System and method for controlling operation mode of underground logging tractor

Abstract

The invention discloses a logging underground tractor operation mode control system which comprises a computer, the computer is connected with a ground control box, the ground control box is connected with a program control direct current power source, the ground control box is connected with a tractor underground instrument through a halter, and the tractor underground instrument is connected with a logging instrument. And the ground control box is also connected with a winch Martin decker. The invention further discloses a control method of the logging underground tractor operation mode control system. A three-core cable power supply and communication mode is adopted between a tractor ground end device and an underground end device, electrical isolation of a logging system and a crawler system is achieved, power supply and communication of logging system ground equipment to logging underground equipment, logging underground data acquisition and power supply and communication of crawler ground equipment to the logging underground equipment are achieved, and logging underground data acquisition and logging underground data acquisition are achieved. And the crawler underground data acquisition system and the crawler underground data acquisition system are mutually isolated, do not interfere with each other and are mutually independent.

Description

Technical Field

[0001] This invention belongs to the technical field of dynamic testing equipment for petroleum industry equipment, specifically relating to a control system for the operation mode of a well logging downhole traction device, and also to a control method for the control system of the well logging downhole traction device operation mode. Background Technology

[0002] The control device for the downhole logging tractor (or logging crawler, or simply crawler) is suitable for oilfield casing wells in highly deviated and horizontal well sections. Existing logging crawlers only involve the downhole instrument composition structure, excluding the surface instrument part, and do not involve the instrument system principle and the instrument operation mode.

[0003] Currently, crawler systems used both domestically and internationally consist of a surface control system and a downhole system. The surface control system and the downhole system are connected via a collecting ring on the logging winch and a vehicle-mounted logging cable. The surface control system provides voltage and current to the motors of the downhole system, which in turn drive the crawler wheels and provide hydraulic power to open the push arm, thus maneuvering the downhole system to propel the logging instruments forward within the casing. The surface control system comprises a laptop computer, a crawler control panel, a power supply for the downhole instruments, and the logging winch, all connected via cables. The downhole system consists of the downhole crawler power supply, communication and motor components, hydraulic machinery, and a power crawling mechanism, all connected via cables and mechanical structures.

[0004] Crawler logging involves connecting a crawler to the logging cable and the downhole logging instrument via a cable. In highly deviated and horizontal sections of oilfield casing wells, when the logging instrument, suspended freely by the logging cable, cannot descend automatically under its own weight and encounters resistance, preventing it from reaching the deepest section required for logging, the surface equipment activates the crawler to take over the logging cable. It uses a crawling motion to provide power, propelling the logging instrument to overcome resistance and reach the target section. Afterward, the crawler stops working, returning the logging cable to the downhole logging instrument, which then completes the data acquisition task upon its ascent.

[0005] However, existing downhole logging tractors (creepers) only operate in highly deviated or horizontal well sections, pushing the logging instrument to the bottom of the well, then releasing the logging cable to the instrument, and finally using the logging winch cable to pull the instrument from the bottom to the wellhead for logging. In horizontal well sections, logging tractors are developed to meet the logging requirements for inspecting casing cementing quality after cementing in oil wells; they do not simultaneously meet the logging instrument's logging requirements while pushing it. They are only designed for pushing the logging instrument to the bottom of the well in highly deviated or horizontal well sections. The logging process is completed by the logging winch pulling the logging instrument with the logging cable, and the instrument collects data as it moves towards the wellhead. During the process of the logging tractor pushing the logging instrument, the tractor and the logging instrument cannot use the logging cable simultaneously; each must perform its own power supply and data acquisition communication between the surface and downhole instruments.

[0006] Chinese patent CN117967227A discloses an intelligent control traction device and its control method, including a computer, a ground control system, an intelligent power supply system, a job selection system, a communication system, a power supply, and an intelligent drive system. The control method of the intelligent control traction device is that the computer outputs a job selection signal to the job selection system through the ground control system and the communication system. The selection system connects to the traction device or the logging tool according to the job selection signal. However, the system does not have the function of simultaneously connecting the traction device and the logging tool, and does not have the function of satisfying the simultaneous operation of the traction device and the logging tool, and the simultaneous transmission of data collected by each to the ground system. Summary of the Invention

[0007] The purpose of this invention is to provide a well logging downhole traction device operation mode control system, which enables the well logging instrument to work and collect data when the crawler logging instrument moves in both the forward and backward directions in a horizontal well section.

