Method, device and equipment for measuring rotating speed of underground drilling tool and medium

Abstract

The embodiment of the invention discloses a rotating speed measuring method, device and equipment for an underground drilling tool and a medium. The method comprises the following steps: acquiring previous sensor data and current sensor data of a target drilling tool; wherein the sensor is a two-axis fluxgate sensor which is installed in a directional sensor in a target drilling tool in advance; performing filtering processing on the previous sensor data based on a high-pass filter to obtain previous filtering data; determining current filtering data of the target drilling tool according to the high-pass filter, the previous sensor data, the current sensor data and the previous filtering data; and determining the rotating speed of the target drilling tool according to the high-pass filter, the current sensor data and the current filtering data. According to the technical scheme, high-precision measurement of the rotating speed of the drilling tool can be achieved directly based on the two-axis fluxgate in the directional sensor of the while-drilling system, the real-time performance is high, the application range is wide, other extra hardware support is not needed, the measurement cost can be reduced, and the measurement efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of oil and gas drilling engineering technology and equipment technology, and in particular to a method, device, equipment and medium for measuring the rotational speed of downhole drilling tools. Background Technology

[0002] Logging While Drilling (LWD) in the petroleum industry generally refers to measuring the drill string's attitude, condition, and formation rock physical parameters during the drilling process, and then transmitting the measurement results to the surface in real time via wireless communication for processing. Currently, in petroleum LWD, the downhole drill string's rotational speed is a necessary parameter for real-time monitoring of the drill string's condition and analysis of measurement data; therefore, drill string rotational speed measurement has become one of the key indicators in logging.

[0003] Currently, most rotational speed data in logging while drilling (LWD) relies on data from wellhead encoder measurement systems. These encoder systems consist of electromagnetic sensors and a geared disc mounted on a shaft. The spindle rotation drives the geared disc to rotate; as the teeth pass through the sensor, they cause a change in the circuit's magnetic reluctance. After amplification and shaping, this change forms a square wave electrical pulse. The rotational speed is obtained by recording the number of pulses per unit time. However, this method is limited by factors such as the geared disc's machining accuracy, the minimum resolving interval of the teeth, and the maximum counting frequency of the circuit. Therefore, measurement accuracy cannot be guaranteed, and it cannot fully reflect the real-time rotational speed downhole. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for measuring the rotational speed of downhole drilling tools. It can directly rely on the biaxial fluxgate in the directional sensor of the drilling system to achieve high-precision measurement of the drilling tool rotational speed. It has high real-time performance, a wide range of applications, and does not require any other additional hardware support, which can reduce measurement costs and improve measurement efficiency.

[0005] According to one aspect of the present invention, a method for measuring the rotational speed of a downhole drilling tool is provided, the method comprising:

[0006] Acquire the previous sensor data and current sensor data of the target drill string; wherein, the sensor is a biaxial fluxgate sensor in the orientation sensor pre-installed inside the target drill string, and the sensor data includes first direction sensor data and second direction sensor data, wherein the first direction and the second direction refer to two mutually perpendicular directions in the radial direction of the target drill string;

[0007] The previous sensor data is filtered using a high-pass filter to obtain the previous filtered data; wherein, the filtered data includes first-direction filtered data and second-direction filtered data;

[0008] The current filtered data of the target drill bit is determined based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data;

[0009] The rotational speed of the target drill bit is determined based on the high-pass filter, the current sensor data, and the current filtered data.

[0010] According to another aspect of the present invention, a downhole drilling tool rotation speed measuring device is provided, the device comprising:

[0011] The sensor data acquisition module is used to acquire the previous sensor data and the current sensor data of the target drill bit; wherein, the sensor is a biaxial fluxgate sensor in the orientation sensor pre-installed inside the target drill bit, and the sensor data includes first direction sensor data and second direction sensor data, wherein the first direction and the second direction refer to two mutually perpendicular directions in the radial direction of the target drill bit;

[0012] The previous filtered data determination module is used to filter the previous sensor data based on a high-pass filter to obtain the previous filtered data; wherein, the filtered data includes first-direction filtered data and second-direction filtered data;

[0013] The current filtered data determination module is used to determine the current filtered data of the target drill bit based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data.

