Multi-source information fusion-based while-drilling anti-collision identification system for space position of adjacent well pipe string

Abstract

The invention discloses an adjacent well pipe column space position while-drilling anti-collision identification system based on multi-source information fusion, and particularly relates to the technical field of petroleum and natural gas drilling engineering, and the method comprises the following steps: obtaining measurement while drilling data, adjacent well historical data and electromagnetic distance measurement data of an adjacent well pipe column in real time; performing space-time synchronization and registration on the data, and constructing a space geometric model and a representation measurement error model; calculating relative distance and direction information of a current drill bit and an adjacent well pipe column and an anti-collision risk index through a nonlinear estimation algorithm; performing graded early warning based on an anti-collision risk index, and generating a three-dimensional visual picture of a current well track, a space position of an adjacent well pipe column and a real-time relative position relationship; and generating a collision avoidance control instruction. Through the data acquisition module, the data processing and fusion core module, the anti-collision early warning and visualization module and the closed-loop control interface module, the multi-source information fusion adjacent well pipe column space position while-drilling anti-collision identification system is constructed.

Description

Technical Field

[0001] This invention relates to the field of oil and gas drilling engineering technology, and more specifically, to a collision avoidance system for adjacent well tubing spatial location based on multi-source information fusion. Background Technology

[0002] In the field of oil and gas drilling engineering, especially in scenarios involving offshore platforms, dense well networks around cities, and cluster well development, the risk of collision between adjacent well tubing and the current well is a core issue restricting drilling operation safety and well network development efficiency. As oil and gas resource exploration and development extends to deeper and tighter reservoirs, well trajectories become increasingly complex, and the distance between adjacent wells continues to shrink. This places extremely high demands on the real-time monitoring, accurate early warning, and rapid collision avoidance of the relative positions of the drill bit and adjacent well tubing during drilling. Drilling collision avoidance technology, as a key technology for ensuring drilling operation safety and improving well network space utilization, aims to acquire real-time spatial relative position information between the drill bit and adjacent well tubing, promptly identify collision risks, and trigger effective intervention to avoid major safety accidents such as wellbore abandonment and oil and gas leaks caused by tubing collisions.

[0003] Existing collision avoidance systems in drilling operations can meet the requirements, but they still have some shortcomings in actual use: Insufficient data fusion depth limits positioning accuracy: Existing technologies often use simple overlay or shallow correlation for measurement-while-drilling data, historical data from adjacent wells, and electromagnetic ranging data. They fail to perform spatiotemporal registration and deep fusion through advanced filtering and estimation algorithms, which cannot effectively suppress various measurement errors. This results in low accuracy and reliability of inverting the true relative distance and direction between the drill bit and the adjacent well tubing. The risk assessment model is too simple and the early warning reliability is low: the collision avoidance judgment relies on fixed safety distance thresholds, and does not fully consider and quantify the errors of drilling measurement, electromagnetic ranging and adjacent well trajectory data, and construct dynamic and quantitative comprehensive risk indicators, which is prone to false alarms or missed alarms. The visualization effect is not intuitive and the situational awareness is poor: the monitoring interface is mainly based on two-dimensional curves or numerical lists, which cannot truly and three-dimensionally present the current wellbore, the actual drilling trajectory of adjacent wells and the real-time positional relationship of the tubing in three-dimensional space, which is not conducive to operators quickly understanding and responding to complex inter-well situations. Lack of closed-loop system capability and delayed collision avoidance response: Existing systems generally lack automated command interfaces with drilling guidance tools. After risk warning, they cannot automatically generate and issue trajectory adjustment commands, relying on manual operation, resulting in slow response speed and the risk being exacerbated by operational errors in emergency situations.

[0004] Therefore, there is an urgent need for a drilling collision avoidance identification system that can deeply integrate multi-source information, accurately identify the spatial location of adjacent well tubing, realize dynamic risk assessment and three-dimensional visualization monitoring, and form a closed-loop control with drilling guidance tools. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, this invention provides a drilling collision avoidance identification system for the spatial location of adjacent well tubing strings based on multi-source information fusion, which solves the problems mentioned in the background art through the following scheme.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a drilling collision avoidance identification system for the spatial position of adjacent well tubing strings based on multi-source information fusion, comprising: Data acquisition module: used to acquire real-time measurement while drilling data, historical data of adjacent wells, and electromagnetic ranging data of adjacent well tubing strings. The measurement while drilling data includes the inclination angle, azimuth angle, and depth information of the current wellbore; the historical data of adjacent wells includes the tubing string trajectory and actual drilling trajectory data of the current adjacent wellbore. Data processing and fusion core module: Communication connection data acquisition module, used for: B1: Perform spatiotemporal synchronization and registration of the aforementioned measurement-while-drilling data, historical data from adjacent wells, and electromagnetic ranging data; B2: Construct a spatial geometric model that includes the actual drilling trajectory and the tubing trajectory of the current adjacent wellbore, and assign a model representing the measurement error to the two trajectories; B3: The electromagnetic ranging data is used as the observation value and fused with the spatial geometric model and the model representing the measurement error. Through a nonlinear estimation algorithm, the relative distance and direction information between the current drill bit and the adjacent well string are retrieved in real time, and the spatial position of the adjacent well string is identified and corrected. Collision avoidance warning and visualization module: The core module for communication connection, data processing and fusion, used for: C1: Based on the relative distance and direction information between the current drill bit and the adjacent well string obtained after fusion calculation, and the aforementioned measurement error model, calculate the anti-collision risk index in real time; C2: Based on the aforementioned collision risk indicators, a graded early warning is generated, and a three-dimensional visualization image is generated that includes the current wellbore trajectory, the spatial position of adjacent well tubing, and the real-time relative positional relationship. Closed-loop control interface module: It is communicatively connected to the anti-collision warning and visualization module and the drilling guide tool. When the anti-collision risk index exceeds the preset threshold, it generates a collision avoidance control command and sends it to the drilling guide tool to adjust the wellbore string trajectory and actual drilling trajectory.