[0008] Another objective of this invention is to provide a control method for a well logging downhole traction device operation mode control system.

[0009] The technical solution adopted in this invention is a well logging downhole traction device operation mode control system, including a computer, a ground control box connected to the computer, a programmable DC power supply connected to the ground control box, a traction device downhole instrument connected to the ground control box via a auger, a well logging downhole instrument connected to the traction device downhole instrument, and a winch Martin-Dike connected to the ground control box.

[0010] The invention is further characterized by: The ground control box includes a downhole power supply system, which is connected to a programmable DC power supply. The downhole power supply system is also connected to a modem board, which is connected to a power module. The modem board is connected to a network communication board, which is connected to the winch Martin-Dike. The network communication board is also connected to a computer and the programmable DC power supply.

[0011] The network communication board uses the AT91SAM7X256-AU microcontroller as the controller.

[0012] The downhole power supply system has a power interface for connecting to a programmable DC power supply, and also has a power interface for connecting to the downhole instruments of the traction device.

[0013] Data is transmitted between the computer and the network communication board via an Ethernet LAN cable.

[0014] The downhole instrumentation for the traction device includes a rotating sub, which is connected to the headstock. The rotating sub is connected to a magnetic positioning sub, which is connected to a circuit sub via a first centralizer. The circuit sub is connected to a second centralizer, which is connected to a hydraulic power sub. The hydraulic power sub is connected to a crawler drive sub, which is connected to a hydraulic balancing sub. The hydraulic balancing sub is connected to a third centralizer, which is connected to the logging downhole instrumentation. The circuit sub is connected to the downhole power supply system.

[0015] Another technical solution adopted in this invention is, The control method for the well logging downhole traction device operation mode control system is implemented according to the following steps: The specific steps are as follows: Step 1: Connect the headstock to the logging cable and winch slip ring, connect the slip ring to the surface control box, and then connect the headstock to the downhole instrument of the traction device. Step 2: Release the logging cable by rotating the logging winch drum. In a highly deviated or horizontal well, the downhole instrument of the traction device rotates the crawling wheel, pushes open the push arm, and the crawling wheel presses against the inner wall of the casing and crawls along the inner wall of the casing. The traction device drags the logging cable behind it and crawls forward to the bottom of the well to push the logging instrument. Step 3: While pushing the downhole logging instrument to be transported, the downhole logging instrument collects logging data and transmits the logging data to the surface. After reaching the bottom of the well, the tractor downhole instrument crawls backward towards the wellhead. At the same time, the downhole logging instrument collects data and transmits the logging data to the surface, completing the production logging operation mode in the horizontal well section, in both forward and backward directions, and completing the logging data acquisition at different speeds as required.

[0016] Another feature of the present invention is that, Through a mode transformer T0 in the ground control box, a three-core logging cable is used to connect to the mode transformer T0ˊ in the matching traction device downhole instrument. Two cores of the three-core logging cable and the cable sheath are used to achieve communication between the ground control box of the logging downhole traction device operation control system and the downhole instrument of the traction device, and to supply power to the downhole instrument of the traction device through the ground control box. At the same time, the remaining core of the three-core logging cable and the cable sheath are used by the production logging ground equipment to achieve communication and power supply between the production logging ground equipment and the production logging downhole instrument. The three-core logging cable enables the operation of both the logging downhole traction device and the production logging downhole instrument, realizing the simultaneous operation mode when the logging downhole traction device and the production logging downhole instrument are connected in series and move in both forward and backward directions.