[0014] The target drill bit rotation speed determination module is used to determine the rotation speed of the target drill bit based on the high-pass filter, the current sensor data, and the current filtered data.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and,

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the downhole drilling tool rotation speed measurement method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the downhole drilling tool rotation speed measurement method according to any embodiment of the present invention.

[0020] The technical solution of this invention involves acquiring previous and current sensor data of the target drill string. The sensor is a biaxial fluxgate sensor pre-installed within the directional sensor of the target drill string. The sensor data includes first-direction sensor data and second-direction sensor data, where the first and second directions refer to two mutually perpendicular directions in the radial direction of the target drill string. The previous sensor data is processed using a high-pass filter to obtain previous filtered data, which includes first-direction filtered data and second-direction filtered data. The current filtered data of the target drill string is determined based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data. The rotational speed of the target drill string is determined based on the high-pass filter, the current sensor data, and the current filtered data. This technical solution can directly rely on the biaxial fluxgate sensor in the directional sensor of the drilling system to achieve high-precision measurement of the drill string rotational speed. It offers high real-time performance, wide applicability, requires no additional hardware support, reduces measurement costs, and improves measurement efficiency.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0023] Figure 1 This is a flowchart of a method for measuring the rotational speed of a downhole drilling tool according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a method for measuring the rotational speed of a downhole drilling tool according to Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of a downhole drilling tool rotation speed measuring device according to Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device for implementing a method for measuring the rotational speed of a downhole drilling tool according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a method for measuring the rotational speed of a downhole drilling tool according to Embodiment 1 of the present invention. This embodiment is applicable to situations requiring high-precision and high-real-time measurement of the rotational speed of a downhole drilling tool. The method can be executed by a downhole drilling tool rotational speed measuring device, which can be implemented in hardware and / or software. This device can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0031] S110: Acquire the previous sensor data and current sensor data of the target drill string.

[0032] The target drilling tool refers to the downhole drilling tool whose rotational speed needs to be measured. The sensor is a two-axis fluxgate sensor pre-installed inside the target drilling tool's orientation sensor. Sensor data includes data from the first and second directions, which are two mutually perpendicular directions in the radial direction of the target drilling tool. The orientation sensor is a device used to measure the orientation or position of an object, such as a gyroscope or accelerometer. It should be noted that orientation sensors generally include three-axis fluxgates, with the three axes distributed according to the right-hand rule. This scheme utilizes the two-axis fluxgate in the orientation sensor to measure the target drilling tool's rotational speed, i.e., only two of the three axes are used. These two axes refer to the two mutually perpendicular axes installed in the radial direction of the target drilling tool (i.e., the Y-axis and Z-axis), corresponding to the first and second directions respectively. Therefore, the parameter corresponding to the sensor data is the magnetic field strength (in Gauss).

[0033] Here, "previous sensor data" and "current sensor data" can refer to the sensor data corresponding to the previous and current moments, respectively. It can be understood that "previous sensor data" includes the previous first-direction sensor data and the previous second-direction sensor data, and "current sensor data" includes the current first-direction sensor data and the current second-direction sensor data. For example, assuming the current moment and the previous moment are time t and t-1 respectively, and the first and second directions are the Y-axis and Z-axis respectively, then the Y-axis sensor data at the current moment (i.e., the current first-direction sensor data) can be represented as my. t The current Z-axis sensor data (i.e., the current second-direction sensor data) can be represented as mz. t The Y-axis sensor data from the previous moment (i.e., the previous first-direction sensor data) can be represented as my. t-1 The Z-axis sensor data from the previous moment (i.e., the previous second-direction sensor data) can be represented as mz. t-1 .

[0034] In this embodiment, the two-axis fluxgate and circuitry in the orientation sensor pre-installed in the target drill bit can be used to measure the previous and current sensor data of the target drill bit. This method does not require additional hardware support, reducing measurement costs and improving measurement efficiency. Alternatively, a separate two-axis fluxgate and fluxgate drive circuit system can be set up to measure the previous and current sensor data of the target drill bit.