[0007] The technical effects and advantages of this invention are as follows: 1. This invention employs spatiotemporal synchronization and registration technology to perform deep fusion processing of drilling measurement data, adjacent well historical data, and electromagnetic ranging data. It also introduces the unscented Kalman filter (UKF) algorithm for nonlinear state estimation, which effectively suppresses various measurement errors and achieves high-precision, real-time inversion of the relative distance and direction between the drill bit and the adjacent well tubing string, thereby improving the identification accuracy and real-time performance of the spatial position of the adjacent well tubing string. 2. This invention constructs a spatial geometric model that includes a measurement error model and calculates the collision avoidance risk index in real time based on the relative distance after error compensation. This realizes the transformation from fixed threshold judgment to dynamic risk assessment. By setting multi-level warning thresholds (warning threshold and alarm threshold) and combining risk indicators to carry out graded warnings (no risk, low risk, high risk), the accuracy and reliability of warnings are improved, and the risk of false alarms and missed alarms is reduced. 3. This invention constructs a three-dimensional visualization screen based on the OpenGL engine, renders the current wellbore trajectory, the actual drilling trajectory of adjacent wells and the tubing entity in real time with different colors and models, and displays the relative positional relationship between the drill bit and the tubing string through dynamic annotation, providing an intuitive and three-dimensional visualization monitoring interface. 4. This invention uses a closed-loop control interface module to automatically generate azimuth and build-up rate adjustment commands when a high risk is detected, and sends them to the drilling guidance tool (such as a rotary steering system) in real time via the CAN bus protocol, thereby realizing automatic adjustment of the wellbore trajectory and improving the automation and timeliness of collision avoidance response. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the system module structure of the present invention.

[0009] Figure 2 This is a schematic diagram of the data acquisition module structure of the present invention.

[0010] Figure 3 This is a schematic diagram of the core module structure for data processing and fusion in this invention.

[0011] Figure 4 This is a schematic diagram of the collision avoidance warning and visualization module structure of the present invention.

[0012] Figure 5 This is a schematic diagram of the closed-loop control interface module structure of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0014] Please see Figures 1-5 As shown, this embodiment of the invention provides a collision avoidance system for adjacent well tubing spatial location based on multi-source information fusion, including: Data acquisition module: used to acquire real-time measurement while drilling data, historical data of adjacent wells, and electromagnetic ranging data of adjacent well tubing strings. The measurement while drilling data includes the inclination angle, azimuth angle, and depth information of the current wellbore; the historical data of adjacent wells includes the tubing string trajectory and actual drilling trajectory data of the current adjacent wellbore. Data processing and fusion core module: Communication connection data acquisition module, used for: B1: Perform spatiotemporal synchronization and registration of the aforementioned measurement-while-drilling data, historical data from adjacent wells, and electromagnetic ranging data; B2: Construct a spatial geometric model that includes the actual drilling trajectory and the tubing trajectory of the current adjacent wellbore, and assign a model representing the measurement error to the two trajectories; B3: The electromagnetic ranging data is used as the observation value and fused with the spatial geometric model and the model representing the measurement error. Through a nonlinear estimation algorithm, the relative distance and direction information between the current drill bit and the adjacent well string are retrieved in real time, and the spatial position of the adjacent well string is identified and corrected. Collision avoidance warning and visualization module: The core module for communication connection, data processing and fusion, used for: C1: Based on the relative distance and direction information between the current drill bit and the adjacent well string obtained after fusion calculation, and the aforementioned measurement error model, calculate the anti-collision risk index in real time; C2: Based on the aforementioned collision risk indicators, a graded early warning is generated, and a three-dimensional visualization image is generated that includes the current wellbore trajectory, the spatial position of adjacent well tubing, and the real-time relative positional relationship. Closed-loop control interface module: It is communicatively connected to the anti-collision warning and visualization module and the drilling guide tool. When the anti-collision risk index exceeds the preset threshold, it generates a collision avoidance control command and sends it to the drilling guide tool to adjust the wellbore string trajectory and actual drilling trajectory.

