescopic probe units arranged along the outer wall of the bearing shell; a gyroscope module installed in the interior of the bearing shell; a central processor and controller installed in the interior of the bearing shell and electrically connected with the telescopic probe units and the gyroscope module; wherein the end of each telescopic probe unit is provided with a contact head, and a multi-dimensional force sensor for measuring contact force value and a high-frequency vibration sensor for collecting contact vibration signals are packaged in the interior of each contact head, and the multi-dimensional force sensor and the high-frequency vibration sensor are electrically connected with the central processor and controller; the use method of the full-range deviation-preventing device comprises the following steps: defining the force value data measured by the multi-dimensional force sensor in real time as contact mechanical characteristic data, defining the vibration signal collected by the high-frequency vibration sensor in real time as vibration response characteristic data, and defining the device posture data measured by the gyroscope module in real time as posture drift characteristic data; a) controlling the telescopic probe units to extend and synchronously acquiring the corresponding contact mechanical characteristic data and vibration response characteristic data; b) according to the signal quality of the vibration response characteristic data, adaptively selecting one of two preset calculation modes, combining the contact mechanical characteristic data, and calculating a lithology mechanical index representing the lithology characteristics of the current contact point well wall; c) sequentially driving and repeating steps a) and b) to construct a circumferential lithology mechanical model composed of multiple lithology mechanical indexes; d) continuously acquiring the posture drift characteristic data and performing correlation analysis on the posture drift characteristic data and the circumferential lithology mechanical model to predict the future deviation trend of the device and generate a predicted deviation track; e) when the predicted deviation track exceeds a preset dynamic safety threshold, calculating a correction instruction based on the predicted deviation track and controlling the telescopic probe units on the opposite side of the deviation direction to exert a counteracting force on the well wall to execute correction; in step b), the two calculation modes are: when the signal intensity of the vibration response characteristic data is higher than a dynamically set noise baseline, entering a standard mode, calculating the concentration degree of vibration energy in a high-frequency band under unit normal pressure to obtain a force-vibration coupling coefficient as the lithology mechanical index; and when the signal intensity is lower than the noise baseline, entering a compensation mode, calculating a force-displacement gradient in the process of advancing the probe by a small distance under constant pressure to obtain a force-displacement gradient index as the lithology mechanical index; in step e), the dynamic safety threshold is obtained by dividing a preset reference safety threshold by a risk factor calculated according to the unevenness degree of the lithology of each point in the circumferential lithology mechanical model.

2. The all-directional deviation preventing device for geological exploration according to claim 1, characterized in that, The device further comprises a self-contained energy and hydraulic power module installed in the interior of the bearing shell, which is used for providing electric energy for the central processor and controller and driving the telescopic probe units to realize telescoping according to the instruction of the central processor and controller.

3. The all-directional deviation preventing device for geological exploration according to claim 1, characterized in that, The gyroscope module is installed at the central position in the interior of the bearing shell through a multistage gel shock-absorbing base.

4. The full azimuth deboosing device for geological exploration according to any one of claims 1, 2 or 3, characterized in that, An integrated environmental sensor is also fixed on the outer surface of the bearing shell and electrically connected with the central processor and controller, for measuring downhole environmental parameters to correct the data of other sensors.

5. The use of a full-range deviation prevention device for geological exploration, applied to the full-range deviation prevention device for geological exploration according to claim 1, characterized in that, In step d), the generation process of the predicted deviation trajectory is: based on historical attitude drift feature data, a time series deduction model is used to generate a reference deviation trajectory; and a dynamic lithology correction weight is calculated according to the circumferential lithology mechanical model; The reference deviation trajectory is corrected by using the lithology correction weight to obtain the predicted deviation trajectory.

6. The method of using a full azimuth deboosing device for geological exploration of claim 5, wherein, In step e), the calculation process of the correction instruction includes: comprehensively considering the predicted deviation, the accumulated deviation error and the change rate of the deviation speed, and calculating the correction force value through proportional-integral-derivative control logic; In the process of applying the reaction force, the contact mechanics feature data obtained by the telescopic probe unit on the action side is taken as real-time feedback to adjust the applied force, so as to ensure that the actual acting force is exactly equal to the correction force value.

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