[0035] S120, based on the high-pass filter, filters the previous sensor data to obtain the previous filtered data.

[0036] A high-pass filter can perform high-pass filtering of signals, simply put, it allows high-frequency signals to pass through while attenuating or blocking low-frequency signals. The previous filtered data can refer to the filtered data obtained after high-pass filtering the previous sensor data. The filtered data includes first-direction filtered data and second-direction filtered data. Specifically, the first-direction filtered data refers to the data obtained after high-pass filtering the sensor data in the first direction, and the second-direction filtered data refers to the data obtained after high-pass filtering the sensor data in the second direction. In other words, the previous filtered data includes the previous first-direction filtered data and the previous second-direction filtered data.

[0037] In this embodiment, the high-pass filter can be pre-initialized, for example, the sampling rate F. s =20, stopband frequency F stop =4. Passband frequency F pass =8, Stopband energy attenuation E stop =0.4, passband energy decay E pass =0.8. Furthermore, the state coefficient matrix of the high-pass filter can be set, where the state coefficient matrix can refer to the key parameter matrix used to describe the characteristics of the high-pass filter. For example, the state coefficient matrix can be represented as... Here, a1, a2, b1, and b2 are all known parameters set according to actual needs. By inputting the previous sensor data into the high-pass filter, the previous sensor data can be filtered to obtain the previous filtered data.

[0038] S130: Determine the current filtered data of the target drill bit based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data.

[0039] Here, "current filtered data" can refer to the filtered data obtained after high-pass filtering the current sensor data. It can be understood that "current filtered data" includes both the current first-direction filtered data and the current second-direction filtered data.

[0040] In this embodiment, optionally, determining the current filtered data of the target drill bit based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data includes: determining the state coefficient matrix of the high-pass filter; determining the first direction filtered data in the current filtered data based on the first direction sensor data in the previous sensor data, the first direction sensor data in the current sensor data, the first direction filtered data in the previous filtered data, and the state coefficient matrix; and determining the second direction filtered data in the current filtered data based on the second direction sensor data in the previous sensor data, the second direction sensor data in the current sensor data, the second direction filtered data in the previous filtered data, and the state coefficient matrix.

[0041] In this embodiment, optionally, the first directional filtered data in the current filtered data is determined based on a first formula, which is expressed as: Among them, my t This represents the sensor data in the first direction from the current sensor data, my. t-1 This represents the first direction sensor data in the previous sensor data, fmy t This represents the first direction of the filtered data in the current filtered data, fmy t-1 This represents the first direction of the filtered data in the previous filtered data. This represents the state coefficient matrix of a high-pass filter;

[0042] In this embodiment, optionally, the second direction filtering data in the current filtering data is determined based on a second formula, which is expressed as: Among them, mz t This represents the second-direction sensor data in the current sensor data, mz t-1 This represents the second direction sensor data from the previous sensor data, fmz t This represents the second-direction filtered data in the current filtered data, fmz t-1 This represents the second direction of the filtered data in the previous filtered data.

[0043] S140, determine the rotational speed of the target drill bit based on the high-pass filter, current sensor data, and current filtered data.

[0044] In this embodiment, optionally, determining the rotational speed of the target drill string based on the high-pass filter, current sensor data, and current filtered data includes: determining the vector sum of current sensor data based on the sum of the squares of the first-direction sensor data and the second-direction sensor data in the current sensor data; determining the vector sum of current filtered data based on the sum of the squares of the first-direction filtered data and the second-direction filtered data in the current filtered data; determining the ratio of the current vector sum to the current sensor data vector sum; and determining the rotational speed of the target drill string based on the current vector sum ratio and the state coefficient matrix of the high-pass filter.