[0015] The data acquisition module: In this embodiment, through standardized equipment deployment, multi-source data classification and acquisition, preprocessing, and transmission and storage, it achieves accurate acquisition of drilling measurement data, adjacent well historical data, and adjacent well electromagnetic ranging data, providing a high-quality data source for subsequent data fusion and calculation and collision avoidance early warning. Specifically, it includes: A101: Pre-data Acquisition Preparation and Equipment Deployment and Debugging A1011: Equipment Installation and Commissioning: Install a Measurement While Drilling (MWD) sensor near the drill bit position on the drill string assembly in the current drilling operation. The sensor integrates a triaxial accelerometer and a triaxial magnetometer to collect well inclination angle and azimuth parameters. An electromagnetic rangefinder is deployed next to the wellhead of the drilling platform, and the transmission frequency and detection angle of the equipment are adjusted so that its detection range covers the area where the adjacent well casing is located. The measurement-while-drilling sensor and electromagnetic distance measuring instrument are connected to the downhole data acquisition terminal and the ground data receiving base station via shielded cables.

[0016] A1012: Data source connection and parameter configuration: Connect to the neighboring well data management database and obtain access permissions for historical data of neighboring wells through the API interface; Configure the acquisition parameters for three types of data in the data acquisition terminal, including setting the acquisition frequency of measurement while drilling data to 1 time / second, setting the sampling interval of electromagnetic ranging data to 50 times / second, and setting the trigger condition for retrieving historical data from adjacent wells to trigger retrieval once every 5 meters increase in the current drilling vertical depth.

[0017] A1013: Timestamp Synchronization Calibration: The timestamp synchronization error of the drilling measurement equipment, electromagnetic ranging equipment, and data acquisition terminal are uniformly calibrated to keep the timestamp synchronization error of each device within ±1ms. Based on the current wellhead coordinate origin, a unified spatial rectangular coordinate system is established, and the following definitions are made: The axis is due north. The axis is due east. The axis points vertically downwards, providing a reference for spatial registration of subsequent data.

[0018] A102: Real-time acquisition of measurement-while-drilling data The measurement-while-drilling (MWD) sensor is activated, and as the drill bit begins drilling operations, the sensor continuously acquires the current wellbore inclination angle. That is, the drill bit tilt angle; azimuth angle. This refers to the drilling direction of the drill bit; depth information. This refers to the current vertical depth of the drill bit; the measurement-while-drilling data packets are transmitted to the data acquisition terminal in real time at a sampling frequency of 1 time / second.

[0019] A103: Retrieval and Verification of Historical Data from Adjacent Wells If the current drilling depth information When the preset 5-meter increment threshold is reached, the data acquisition terminal automatically sends a data retrieval request to the adjacent well data management database. The request instruction includes the well number of the target adjacent well and the data type identifier, where the identifier is the tubing trajectory data. Actual drilling trajectory data ; After receiving the request, the adjacent well data management database provides feedback on the tubing trajectory data of the corresponding adjacent well, including the running depth, location coordinates, and diameter parameters of each section of the tubing; and the actual drilling trajectory data, including the sequence data of the well inclination angle, azimuth angle, and vertical depth changing over time during the drilling process of the adjacent well. The data acquisition terminal performs integrity verification on the received historical data from adjacent wells to check for issues such as missing data or incorrect formatting. If the data is incomplete, the retrieval request is resent. If the data verification passes, the current retrieval timestamp is added to the historical data of the adjacent wells to form a standardized historical data packet of the adjacent wells.

[0020] A104: Acquisition of electromagnetic ranging data from adjacent well casing The electromagnetic distance measuring instrument is activated, providing a low-frequency alternating current of 1-30Hz to the electrodes inside the drill pipe during drilling. Because the conductivity of the adjacent well casing is significantly higher than that of the formation, the alternating current concentrates on the casing surface and conducts axially due to the skin effect. According to Ampere's law, the casing current excites a low-frequency alternating magnetic field signal in the surrounding formation, which is detected in real time by a fluxgate triaxial sensor inside the probe near the drill bit and uploaded to the electromagnetic distance measuring instrument. Based on the current intensity provided by the electromagnetic distance measuring instrument I The detected magnetic field strength H Calculate the real-time distance between the current drill bit position and the adjacent well string. R Simultaneously, based on the angle information obtained from the inclination sensor inside the probe near the drill bit, the orientation information of the adjacent well string relative to the current drill bit is determined: , The calculated real-time distance and direction information are bound with the acquisition timestamp and the rangefinder device number to form an electromagnetic ranging data packet, which is then transmitted to the data acquisition terminal at a sampling interval of 50 times per second.

[0021] A105: Preprocessing of Collected Data Format normalization: The data acquisition terminal converts the measurement-while-drilling data packets, adjacent well historical data packets, and electromagnetic ranging data into JSON format to ensure that the field units, coordinate references, and timestamp formats of the three types of data are consistent; Outlier removal: using The criteria identify outliers in three types of data and remove outliers that exceed the mean ± 3 times the standard deviation. For example, when a faulty measurement-while-drilling sensor causes a sudden change in well inclination angle, it is identified as outlier and removed. Missing data completion: For single-point data loss caused by momentary equipment failure, linear interpolation is used for completion.