[0017] The beneficial effects of this invention are: This invention relates to a well logging downhole traction device operation mode control system. In horizontal well sections, the well logging instrument can operate and collect data while moving in both forward and backward directions. This system enables the well logging instrument to collect data at different speeds in both directions, allowing simultaneous operation of the well logging instrument and the downhole traction device. It employs a three-core cable for power supply and communication between the surface and downhole ends of the traction device, achieving electrical isolation between the well logging system and the traction device system. This ensures that the surface equipment of the well logging system provides power and communication to the downhole equipment, and that the surface equipment of the traction device provides power and communication to the downhole equipment, as well as the traction device's downhole data acquisition, are mutually isolated and independent, preventing interference between them. In horizontal well sections, this system ensures that the well logging instrument can operate and collect data while moving in both forward and backward directions. Implement crawler operation modes, including alternating crawling direction mode, unidirectional forward movement mode, and unidirectional backward movement mode. Attached Figure Description

[0018] Figure 1 This is a structural block diagram of the well logging downhole traction device operation mode control system of the present invention; Figure 2 This is a structural block diagram of the ground control box in the well logging downhole traction device operation mode control system of the present invention; Figure 3 This is a diagram illustrating the power supply and communication method of the three-core cable between the ground end and the downhole end equipment of the well logging downhole traction device in the operation mode control system of this invention; Figure 4 This is a flowchart of the crawler operation mode NS in the well logging downhole traction device operation mode control system of the present invention.

[0019] In the diagram: 1. Computer, 2. Surface control box, 21. Downhole power supply system, 22. Modem board, 23. Power module, 24. Network communication board, 3. Programmable DC power supply, 4. Headstock, 5. Traction device downhole instrument, 51. Rotary sub, 52. Magnetic positioning sub, 53. First centralizer, 54. Second centralizer, 55. Hydraulic power sub, 56. Creeper drive sub, 57. Hydraulic balance sub, 58. Third centralizer, 59. Circuit sub, 6. Logging downhole instrument, 7. Winch Martin-Dike. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] This invention provides a well logging downhole traction device operation mode control system, such as... Figure 1 As shown, the system includes a computer 1 connected to a ground control box 2, which in turn is connected to a programmable DC power supply 3. The ground control box 2 is connected to a traction device downhole instrument 5 via a headstock 4. The traction device downhole instrument 5 is connected to a logging downhole instrument 6, forming a downhole instrument string. The ground control box 2 is also connected to a winch (Martindyco 7). The computer 1 is equipped with a 64-bit Windows 11 operating system, based on a 64-bit processor. It connects to the network communication board 24 of the ground control box 2 and communicates with it via an Ethernet LAN network to control the traction device downhole instrument 5 and the programmable DC power supply 3. The system collects the hydraulic system operating status information and power information of the traction device downhole instrument 5. Based on the collected information, it makes judgments according to the program's set conditions, obtains the judgment results, and issues control commands to the motor drive power supply and the traction device downhole instrument 5 to adjust the working status. The computer 1 records the crawler's operating data in real time, and the data can be played back and printed.

[0022] Example 1 The well logging downhole traction device operation mode control system includes a computer 1, which is connected to a ground control box 2. The ground control box 2 is connected to a programmable DC power supply 3. The ground control box 2 is connected to the traction device downhole instrument 5 via a auger 4. The traction device downhole instrument 5 is connected to the well logging downhole instrument 6. The ground control box 2 is also connected to a winch Martin-Dike 7.

[0023] like Figure 2As shown, the ground control box 2 includes a downhole power supply system 21, which is connected to a programmable DC power supply 3. The downhole power supply system 21 is also connected to a modem board 22, which is connected to a power module 23. The modem board 22 is also connected to a network communication board 24, which is connected to the winch Martin-Dike 7. The network communication board 24 is also connected to the computer 1 and the programmable DC power supply 3. The downhole power supply system 21 is used to separate and connect communication signals between the ground and downhole instruments and the downhole power supply. The modem board 22 is used to receive communication signals from the downhole instruments and send communication signals to the downhole instruments. The power module 23 is used to connect to the mains power supply to power the circuitry inside the box and connects to the computer 1 via an Ethernet LAN.