[0045] For example, assuming the current time is t, the current sensor data vector sum can be represented as h. t =my t 2 +mz t 2 The current filtered data vector sum can be represented as fh t =fmy t 2 +fmz t 2 The current vector and ratio can be expressed as

[0046] In this embodiment, optionally, determining the rotational speed of the target drill string based on the current vector sum ratio and the state coefficient matrix of the high-pass filter includes: determining a phase scaling factor based on the current vector sum ratio and the state coefficient matrix of the high-pass filter; wherein the phase scaling factor is used to represent the relationship between phase and frequency; and determining the rotational speed of the target drill string based on the phase scaling factor and the sampling frequency of the sensor data.

[0047] In this embodiment, optionally, the phase scaling factor is determined based on a third formula, which is expressed as: Where, λ t H represents the phase scaling factor. t Indicates the current vector and ratio. This represents the state coefficient matrix of the high-pass filter. The phase scaling factor is expressed in radians per second.

[0048] In this embodiment, optionally, the rotational speed of the target drill string is determined based on a fourth formula, which is expressed as: Where RPM represents the rotational speed of the target drill string, f s This indicates the sampling frequency of the sensor data. It should be noted that the sensor data in the first direction and the second direction have the same sampling frequency.

[0049] The technical solution of this invention involves acquiring previous and current sensor data of the target drilling tool. The sensor is a biaxial fluxgate sensor pre-installed inside the target drilling tool's directional sensor. The sensor data includes first-direction sensor data and second-direction sensor data, where the first and second directions are two mutually perpendicular directions in the radial direction of the target drilling tool. The previous sensor data is processed using a high-pass filter to obtain previous filtered data, which includes first-direction filtered data and second-direction filtered data. The current filtered data of the target drilling tool is determined based on the high-pass filter, previous sensor data, current sensor data, and the previous filtered data. The rotational speed of the target drilling tool is determined based on the high-pass filter, current sensor data, and current filtered data. This technical solution primarily utilizes the phase lead characteristic of a high-pass filter with a fixed sampling rate and cutoff frequency designed for analyzing downhole data. It analyzes the phase of the original sensor data to detect and measure frequency changes, thereby indirectly estimating the drilling tool rotational speed. Furthermore, this solution utilizes the sinusoidal phase generated by the magnetic sensor data rotating at a certain frequency. This phase is only related to the rotational speed; therefore, this solution is unaffected by temperature, meaning sensor temperature drift does not affect rotational speed measurement. This technical solution can directly rely on the two-axis fluxgate in the directional sensor of the drilling system to achieve high-precision measurement of the drill string rotation speed (within 1% error). It has high real-time performance, wide application range, and requires no other additional hardware support, which can reduce measurement costs and improve measurement efficiency.

[0050] Example 2

[0051] Figure 2 This is a flowchart of a method for measuring the rotational speed of a downhole drilling tool according to Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiment.

[0052] like Figure 2 As shown, the method in this embodiment specifically includes the following steps:

[0053] S210: Acquire the previous sensor data and current sensor data of the target drill string.

[0054] The sensor is a biaxial fluxgate sensor pre-installed inside the target drill bit. The sensor data includes first direction sensor data and second direction sensor data. The first direction and the second direction refer to two mutually perpendicular directions in the radial direction of the target drill bit.

[0055] S220 initializes the high-pass filter and obtains the previous filtered data based on the previous sensor data using the high-pass filter.

[0056] The filtered data includes first-direction filtered data and second-direction filtered data. For example, the high-pass filter is initialized with a sampling rate F. s =20, stopband frequency F stop =4. Passband frequency F pass =8, Stopband energy attenuation E stop =0.4, passband energy decay E pass =0.8; State coefficient matrix Among them, a1, a2, b1, and b2 are all known parameters set according to actual needs.

[0057] S230, based on the first direction sensor data in the previous sensor data, the first direction sensor data in the current sensor data, the first direction filter data in the previous filter data, and the state coefficient matrix, determine the first direction filter data in the current filter data.

[0058] In this embodiment, optionally, the first directional filtered data in the current filtered data is determined based on a first formula, which is expressed as:

[0059]

[0060] Among them, my t This represents the sensor data in the first direction from the current sensor data, my. t-1 This represents the first direction sensor data in the previous sensor data, fmy tThis represents the first direction of the filtered data in the current filtered data, fmy t-1 This represents the first direction of the filtered data in the previous filtered data. This represents the state coefficient matrix of the high-pass filter.