[0022] The core data processing and fusion module, as the core processing unit of the drilling collision prevention and early warning system, is connected to the output of the data acquisition module. It receives pre-processed measurement-while-drilling data, historical data from adjacent wells, and electromagnetic ranging data. Through a three-level processing flow of spatiotemporal synchronization registration, model construction, and fusion calculation, it achieves high-precision inversion of the relative position between the drill bit and the adjacent well tubing string. Specifically, it includes: The system receives three types of standardized data packets transmitted by the data acquisition module in real time via the industrial Ethernet TCP / IP protocol: measurement while drilling data packets, adjacent well history standardized data packets, and electromagnetic ranging data packets. At the same time, it obtains the CRC32 checksum of each data packet. The received data packets are verified using a checksum. If the verification passes, the process proceeds to the next step. If the verification fails, a retransmission command is sent to the data acquisition module until a complete data packet is received. Data packets that fail verification three times consecutively are counted, and a device fault warning is generated.

[0023] B1: Perform spatiotemporal synchronization and registration of the aforementioned measurement-while-drilling data, historical data from adjacent wells, and electromagnetic ranging data; B101: Time synchronization and registration. Based on a unified timestamp, the timestamp information of the three types of data packets is extracted. The timestamps of the historical data retrieved from adjacent wells are interpolated to match their time resolution to the frequency of 1 time / second of the measurement while drilling data. Based on the linear interpolation algorithm, the missing values ​​in the time dimension of the historical data of adjacent wells are filled in to ensure that the time axes of the three types of data are aligned and the time synchronization error is controlled within ±1ms. B102: Spatial coordinate registration, based on a unified spatial rectangular coordinate system preset by the data acquisition module. The axis is due north. The axis is due east. The axis is vertically downward, and the origin is the current drilling wellhead; Pipeline trajectory data from historical data of adjacent wells Actual drilling trajectory data Convert the original coordinates to rectangular coordinates. , ; The relative distance and direction information of electromagnetic ranging data is converted into local coordinate system coordinates with the drill bit as the origin, and further mapped to the global spatial rectangular coordinate system to achieve the spatial reference unification of the three types of data; B103: Data Association Matching: Based on the current vertical depth of the well, the drilling measurement data, historical trajectory data of adjacent wells, and electromagnetic ranging data under the same depth node are associated and bound to form a three-dimensional associated dataset of depth, time, and space.

[0024] B2: Construct a spatial geometric model that includes the actual drilling trajectory and the tubing trajectory of the current adjacent wellbore, and assign a model representing the measurement error to the two trajectories; B201: Spatial Geometric Model Construction The spatial geometric model of the adjacent well trajectory is constructed based on the registered rectangular coordinate data of the actual drilling trajectory of the adjacent well. A piecewise cubic B-spline curve interpolation algorithm is used to construct a continuous spatial geometric model of the actual drilling trajectory of the adjacent well. The calculation formula for the model is as follows: ,in For k-th order B-spline basis functions, Characteristic coordinate points of the actual drilling trajectory of adjacent wells These are interpolation parameters; Based on the segmental structural parameters of the adjacent well tubing string trajectory, namely the running depth, pipe diameter, and joint position, a cylindrical geometric modeling method is used to construct a three-dimensional solid geometric model of the adjacent well tubing string. The model includes the spatial position, length, radius, and other characteristic parameters of each segment of the tubing string, realizing the spatial superposition and display of the tubing string trajectory and the actual drilling trajectory.

[0025] B202: Construction of a Model for Characterizing Measurement Errors Based on the actual drilling trajectory data of adjacent wells and the accuracy parameters of their measuring equipment, such as MWD sensors, a Gaussian error model is constructed. The model expression is as follows: ,in The standard deviation of the actual drilling trajectory measurement is 0.1m, and is dynamically adjusted by the equipment's factory calibration parameters. For adjacent well tubing trajectory data, considering deformation and measurement errors during tubing insertion, a combined error model of systematic and random errors is constructed. The model expression is as follows: ,in This is a systematic error in the tubing trajectory, caused by the elastic deformation of the tubing. The error is random and follows a Gaussian distribution. ; The aforementioned error model parameters are embedded into the corresponding spatial geometric model to form a comprehensive model of adjacent well trajectories with error representation.

[0026] B3: The electromagnetic ranging data is used as the observation value and fused with the spatial geometric model and the model representing the measurement error. Through a nonlinear estimation algorithm, the relative distance and direction information between the current drill bit and the adjacent well string are retrieved in real time, and the spatial position of the adjacent well string is identified and corrected. B301: Selection and Parameter Configuration of Nonlinear Estimation Algorithm: The UKF unscented Kalman filter algorithm is adopted as the core fusion algorithm, and the algorithm parameters are configured as follows: Where the unscented transformation parameters proportional parameters Weight parameters The state vector is set to the spatial coordinates of the adjacent well casing. and velocity vector The observation vector is the relative distance between the drill bit and the adjacent well casing, based on electromagnetic ranging data. and direction angle .