[0024] Example 2 The well logging downhole traction device operation mode control system includes a computer 1, which is connected to a ground control box 2. The ground control box 2 is connected to a programmable DC power supply 3. The ground control box 2 is connected to the traction device downhole instrument 5 via a auger 4. The traction device downhole instrument 5 is connected to the well logging downhole instrument 6. The ground control box 2 is also connected to a winch Martin-Dike 7.

[0025] The ground control box 2 includes a downhole power supply system 21, which is connected to a programmable DC power supply 3. The downhole power supply system 21 is also connected to a modem board 22, which is connected to a power module 23. The modem board 22 is also connected to a network communication board 24, which is connected to a winch Martin-Dike 7. The network communication board 24 is also connected to a computer 1 and a programmable DC power supply 3.

[0026] The network communication board 24 uses the AT91SAM7X256-AU microcontroller as the controller.

[0027] The downhole power supply system 21 has a power interface for connecting to the programmable DC power supply 3, and also has a power interface for connecting to the downhole instrument 5 of the traction device.

[0028] Computer 1 and network communication board 24 communicate and transmit data via Ethernet LAN cable.

[0029] The downhole power supply system 21 includes a power interface for connecting to the output voltage and current of the programmable DC power supply 3, a DC isolation circuit for separating downhole communication, and a downhole power supply interface for powering the downhole instruments 5 of the traction device. The power module 23 includes a rectifier and voltage regulator circuit and a switching power supply, which converts the connected 220VAC mains power into DC power of different voltage values ​​required by the circuits in the surface control box 2. The modem board 22 includes a signal transmission circuit that modulates and transmits the digital signal sent from the computer 1 to the downhole cable, and a receiving circuit that demodulates the signal uploaded by the downhole instruments 5 of the traction device into a digital signal and sends it to the network communication board 24. The network communication board 24 uses the AT91SAM7X256-AU microcontroller as the core controller and connects the connected computer 1 to the Ethernet network. The system combines LAN network communication with RS485 serial communication of the connected programmable DC power supply. It processes and forwards the information to the downhole instrument 5 of the traction device via the modem board 22 and receives the uploaded information. The network communication board 24 receives the depth signal from the winch Martin-Dike 7, generates the well logging depth value, and transmits it to the computer 1 for crawling mode control.

[0030] Example 3 The well logging downhole traction device operation mode control system includes a computer 1, which is connected to a ground control box 2. The ground control box 2 is connected to a programmable DC power supply 3. The ground control box 2 is connected to the traction device downhole instrument 5 via a auger 4. The traction device downhole instrument 5 is connected to the well logging downhole instrument 6. The ground control box 2 is also connected to a winch Martin-Dike 7.

[0031] The ground control box 2 includes a downhole power supply system 21, which is connected to a programmable DC power supply 3. The downhole power supply system 21 is also connected to a modem board 22, which is connected to a power module 23. The modem board 22 is also connected to a network communication board 24, which is connected to a winch Martin-Dike 7. The network communication board 24 is also connected to a computer 1 and a programmable DC power supply 3.

[0032] The network communication board 24 uses the AT91SAM7X256-AU microcontroller as the controller.

[0033] The downhole power supply system 21 has a power interface for connecting to the programmable DC power supply 3, and also has a power interface for connecting to the downhole instrument 5 of the traction device.

[0034] Computer 1 and network communication board 24 communicate and transmit data via Ethernet LAN cable.

[0035] The downhole instrument 5 of the traction device includes a rotating sub 51, which is connected to the headstock 4. The rotating sub 51 is connected to a magnetic positioning sub 52. The magnetic positioning sub 52 is connected to a circuit sub 59 via a first centralizer 53. The circuit sub 59 is connected to a second centralizer 54. The second centralizer 54 is connected to a hydraulic power sub 55. The hydraulic power sub 55 is connected to a crawling drive sub 56. The crawling drive sub 56 is connected to a hydraulic balancing sub 57. The hydraulic balancing sub 57 is connected to a third centralizer 58. The third centralizer 58 is connected to the logging downhole instrument 6. The circuit sub 59 is connected to the downhole power supply system 21. The circuitry inside the downhole instrument 5 of the traction device receives control commands from the surface system and magnetic positioning signals from the casing at the crawling position of the downhole logging instrument 6. It then transmits instrument status data to the surface. Under system control, the hydraulic system of the downhole instrument 5 provides hydraulic power to the crawler actuator and pushes the crawler wheel. The brushless DC motor drives the crawler wheel to rotate, crawling along the inner wall of the casing to complete the traction process of pushing the downhole logging instrument 6.