[0061] S240, based on the second direction sensor data in the previous sensor data, the second direction sensor data in the current sensor data, the second direction filter data in the previous filter data, and the state coefficient matrix, determine the second direction filter data in the current filter data.

[0062] In this embodiment, optionally, the second direction filtering data in the current filtering data is determined based on a second formula, which is expressed as:

[0063]

[0064] Among them, mz t This represents the second-direction sensor data in the current sensor data, mz t-1 This represents the second direction sensor data from the previous sensor data, fmz t This represents the second-direction filtered data in the current filtered data, fmz t-1 This represents the second direction filter data in the previous filter data.

[0065] S250, determine the current sensor data vector sum based on the sum of the squares of the first direction sensor data and the second direction sensor data in the current sensor data.

[0066] S260, determine the vector sum of the current filtered data based on the sum of the squares of the filtered data in the first direction and the filtered data in the second direction in the current filtered data.

[0067] S270, determine the current vector sum ratio based on the ratio of the current filtered data vector sum to the current sensor data vector sum.

[0068] S280 determines the phase scaling factor based on the current vector sum ratio and the state coefficient matrix of the high-pass filter.

[0069] In this embodiment, optionally, the phase scaling factor is determined based on a third formula, which is expressed as:

[0070]

[0071] Where, λ t H represents the phase scaling factor. t Indicates the current vector and ratio. This represents the state coefficient matrix of the high-pass filter.

[0072] S290 determines the rotational speed of the target drill bit based on the phase scaling factor and the sampling frequency of the sensor data.

[0073] In this embodiment, optionally, the rotational speed of the target drill string is determined based on a fourth formula, which is expressed as:

[0074]

[0075] Where RPM represents the rotational speed of the target drill string, f s This indicates the sampling frequency of the sensor data.

[0076] The technical solution of this invention mainly utilizes the phase lead characteristic of a high-pass filter with a fixed sampling rate and cutoff frequency designed for analyzing downhole data. It analyzes the phase of the original sensor data to detect and measure frequency changes, thereby indirectly estimating the drill string rotation speed. Since this solution uses the sinusoidal phase generated by the magnetic sensor data rotating at a certain frequency, this phase is only related to the rotation speed. Therefore, this solution is unaffected by temperature; that is, sensor temperature drift does not affect the rotation speed measurement. This technical solution can directly rely on the biaxial fluxgate in the directional sensor of the drilling system to achieve high-precision measurement of the drill string rotation speed (error within 1%), with high real-time performance, wide application range, and no need for additional hardware support, thus reducing measurement costs and improving measurement efficiency.

[0077] Example 3

[0078] Figure 3 This is a schematic diagram of a downhole drilling tool rotation speed measuring device provided in Embodiment 3 of the present invention. This device can execute the downhole drilling tool rotation speed measuring method provided in any embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects of the method. For example... Figure 3 As shown, the device includes:

[0079] The sensor data acquisition module 310 is used to acquire the previous sensor data and the current sensor data of the target drill bit; wherein, the sensor is a biaxial fluxgate sensor in the orientation sensor pre-installed inside the target drill bit, and the sensor data includes first direction sensor data and second direction sensor data, wherein the first direction and the second direction refer to two mutually perpendicular directions in the radial direction of the target drill bit;

[0080] The previous filtered data determination module 320 is used to filter the previous sensor data based on a high-pass filter to obtain previous filtered data; wherein, the filtered data includes first direction filtered data and second direction filtered data;

[0081] The current filtered data determination module 330 is used to determine the current filtered data of the target drill bit based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data.

[0082] The target drill bit rotation speed determination module 340 is used to determine the rotation speed of the target drill bit based on the high-pass filter, the current sensor data, and the current filtered data.