[0027] B302: Construction of Observation and State Equations Based on the B201 spatial geometric model, the state equations are constructed as follows: ,in for Time-lapse column space status, For state transition function, The process noise provided for the error model; Based on the spatial relationship between electromagnetic ranging data and the real-time coordinates of the drill bit, the observation equation is constructed as follows: ,in for Time observation value For observation function, The observation noise is determined by the accuracy of the electromagnetic ranging equipment.

[0028] B303: UKF Unscented Kalman Filter Fusion Solution Using a spatial geometric model with error representation as a priori model, and inputting electromagnetic ranging data as observed values, UKF filtering iterative calculations are performed: Based on state equations State estimates at time 10:00, generated Sampling points; Transmitted through state equations Points are used to obtain prior state estimates; The predicted observations are calculated using the observation equation, and the residuals are obtained by comparing them with the actual observations. Based on the residual update of the Kalman gain, the prior state estimate is corrected to obtain... The optimal state estimate at time t.

[0029] B304: Relative Position Inversion and String Position Correction Optimal state estimation coordinates based on adjacent well tubing at time k And the real-time coordinates of the drill bit calculated from the measurement-while-drilling data. Calculate the relative distance between the drill bit and the adjacent well tubing: , Relative direction angle: , The coordinates of the pipe string after fusion calculation are compared with the original trajectory coordinates of the pipe string of the adjacent well, and the coordinate deviation value is calculated. If the deviation value is greater than the error model threshold, the spatial position of the pipe string of the adjacent well is corrected based on the optimal state estimate, and a corrected spatial geometric model is generated.

[0030] The collision avoidance warning and visualization module: a communication connection data processing and fusion core module, is used for: This module communicates with the output of the core data processing and fusion module, receiving the relative distance and direction information between the drill bit and adjacent well tubing obtained through fusion calculation, as well as the trajectory data of adjacent wells with a model representing measurement error. Through a process of risk index quantification calculation, graded early warning triggering, and 3D visualization rendering, it achieves real-time monitoring and intuitive presentation of drilling collision prevention, specifically including: Data reception and validity verification are performed by receiving standardized data packets transmitted by the data processing and fusion core module in real time via the industrial Ethernet TCP / IP protocol. These standardized data packets include: Real-time relative distance between drill bit and adjacent well string Relative direction angle ; Corrected spatial coordinate data of adjacent well drilling trajectory and tubing trajectory; Characterizing the measurement error model parameters, the standard deviation of the Gaussian error of the actual drilling trajectory. System error of tubing trajectory With the standard deviation of random error Data collection timestamp and integrity check code.

[0031] The validity check involves performing a CRC32 checksum verification on the received data packets to confirm that there are no lost or incorrect packets in the data transmission. At the same time, the integrity of the data fields is checked. If key fields such as relative distance and error model parameters are missing, a retransmission command is sent to the data processing and fusion core module. If invalid data is received five times consecutively, a device communication fault warning is triggered and uploaded to the system master control terminal.

[0032] C1: Based on the relative distance and direction information between the current drill bit and the adjacent well string obtained after fusion calculation, and the aforementioned measurement error model, calculate the anti-collision risk index in real time; C101: Real-time calculation of collision risk indicators The safety threshold setting is based on the avoidance requirements of adjacent well strings in drilling operations, and presets two levels of safety distance thresholds; the first level is the early warning threshold. Increase the radius of the adjacent well tubing by 0.5m, taking into account the safety margin of conventional drilling operations; Level 2 alarm threshold. The threshold for triggering emergency collision avoidance control is 0.2m, which increases the radius of the adjacent well tubing.

[0033] C102: Error compensation correction, combined with the measurement error characterization model, calculates the maximum relative distance deviation caused by the measurement error. The formula is: The deviation value reflects the impact of data measurement error on the relative distance calculation result; The real-time relative distance D obtained from the fusion calculation is corrected to the relative distance after error compensation. This is used to eliminate the interference of measurement errors on risk assessment.

[0034] C103: Quantification of collision risk indicators, constructing a collision risk indicator system with relative distance after error compensation as the core. The calculation formula is: , Among them, collision risk indicators The value range of is [0,1]. The closer it is to 1, the higher the risk of collision.

[0035] C2: Based on the aforementioned collision risk indicators, a graded early warning is generated, and a three-dimensional visualization image is generated that includes the current wellbore trajectory, the spatial position of adjacent well tubing, and the real-time relative positional relationship. C201: Tiered early warning based on risk indicators, according to collision avoidance risk indicators. The value of is used to divide the collision avoidance warning into three levels: Risk level: The distance between the drill bit and the adjacent well tubing string was within a safe range, and the system did not issue any warnings. Low-risk warning level: When the drill bit approaches the warning threshold, the system triggers a yellow warning and outputs the text message: "The drill bit is approaching the adjacent well tubing string. Please monitor carefully." High-risk alarm level: When the drill bit reaches the alarm threshold, the system triggers a red alarm, outputs an audible and visual alarm signal, and sends a warning trigger signal to the closed-loop control interface module. Early warning information encapsulation: including early warning level and real-time risk indicators Relative distance after error compensation The warning trigger timestamp is bound to form a standardized warning information package in JSON format.