[0036] The rotating sub 51, consisting of a slip ring, a guide wire, and a hydraulic sealing device, is used to adjust the instrument's attitude downhole, preventing the headstock 4 and logging cable from rolling with changes in the crawler's attitude, thus preventing additional rotational torque on the cable and the resulting cable entanglement and potential engineering accidents. The magnetic positioning sub 52, composed of a magnet and a winding coil, serves as a measurement coupling signal sensor. When the crawler passes the casing coupling, the generated voltage signal is transmitted to the communication measurement control unit, detecting the coupling and reflecting the crawling process. The circuit sub 59 includes a circuit power supply unit and a communication measurement control unit, receiving control commands from the surface equipment to control the crawler's downhole crawling movement. The first centralizer 53, the second centralizer 54, and the third centralizer 5... 8. Support the instrument downhole to prevent the crawler body from being tightly pressed against the inner wall of the casing, reducing frictional resistance between the instrument and the casing during crawling. The hydraulic power sub 55, under the control of the circuit sub 59, generates hydraulic power to push open the push arm in the crawling drive sub. The crawling drive sub 56 contains a brushless DC motor and controller, and a mechanical push arm. Under the control of the circuit sub 59, the brushless DC motor rotates and drives the crawling wheel at the far end of the push arm through the transmission device. The opened push arm causes the crawling wheel to press tightly against the inner wall of the casing, generating crawling force to propel the instrument's crawling motion. The hydraulic balance sub 57 contains a balance cylinder to balance the pressure between the liquid inside the instrument housing and the liquid in the wellbore environment, protecting the safety of the downhole instrument structure.

[0037] Example 4 The control method of the well logging downhole traction device operation mode control system of the present invention is implemented according to the following steps: Step 1: Connect the headstock 4 to the logging cable and winch slip ring, connect the slip ring line to the surface control box 2, and then connect the headstock 4 to the downhole instrument 5 of the traction device. Step 2: Release the logging cable by rotating the logging winch drum. In a highly deviated or horizontal well, the downhole instrument 5 of the traction device rotates the crawling wheel, pushes open the push arm, and the crawling wheel presses against the inner wall of the casing and crawls along the inner wall of the casing. The traction device downhole instrument 5 is pulled behind and drags the logging cable, crawling forward to push the downhole instrument 6 to the bottom of the well. Step 3: While pushing the downhole logging instrument 6 for transport, the downhole logging instrument 6 collects logging data and transmits the logging data to the surface. After reaching the bottom of the well, the tractor downhole instrument 5 crawls backward towards the wellhead. At the same time, the downhole logging instrument 6 collects data and transmits the logging data to the surface, completing the production logging in the horizontal well section. In both forward and backward directions, logging data is collected at different speeds as required.

[0038] Through a mode transformer T0 in the ground control box 2, a three-core logging cable is used to connect to the mode transformer T0ˊ in the matching traction device downhole instrument 5. Two core wires and the cable sheath of the three-core logging cable are used to achieve communication between the ground control box of the logging downhole traction device operation control system and the downhole instrument of the traction device, as well as to supply power to the downhole instrument of the traction device through the ground control box. The remaining core wire and the cable sheath of the three-core logging cable are used to connect the production logging ground equipment to the production logging downhole instrument. At the same time, communication and power supply between the production logging ground equipment and the production logging downhole instrument are achieved, enabling the logging downhole traction device and the production logging downhole instrument to operate simultaneously, and to collect data and transmit data to their respective ground equipment in real time.

[0039] Example 5 This invention relates to a well logging downhole traction device operation mode control system. The crawler is adapted to well logging in production wells in both highly inclined and horizontal well sections, and meets the construction requirements for collecting well logging data when the well logging downhole instrument 6 moves in both forward and backward directions.