[0083] Optionally, the current filtered data determination module 330 is specifically used for:

[0084] Determine the state coefficient matrix of the high-pass filter;

[0085] Based on the first direction sensor data in the previous sensor data, the first direction sensor data in the current sensor data, the first direction filtered data in the previous filtered data, and the state coefficient matrix, determine the first direction filtered data in the current filtered data.

[0086] Based on the second direction sensor data in the previous sensor data, the second direction sensor data in the current sensor data, the second direction filtered data in the previous filtered data, and the state coefficient matrix, the second direction filtered data in the current filtered data is determined.

[0087] Optionally, the first directional filtered data in the current filtered data is determined based on a first formula, which is expressed as:

[0088]

[0089] Among them, my t This refers to the first direction sensor data in the current sensor data, my t-1 This refers to the first direction sensor data in the previous sensor data, fmy t fmy represents the first direction filtered data in the current filtered data. t-1 This refers to the first direction filtered data in the previous filtered data. This represents the state coefficient matrix of the high-pass filter;

[0090] The second direction filtering data in the current filtering data is determined based on a second formula, which is expressed as follows:

[0091]

[0092] Among them, mz t This refers to the second direction sensor data in the current sensor data, mz t-1This refers to the second direction sensor data in the previous sensor data, fmz t fmz represents the second-direction filtered data in the current filtered data. t-1 This refers to the second direction filtered data in the previous filtered data.

[0093] Optionally, the target drill bit rotation speed determination module 340 includes:

[0094] The current sensor data vector sum determination unit is used to determine the current sensor data vector sum based on the sum of squares of the first direction sensor data and the second direction sensor data in the current sensor data.

[0095] The current filtered data vector sum determination unit is used to determine the current filtered data vector sum based on the sum of the squares of the first direction filtered data and the second direction filtered data in the current filtered data.

[0096] The current vector sum ratio determination unit is used to determine the current vector sum ratio based on the ratio of the current filtered data vector sum to the current sensor data vector sum;

[0097] The target drill bit rotation speed determination unit is used to determine the rotation speed of the target drill bit based on the current vector sum ratio and the state coefficient matrix of the high-pass filter.

[0098] Optionally, the target drill bit rotation speed determination unit is specifically used for:

[0099] The phase scaling factor is determined based on the current vector and ratio and the state coefficient matrix of the high-pass filter; wherein the phase scaling factor is used to represent the relationship between phase and frequency;

[0100] The rotational speed of the target drill bit is determined based on the phase scaling factor and the sampling frequency of the sensor data.

[0101] Optionally, the phase scaling factor is determined based on a third formula, which is expressed as:

[0102]

[0103] Where, λ t H represents the phase scaling factor. t This represents the current vector and ratio. This represents the state coefficient matrix of the high-pass filter.

[0104] Optionally, the rotational speed of the target drill string is determined based on a fourth formula, which is expressed as:

[0105]

[0106] Where RPM represents the rotational speed of the target drill string, f s This indicates the sampling frequency of the sensor data.

[0107] The downhole drilling tool rotation speed measuring device provided in this embodiment of the invention can execute the downhole drilling tool rotation speed measuring method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0108] Example 4

[0109] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0110] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for measuring the rotational speed of downhole drilling tools.

[0113] In some embodiments, the downhole drilling tool rotation speed measurement method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the downhole drilling tool rotation speed measurement method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the downhole drilling tool rotation speed measurement method by any other suitable means (e.g., by means of firmware).

[0114] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0115] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0116] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0117] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0118] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0119] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0120] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0121] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for measuring the rotational speed of downhole drilling tools, characterized in that, The method includes: Acquire the previous sensor data and current sensor data of the target drill string; wherein, the sensor is a biaxial fluxgate sensor in the orientation sensor pre-installed inside the target drill string, and the sensor data includes first direction sensor data and second direction sensor data, wherein the first direction and the second direction refer to two mutually perpendicular directions in the radial direction of the target drill string; The previous sensor data is filtered using a high-pass filter to obtain the previous filtered data; wherein, the filtered data includes first-direction filtered data and second-direction filtered data; The current filtered data of the target drill bit is determined based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data; The rotational speed of the target drill bit is determined based on the high-pass filter, the current sensor data, and the current filtered data.