[0036] C202: Generation of 3D Visualization Images C2021: Visualization Scene Initialization: Based on the OpenGL 3D graphics rendering engine, a 3D visualization scene for drilling operations is constructed, and scene parameters are set: The coordinate system follows the global spatial rectangular coordinate system, with the X-axis pointing due north, the Y-axis pointing due east, and the Z-axis pointing vertically downwards. The scale is set at 1:100 to balance the visible range of the scene with the presentation of details; Simulates formation profile texture to display information corresponding to the current drilling depth.

[0037] C2022: Trajectory and location information rendering, wellbore trajectory rendering: The current wellbore trajectory coordinates calculated from the drilling measurement data and the actual drilling trajectory coordinates after correction of adjacent wells are rendered as red solid lines (current wellbore) and blue dashed lines (actual drilling trajectory of adjacent wells), respectively. The trajectory line width is proportional to the wellbore diameter, and the depth and coordinate information of the trajectory are marked at the same time. Tubing string position rendering: The corrected adjacent well tubing string trajectory data is rendered as a yellow cylinder model. The cylinder diameter is consistent with the actual tubing string diameter, and the tubing string segment closest to the drill bit is highlighted. Relative position annotation: In the 3D scene, a green line segment with an arrow connects the current drill bit position to the nearest point of the adjacent well string, and the relative distance after error compensation is annotated in real time next to the line segment. and relative direction angle Simultaneously display risk indicators The numerical value and the color-coded warning level (yellow / red).

[0038] C203: Dynamic Update of Visualized Screen: Set the update frequency of the visualized screen to 1 time / second (consistent with the data acquisition frequency) to ensure that the trajectory and position information displayed on the screen are synchronized with real-time data; support operators to adjust the scene perspective by dragging the mouse and zooming with the scroll wheel, and click on trajectory nodes to view detailed data.

[0039] C204: Early Warning and Visualization Results Output and Storage The output of the results includes transmitting standardized early warning information packages to the closed-loop control interface module in real time; outputting 3D visualization images to the drilling platform monitoring screen, and supporting remote access and viewing via mobile devices.

[0040] Data storage associates and stores the early warning information package with screenshots of the visualization screen. The storage path is "drilling number, date, early warning record", and the storage period is no less than 90 days to meet the data traceability and review needs of drilling operations.

[0041] The closed-loop control interface module is communicatively connected to the anti-collision warning and visualization module and the drilling guide tool. It is used to generate a collision avoidance control command and send it to the drilling guide tool when the anti-collision risk index exceeds a preset threshold, so as to adjust the wellbore string trajectory and actual drilling trajectory. This module serves as the execution terminal interface of the drilling collision avoidance identification system. It connects bidirectionally to the collision avoidance early warning and visualization module and the drilling guidance tool. Through a closed-loop process of risk threshold judgment, collision avoidance command generation, command transmission and execution, and adjustment feedback verification, it achieves automatic adjustment of the wellbore trajectory. Specifically, it includes: D101: Communication Link Establishment and Initialization Configuration Two-way communication connection: A communication link is established with the collision avoidance warning and visualization module via the industrial Ethernet TCP / IP protocol, and a data receiving port is configured; A communication link is established with the drilling guidance tool via the CAN bus protocol. The drilling guidance tool includes a rotary steering system (RSS) and a variable-diameter sliding steering tool. The command sending port and the device communication address are configured to ensure that the module can receive early warning data and send control commands. Parameter initialization, based on the collision risk threshold triggering conditions, yields a high-risk threshold as the collision risk index. The distance between the drill bit and the adjacent well tubing string reaches the alarm threshold; configure the adjustable parameter range of the drilling directional tool, including the build-up rate adjustment range. The azimuth adjustment step size is / time, instruction execution response time is 10s; initialize instruction to generate rule base, and clarify trajectory adjustment strategies corresponding to different risk scenarios.

[0042] D102: Early Warning Data Reception and Risk Threshold Determination Data reception and parsing: Receives standardized warning information packets transmitted by the collision avoidance warning and visualization modules in real time, and parses the core data within the packets: collision avoidance risk indicators. Relative distance after error compensation Relative direction angle of adjacent well tubing Warning trigger timestamp.

[0043] Threshold judgment and trigger decision will analyze the risk indicators obtained. The data is compared with a preset high-risk threshold, and the following decision logic is executed: like (No risk / Low risk level): No control instructions are generated; only the current risk data is stored in the cache. like (High Risk Level): Immediately trigger the collision avoidance control command generation process and record the trigger time and current drill bit position coordinates.