[0040] The working modes are applicable to logging data acquisition in both forward and backward directions. One is the forward advance mode of the logging downhole instrument 6, which performs multiple logging operations at different speeds; the other is the backward retreat mode of the logging instrument, which also performs multiple logging operations at different speeds. In both working modes, the logging downhole instrument 6 is performing logging data acquisition.

[0041] In the forward propulsion mode of the logging downhole instrument 6, the crawler must be powered to operate and crawl. The crawler provides the forward propulsion power for the logging downhole instrument 6, pushing the instrument towards the bottom of the well. The crawler needs to be controlled by the crawler surface instrument and maintain uninterrupted data communication with it. At the same time, the logging downhole instrument 6 communicates with the logging surface instrument system. In the backward logging mode, the logging surface winch pulls the crawler towards the wellhead. The crawler is not powered and does not work. There is no data communication between the crawler and the crawler surface instrument. Only the logging downhole instrument 6 is powered and working. The logging downhole instrument 6 communicates with the logging surface system.

[0042] This invention employs a three-core logging cable, with the pulling power provided by a logging winch to traction the downhole instrument 5 and the logging instrument string. Power and communication are transmitted through the cable core and sheath, such as... Figure 3 As shown. The surface equipment of the logging traction device supplies power and communicates with its downhole instruments, and the surface equipment of the logging instruments supplies power and communicates with the downhole logging instruments, while maintaining mutual electrical isolation to prevent interference.

[0043] Example 6 The circuit for the three-core cable power supply and communication circuit between the surface end and the downhole end of the traction device is as follows: Figure 3 As shown, a mode transformer T0 is installed in the ground control box 2 of the surface equipment. The primary coils R and T of mode transformer T0 are connected to the modem board of the crawler's ground control box. A mode transformer T0' is installed in the downhole instrument equipment. The secondary coils R' and T' of mode transformer T0' are connected to the modem board of the crawler's downhole instrument circuit. The secondary coils of mode transformer T0 and mode transformer T0' are connected by two cores No. 2 and No. 3 of a three-core logging cable. The center tap O of the secondary coil of mode transformer T0 leads to terminal n, and the center tap O' of the secondary coil of mode transformer T0' leads to terminal n'. The traction device's surface equipment supplies power to the cable armor ground GND at terminal n, and the traction device's downhole end receives the surface power supply at terminal n' to the cable armor ground GND. Simultaneously, the T-group coils on the primary side of the model transformer T0 serve as the surface-end signal transmitting coils, and the R-group coils serve as the surface-end signal receiving coils. Similarly, the T-group coils on the primary side of the model transformer T0ˊ serve as the downhole-end signal transmitting coils, and the Rˊ group coils serve as the downhole-end signal receiving coils. At the surface end, the logging instrument uses core 1 of the three-core logging cable to connect to the cable armor ground (GND) to supply power and communication to the downhole end. At the downhole end, core 1ˊ of the three-core logging cable connects to the cable armor ground (GND) to receive power from the surface end and communicate with it. This electrical connection structure ensures that the traction device and the logging instrument are isolated from each other in terms of electrical power supply and communication, and do not form separate electrical circuits.

[0044] Figure 3At the surface end, cable core 1 and cable sheath GND are connected to the logging surface equipment for power supply and communication between the logging surface equipment and downhole instruments; the secondary coil O lead n of mode transformer T0 is connected to the power supply terminal for downhole instruments, forming a power supply circuit with GND. The primary coils R and T are connected to the modem board of the crawler surface control box, forming the surface interface for communication with the downhole equipment.

[0045] Figure 3 At the downhole end, cable core 1' and cable sheath GND are connected to the logging downhole instrument, used for the downhole instrument to receive power and communication from the surface equipment; the primary coil O lead n' of the mode transformer T0' and cable sheath GND are connected to the power supply terminal of the downhole instrument, forming a power supply circuit. The secondary coils R' and T' are connected to the modem board of the crawler downhole instrument circuit, forming the downhole interface terminal for communication with the surface equipment.