2. The method according to claim 1, characterized in that, Determining the current filtered data of the target drill string based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data includes: Determine the state coefficient matrix of the high-pass filter; Based on the first direction sensor data in the previous sensor data, the first direction sensor data in the current sensor data, the first direction filtered data in the previous filtered data, and the state coefficient matrix, determine the first direction filtered data in the current filtered data. Based on the second direction sensor data in the previous sensor data, the second direction sensor data in the current sensor data, the second direction filtered data in the previous filtered data, and the state coefficient matrix, the second direction filtered data in the current filtered data is determined.

3. The method according to claim 2, characterized in that, The first directional filtered data in the current filtered data is determined based on a first formula, which is expressed as follows: Among them, my t This refers to the first direction sensor data in the current sensor data, my t-1 This refers to the first direction sensor data in the previous sensor data, fmy t fmy represents the first direction filtered data in the current filtered data. t-1 This refers to the first direction filtered data in the previous filtered data. This represents the state coefficient matrix of the high-pass filter; The second direction filtering data in the current filtering data is determined based on a second formula, which is expressed as follows: Among them, mz t This refers to the second direction sensor data in the current sensor data, mz t-1 This refers to the second direction sensor data in the previous sensor data, fmz t fmz represents the second-direction filtered data in the current filtered data. t-1 This refers to the second direction filtered data in the previous filtered data.

4. The method according to claim 2 or 3, characterized in that, Determining the rotational speed of the target drill string based on the high-pass filter, the current sensor data, and the current filtered data includes: The current sensor data vector sum is determined based on the sum of the squares of the first-direction sensor data and the second-direction sensor data in the current sensor data. The vector sum of the current filtered data is determined based on the sum of the squares of the filtered data in the first direction and the filtered data in the second direction in the current filtered data. The current vector sum ratio is determined based on the ratio of the current filtered data vector sum to the current sensor data vector sum; The rotational speed of the target drill bit is determined based on the current vector sum ratio and the state coefficient matrix of the high-pass filter.

5. The method according to claim 4, characterized in that, Determining the rotational speed of the target drill string based on the current vector sum ratio and the state coefficient matrix of the high-pass filter includes: The phase scaling factor is determined based on the current vector and ratio and the state coefficient matrix of the high-pass filter; wherein the phase scaling factor is used to represent the relationship between phase and frequency; The rotational speed of the target drill bit is determined based on the phase scaling factor and the sampling frequency of the sensor data.

6. The method according to claim 5, characterized in that, The phase scaling factor is determined based on a third formula, which is expressed as follows: Where, λ t H represents the phase scaling factor. t This represents the current vector and ratio. This represents the state coefficient matrix of the high-pass filter.

7. The method according to claim 6, characterized in that, The rotational speed of the target drill string is determined based on a fourth formula, which is expressed as: Where RPM represents the rotational speed of the target drill string, f s This indicates the sampling frequency of the sensor data.

8. A rotational speed measuring device for downhole drilling tools, characterized in that, The device includes: The sensor data acquisition module is used to acquire the previous sensor data and the current sensor data of the target drill bit; wherein, the sensor is a biaxial fluxgate sensor in the orientation sensor pre-installed inside the target drill bit, and the sensor data includes first direction sensor data and second direction sensor data, wherein the first direction and the second direction refer to two mutually perpendicular directions in the radial direction of the target drill bit; The previous filtered data determination module is used to filter the previous sensor data based on a high-pass filter to obtain the previous filtered data; wherein, the filtered data includes first-direction filtered data and second-direction filtered data; The current filtered data determination module is used to determine the current filtered data of the target drill bit based on the high-pass filter, the previous sensor data, the current sensor data, and the previous filtered data. The target drill bit rotation speed determination module is used to determine the rotation speed of the target drill bit based on the high-pass filter, the current sensor data, and the current filtered data.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the downhole drilling tool rotation speed measurement method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for measuring the rotational speed of a downhole drilling tool as described in any one of claims 1-7.

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