[0044] D103: Collision Avoidance Control Command Generation and Standardized Encapsulation D1031: Trajectory adjustment parameter calculation, based on the analytically obtained relative orientation angle of adjacent well tubing strings. Calculate the optimal collision avoidance adjustment parameters based on the current drill bit trajectory parameters: Azimuth adjustment angle calculation: Taking the direction away from the adjacent well string as the adjustment target, calculate the azimuth adjustment amount. The formula is , The direction of adjustment can be determined based on the relative orientation of the adjacent well tubing strings, ensuring that the adjustment direction is away from the tubing string. Slope adjustment calculation: based on relative distance The difference between the slope and the alarm threshold is used to set the slope rate in stages. ,like Slightly greater than the alarm threshold, set the slope. for (Fine-tuning); if If the slope is equal to or less than the alarm threshold, set the slope rate. for (Emergency adjustment); D1032: Control Command Generation: Based on the calculated adjustment parameters, generate collision avoidance control commands that conform to the drilling rig communication protocol. These control commands contain three core fields: Command header: Command type identifier, command generation timestamp, target device address; Command parameters: azimuth adjustment amount. Slope Instruction execution duration Default timeout is 10 minutes; Checksum: CRC16 checksum is used to verify the integrity of command transmission. The generated collision avoidance control commands are encapsulated into binary format data packets to ensure that the data packets match the command parsing of the drilling guidance tool.

[0045] D104: Command Transmission and Execution Status Feedback Verification The command sending and retransmission mechanism sends collision avoidance control command data packets to the drilling guidance tool via the CAN bus protocol; the command sending timer is started, and if no execution feedback signal is received from the tool within the preset response timeout period of 10 seconds, the command retransmission mechanism is triggered. If there is still no feedback after 3 consecutive retransmissions, it is determined to be a communication failure. The system receives and parses execution status data packets returned by the drilling directional tool. It parses the data packets to obtain the tool's current working mode: whether it has entered the collision avoidance adjustment mode, and the actual adjustment parameters, namely the actual azimuth adjustment amount, build-up rate, and trajectory adjustment progress.

[0046] To verify the adjustment effect, the actual adjustment parameters fed back by the tool are compared with the parameters set in the command. If the parameter deviation is ≤ ±5%, the command is considered to have been executed normally; if the deviation is > ±5%, the adjustment parameters are recalculated and a correction command is generated.

[0047] D105: Closed-Loop Linkage and Anomaly Handling During command execution, risk indicators transmitted in real time from the collision avoidance warning and visualization module are received. and relative distance If detected If the risk drops to 0 (risk eliminated), a command is generated to terminate the data packet sent to the drilling guide tool, stop collision avoidance adjustment, and restore normal drilling mode; An anomaly handling mechanism executes corresponding strategies for the following anomaly scenarios: Communication failure: Triggers an audible and visual alarm, sends a fault prompt message to the system's main control terminal, and switches to manual control mode. Excessive deviation in command execution: Generate a deviation alarm message and push it to the drilling platform monitoring screen to remind operators to intervene. Risk indicators remain high: Multiple progressive adjustment instructions are continuously generated (gradually increasing the azimuth rate), while triggering the highest level safety alarm.

[0048] D106: Data Recording and Storage The entire process data is archived, and data such as instruction generation time, adjustment parameters, execution status, and risk change curves are stored together. The storage path is drilling number, date, and closed-loop control record. Data is uploaded synchronously, and the closed-loop control process data is synchronized to the collision warning and visualization module in real time. The command execution status and trajectory adjustment effect are overlaid and displayed on the three-dimensional visualization screen, supporting the operator to trace the entire process.

[0049] Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A drilling collision avoidance system based on the spatial location of adjacent well tubing strings using multi-source information fusion, characterized in that, include: Data acquisition module: used to acquire real-time measurement while drilling data, historical data of adjacent wells, and electromagnetic ranging data of adjacent well tubing strings. The measurement while drilling data includes the inclination angle, azimuth angle, and depth information of the current wellbore; the historical data of adjacent wells includes the tubing string trajectory and actual drilling trajectory data of the current adjacent wellbore. Data processing and fusion core module: Communication connection data acquisition module, used for: B1: Perform spatiotemporal synchronization and registration of the aforementioned measurement-while-drilling data, historical data from adjacent wells, and electromagnetic ranging data; B2: Construct a spatial geometric model that includes the actual drilling trajectory and the tubing trajectory of the current adjacent wellbore, and assign a model representing the measurement error to the two trajectories; B3: The electromagnetic ranging data is used as the observation value and fused with the spatial geometric model and the model representing the measurement error. Through a nonlinear estimation algorithm, the relative distance and direction information between the current drill bit and the adjacent well string are retrieved in real time, and the spatial position of the adjacent well string is identified and corrected. Collision avoidance warning and visualization module: The core module for communication connection, data processing and fusion, used for: C1: Based on the relative distance and direction information between the current drill bit and the adjacent well string obtained after fusion calculation, and the aforementioned measurement error model, calculate the anti-collision risk index in real time; C2: Based on the aforementioned collision risk indicators, a graded early warning is generated, and a three-dimensional visualization image is generated that includes the current wellbore trajectory, the spatial position of adjacent well tubing, and the real-time relative positional relationship. Closed-loop control interface module: It is communicatively connected to the anti-collision warning and visualization module and the drilling guide tool. When the anti-collision risk index exceeds the preset threshold, it generates a collision avoidance control command and sends it to the drilling guide tool to adjust the wellbore string trajectory and actual drilling trajectory.

2. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The data acquisition module includes: The equipment deployment unit is used to install a measurement-while-drilling (MWD) sensor integrating a triaxial accelerometer and a triaxial magnetometer near the drill bit in the drill string assembly, deploy an electromagnetic rangefinder next to the wellhead of the drilling platform, and establish a hardware connection between the sensor, the electromagnetic rangefinder and the downhole data acquisition terminal. The parameter configuration unit is used to connect to the adjacent well data management database to obtain retrieval permissions, configure the drilling measurement data acquisition frequency to 1 time / second, the electromagnetic ranging data sampling interval to 50 times / second, and set the retrieval trigger condition for adjacent well historical data to be triggered once for every 5 meters increase in the current drilling vertical depth. The spatiotemporal calibration unit is used to perform time synchronization calibration on each acquisition device to ensure that the timestamp synchronization error is ≤ ±1ms. It also establishes a unified spatial rectangular coordinate system based on the current wellhead as the origin, defining the X-axis as due north, the Y-axis as due east, and the Z-axis as vertically downward.

3. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 2, characterized in that, The data acquisition module also includes a data preprocessing unit, used to convert the three types of collected data into JSON format. The criteria remove outlier data and fill in missing data using linear interpolation.

4. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The spatiotemporal synchronization and registration in the core data processing and fusion module B1 includes: Time synchronization and registration: Interpolate the timestamps of historical data retrieved from adjacent wells to match the time resolution to 1 time / second, fill in missing values ​​in the time dimension, and ensure that the time axes of the three types of data are aligned. Spatial coordinate registration: Convert the original coordinates of adjacent well trajectories into rectangular coordinate values ​​in a unified spatial rectangular coordinate system, and map the relative distance and direction information of electromagnetic ranging data to the global coordinate system; Data association matching: Using the current drilling vertical depth as the keyword, bind three types of data under the same depth node to form a three-dimensional associated dataset of depth, time and space.

5. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The data processing and fusion core module B2 includes: Spatial geometric model of actual drilling trajectory The piecewise cubic B-spline curve interpolation algorithm is used to construct the curve. The spatial geometric model of the tubing trajectory is constructed using a cylindrical geometric modeling method, and includes the spatial position, length, and radius characteristic parameters of each segment of the tubing. In the model characterizing measurement error, the actual drilling trajectory corresponds to the Gaussian error model. The tubing trajectory corresponds to a combined model of systematic and random errors. .

6. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The data processing and fusion core module B3 includes: The nonlinear estimation algorithm is the Unscented Kalman Filter (UKF) algorithm, with configured unscented transform parameters. proportional parameters Weight parameters The state vector is set to the spatial coordinates of the adjacent well casing. and velocity vector The observation vector is the relative distance between the drill bit and the adjacent well casing, based on electromagnetic ranging data. and direction angle The constructed state equation is as follows: The constructed observation equation is as follows: .

7. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The calculation of the collision risk index in the collision avoidance warning and visualization module C1 includes: Preset two levels of safe distance thresholds: warning threshold =Relative well tubing radius + 0.5m, alarm threshold = Adjacent well tubing radius + 0.2m; and calculate the relative distance after error compensation. Based on early warning threshold Alarm threshold Compensated relative distance Construct collision risk indicators .

8. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The graded warning system in the collision avoidance warning and visualization module C2 includes: Risk level: The distance between the drill bit and the adjacent well tubing string was within a safe range, and the system did not issue any warnings. Low-risk warning level: When the drill bit approaches the warning threshold, the system triggers a yellow warning and outputs the text message: "The drill bit is approaching the adjacent well string. Please monitor carefully." High-risk alarm level: When the drill bit reaches the alarm threshold, the system triggers a red alarm, outputs an audible and visual alarm signal, and sends a warning trigger signal to the closed-loop control interface module.

9. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The collision avoidance warning and visualization module provides a 3D visualization display: The 3D visualization is built on the OpenGL engine and rendered at a scale of 1:

100. The current wellbore trajectory is represented by a solid red line, the actual drilling trajectory of the adjacent well is represented by a dashed blue line, and the adjacent well tubing is represented by a yellow cylinder. The relative positional relationship between the drill bit and the nearest point of the tubing is marked by a green line segment with an arrow. The screen updates once per second.

10. The adjacent well casing spatial location anti-collision identification system based on multi-source information fusion as described in claim 1, characterized in that, The closed-loop control interface module includes: It communicates with the anti-collision warning and visualization module via industrial Ethernet TCP / IP protocol, and with the drilling guidance tool via CAN bus protocol; Collision avoidance control commands include azimuth adjustment amount The graded slope ratio parameter, the slope ratio adjustment range is: The azimuth adjustment step size is / Second-rate; The closed-loop control interface module is also equipped with an instruction retransmission mechanism, an execution deviation verification mechanism, and an exception handling mechanism. When the risk indicator R drops to 0, an instruction termination data packet is generated.

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