[0046] Example 7 This invention relates to the operation mode of using a crawler to deliver logging instruments in production logging operations in horizontal well sections, including alternating movement direction mode and unidirectional movement mode.

[0047] The alternating movement direction patterns include: Alternating Pattern 1 (forward 1, backward 1), Alternating Pattern 2 (forward 2, backward 2), Alternating Pattern 3 (forward 3, backward 3), Alternating Pattern 4 (forward 4, backward 4), Alternating Pattern 5 (forward 5, backward 5), and Alternating Pattern 6 (forward 6, backward 6). Each of Alternating Patterns 1 to 6 contains one forward and one backward pattern, as shown below. Figure 4 As shown.

[0048] Alternating modes 1 to 6 correspond to six logging speeds and logging instrument movement directions for six different production logging operations, ranging from low to high crawling speeds.

[0049] When collecting logging data during production logging operations, in horizontal well sections, only one forward instrument movement or one backward instrument movement is required, and a unidirectional movement mode is used.

[0050] The unidirectional motion mode includes a forward unidirectional mode 7 and a backward unidirectional mode 8. The unidirectional motion mode allows setting the crawling speed as needed, and can perform forward or backward crawling independently. It supports logging instruments in acquiring logging data and can execute any of the six alternating modes in the alternating motion direction mode.

[0051] The NS flowchart illustrates the working process of the crawler's operating mode.

[0052] The surface instrument is powered on, and the power supply starts the crawler system and the logging system. The logging instrument measures and enters the working state. The crawler ground system and the downhole instrument establish communication. In the notebook crawler program, enter the integer values of the crawler movement mode numbers m and n, where 0 < n < 7 and n is the starting mode number. The program judges that when the condition 0 < m < 9 holds, the program executes sequentially, judges the interval where the m value is located. When m = 7, it is the single forward mode 7, and when m = 8, it is the single backward mode 8. When m < 6, it is the crawler movement direction alternating mode interval.

[0053] When 0 < m < 9, the program executes sequentially. When it is judged that m > 6 does not hold, starting from the starting mode number, set the corresponding alternating mode. First, execute the forward movement mode of the set alternating mode, and then judge whether the depth transmitted by the Martindale reaches > the preset value. When it reaches the preset value, then execute the backward movement mode of the set mode, and then judge whether the depth transmitted by the Martindale reaches < the preset value. When it reaches the preset value, execute n = n + 1 to change the n value, and then judge whether n ≥ m is satisfied. If not, return to the loop body and execute the alternating mode corresponding to the n value until n = m is reached, and then end the execution of the crawling process.

[0054] When m > 6 holds, judge whether m = 7 holds. If it holds, execute the single forward mode 7 of m = 7. First, set the forward crawling mode, set the crawling speed, set the motor power supply voltage value, execute the crawling loop body, and then judge whether the depth transmitted by the Martindale reaches > the preset value. If not, continue to execute the crawling loop body until the preset value is reached, and then end the execution of the crawling process.

[0055] When m > 6 holds, judge whether m = 7 holds. If it does not hold, execute the single backward mode 8 of m = 8. First, set the backward crawling mode, set the crawling speed, set the motor power supply voltage value, execute the crawling loop body, and then judge whether the depth transmitted by the Martindale reaches < the preset value. If not, continue to execute the crawling loop body until the preset value is reached, and then end the execution of the crawling process.

[0056] The operation mode control system of the logging downhole tractor of the present invention adopts the power supply and communication method of a three-core cable between the ground end of the tractor and the downhole equipment, realizes the electrical isolation between the logging system and the crawler system, realizes the power supply and communication from the surface equipment of the logging system to the downhole equipment of the logging, and the downhole data acquisition of the logging, and the power supply and communication from the ground equipment of the crawler to the downhole equipment of the logging, and the two systems between the downhole data acquisition of the crawler are isolated from each other, do not interfere with each other, and are independent of each other.

Claims

1. A well logging downhole traction device operation mode control system, characterized in that, Includes a computer (1), which is connected to a ground control box (2), which is connected to a programmable DC power supply (3), which is connected to a traction device downhole instrument (5) via a horse head (4), which is connected to a logging downhole instrument (6), and the ground control box (2) is also connected to a winch Martin-Dike (7).

2. The well logging downhole traction device operation mode control system according to claim 1, characterized in that, The ground control box (2) includes a downhole power supply system (21), which is connected to a programmable DC power supply (3). The downhole power supply system (21) is also connected to a modem board (22), which is connected to a power module (23). The modem board (22) is connected to a network communication board (24), which is connected to a winch Martin-Dike (7). The network communication board (24) is also connected to a computer (1) and a programmable DC power supply (3).

3. The well logging downhole traction device operation mode control system according to claim 2, characterized in that, The network communication board (24) uses the AT91SAM7X256-AU microcontroller as the controller.

4. The well logging downhole traction device operation mode control system according to claim 2, characterized in that, The downhole power supply system (21) is equipped with a power interface for connecting to a programmable DC power supply (3) and a power interface for connecting to the downhole instrument (5) of the traction device.

5. The well logging downhole traction device operation mode control system according to claim 2, characterized in that, The computer (1) and the network communication board (24) communicate and transmit data via an Ethernet LAN cable.

6. The well logging downhole traction device operation mode control system according to claim 1, characterized in that, The traction device downhole instrument (5) includes a rotating sub (51), which is connected to the headstock (4). The rotating sub (51) is connected to a magnetic positioning sub (52). The magnetic positioning sub (52) is connected to a circuit sub (59) via a first centralizer (53). The circuit sub (59) is connected to a second centralizer (54). The second centralizer (54) is connected to a hydraulic power sub (55). The hydraulic power sub (55) is connected to a crawling drive sub (56). The crawling drive sub (56) is connected to a hydraulic balance sub (57). The hydraulic balance sub (57) is connected to a third centralizer (58). The third centralizer (58) is connected to the logging downhole instrument (6). The circuit sub (59) is connected to the downhole power supply system (21).

7. The control method for the well logging downhole traction device operation mode control system according to any one of claims 1-6, characterized in that, The specific steps are as follows: Step 1: Connect the headstock (4) to the logging cable and the winch slip ring, connect the slip ring line to the surface control box (2), and then connect the headstock (4) to the downhole instrument (5) of the traction device. Step 2: Release the logging cable by rotating the logging winch drum. In a highly deviated or horizontal well, the downhole instrument (5) of the traction device rotates the crawling wheel, pushes open the push arm, and the crawling wheel presses against the inner wall of the casing and crawls along the inner wall of the casing. The traction device downhole instrument (5) is pulled behind and drags the logging cable, crawling forward to push the downhole instrument (6) to the bottom of the well. Step 3: While pushing the well logging downhole instrument (6) to transport, the well logging downhole instrument (6) collects well logging data and transmits the well logging data to the surface. After reaching the bottom of the well, the traction downhole instrument (5) crawls backward towards the wellhead. At the same time, the well logging downhole instrument (6) collects data and transmits the well logging data to the surface, completing the production logging operation mode in the horizontal well section, in both forward and backward directions, and completing the well logging data collection at different speeds as required.

8. The control method for the well logging downhole traction device operation mode control system according to claim 7, characterized in that, Through a mode transformer T0 in the ground control box (2), a three-core logging cable is used to connect the mode transformer T0ˊ in the matching traction device downhole instrument (5). Two cores and cable sheaths of the three-core logging cable are used to realize communication between the ground control box (2) of the ground equipment of the logging downhole traction device operation control system and the traction device downhole instrument (5), and to supply power to the traction device downhole instrument (5) through the ground control box (2). At the same time, the production logging ground equipment uses the remaining core of the three-core logging cable and cable sheath to realize communication and power supply between the production logging ground equipment and the production logging downhole instrument. The operation of the logging downhole traction device and the production logging downhole instrument are realized simultaneously through the three-core logging cable, realizing the simultaneous operation mode when the logging downhole traction device and the production logging downhole instrument are connected together in both forward and backward directions.

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