Downhole debris location system and method for oil drilling

Abstract

The application relates to the field of oil drilling technology and provides an underground drop positioning system and method for oil drilling, which comprises a ground host computer, a scanning action control mechanism and a front-probing scanning action mechanism in communication connection with the ground host computer. The scanning action control mechanism comprises a connected computing unit and a motion control unit, the motion control unit is connected with the front-probing scanning action mechanism, the computing unit is used for analyzing motor motion instructions in instructions issued by the host computer and sending the motor motion instructions to the motion control unit to drive the front-probing scanning action mechanism to move, and the motion control unit receives data of actual motion states monitored by the front-probing scanning action mechanism. The front-probing scanning action mechanism is used for emitting a scanning signal array and receiving a reflected signal array under the driving of the motion control unit. The host computer is used for positioning underground drops according to the reflected signal array and the data of the actual motion states. The scheme can accurately position underground drops and greatly improves the drop fishing success rate.

Description

Technical Field

[0001] This invention relates to the field of oil drilling technology, and in particular to a downhole object positioning system and method for oil drilling. Background Technology

[0002] In oil drilling operations, horizontal wells can significantly increase oil and gas production in fractured formations because they increase the contact area between the wellbore and the formation and penetrate areas with good permeability. However, with the development of downhole operation technology, problems such as downhole debris and stuck drill strings often occur due to technical and equipment operation issues. In severe cases, these can lead to downhole accidents, which not only delay project progress and cause economic losses to related companies, but also may contaminate the oilfield formation, posing a great threat. Among these, downhole debris, also known as "downhole fish," is one of the most common downhole accidents. If downhole debris occurs, it must be completely removed before production can resume. Types of downhole debris include pipes, rods, ropes, and small items. Before retrieving downhole debris, it is necessary to accurately locate the debris, obtain its shape and position, to help use appropriate retrieval tools. Otherwise, it will be time-consuming and labor-intensive, and may even result in secondary debris accumulation.

[0003] In existing technologies, there are two main methods for locating objects dropped into wells: traditional mechanical logging and engineering logging. Mechanical logging relies on lowering a lead mold and using the lead mold and the top of the object or the location of any obstruction to determine its shape, size, and depth. However, it has many limitations: the lead mold must be handled with care during transport, must not come into contact with other objects, and must be placed horizontally or suspended at one end with soft material padding; because debris in the well can easily clog the lead mold's water holes, the well must be flushed before lowering the mold after drilling operations; once the mold reaches the target location, pressure can only be applied once to prevent repeated imprints that are difficult to analyze, and secondary pressure cannot be applied; when lifting the mold, blowouts must be prevented, and the lifting speed should be as slow as possible. This method is time-consuming and has large errors. Engineering logging includes downhole television imaging, acoustic logging, electromagnetic flaw detection, and multi-arm logging.

[0004] The deployment schemes for different positioning methods of downhole objects vary greatly in cost, and the positioning deviation of the fault point of downhole objects is easily increased due to different deployment environments of drilling platforms. Summary of the Invention

[0005] In view of the problem that the deployment schemes of different positioning methods for downhole objects in the existing technology have large differences in cost, and the positioning deviation of downhole object failure points is easily increased due to different drilling platform deployment environments, this invention proposes a downhole object positioning system and method for oil drilling.

[0006] To achieve the above objectives, one aspect of the present invention provides a downhole object locating system for oil drilling, comprising: Ground-based host computer; The scanning motion control mechanism and the forward scanning motion mechanism are communicatively connected to the ground-based host computer. The scanning motion control mechanism includes a connected computing unit and a motion control unit. The motion control unit is connected to the forward scanning motion mechanism. The computing unit is used to parse the motor motion command in the instruction issued by the ground host computer and send it to the motion control unit to drive the forward scanning motion mechanism to move, and to receive the data of the actual motion state monitored by the motion control unit on the forward scanning motion mechanism and upload it to the ground host computer. The forward scanning mechanism is used to transmit a scanning signal array and receive a reflected signal array under the drive of the motion control unit, so as to upload the reflected signal array to the ground host computer. The ground-based host computer is used to locate objects falling into the well based on data from the actual motion state of the reflected signal array and the forward scanning mechanism.

[0007] In some embodiments, the motion control unit is used to send a motion start signal to the forward scanning motion mechanism according to the motor motion command to drive the forward scanning motion mechanism to start moving, and to monitor the actual motion state data of the forward scanning motion mechanism and send it to the computing unit.

[0008] In some embodiments, the forward scanning mechanism includes a connected rotary scanning motor and a forward scanning array, wherein... The rotary scanning motor is used to adjust to a corresponding motion posture according to the motion activation signal; The forward scanning array is used to transmit a scanning signal array and receive a reflected signal array when the rotary scanning motor is in the corresponding motion posture, so as to send the reflected signal array to the host computer.

[0009] In some embodiments, the rotary scanning motor is used to rotate to a corresponding angle according to the motion start signal, and to adjust to a corresponding travel speed in the travel direction determined by the corresponding angle.

[0010] In some embodiments, the forward scanning array may emit ultrasonic signals at a set target frequency.

[0011] In some embodiments, the rotary scanning motor is connected to an independent mechanical gearbox assembly that can move along the radial direction of the tray.

[0012] In some embodiments, the forward scanning mechanism further includes a transducer mounting interface, through which the forward scanning mechanism and the motion control unit are electrically connected.

[0013] In some embodiments, the forward scanning mechanism is installed within the base, and the scanning control mechanism is installed in other areas of the oil drilling downhole object positioning system besides the base.

[0014] In some embodiments, the system further includes a communication module, which includes an isolated RS-485 / RS-422 transmitter circuit section.

[0015] In some embodiments, communication between the ground host computer and the computing unit, as well as between the ground host computer and the forward scanning array, is accomplished through the communication module.

[0016] In some embodiments, the motion control unit includes a motor drive unit connected to the computing unit. The motor drive unit includes a power isolation drive circuit section and a rotary scanning motor drive circuit section. The motor drive unit is used to send the motion start signal to the rotary scanning motor based on the motor motion command.

[0017] In some embodiments, the rotary scanning motor drive circuit includes a power transistor start / stop holding circuit, a motor start / stop protection loop, and a brushless DC three-phase high-temperature resistant drive power switch. The power isolation drive circuit includes an isolated motor bus current detection circuit, an isolated level conversion circuit, and a power transistor isolated drive loop.

[0018] In some embodiments, the motion control unit further includes a motor monitoring unit connected to the computing unit. The motor monitoring unit includes a power amplifier circuit and a rotary transformer digital signal conversion section. The motor monitoring unit is used to monitor the actual motion state of the rotary scanning motor according to the monitoring start signal sent by the computing unit and send the data back to the computing unit.

[0019] In some embodiments, the data of the actual motion state includes rotation angle data and posture data.

[0020] In some embodiments, the computing unit includes a motor control processor, which includes an integrated digital signal processor portion. The motor control processor is used to verify whether the command issued by the ground host computer is a non-interference signal after the system is powered on and enters a stable state. In response to the verification that the command is a non-interference signal, the processor parses the command to obtain the motor motion command and sends it to the motor drive unit.

[0021] In some embodiments, the computing unit further includes a monitoring and control processor communicatively connected to the motor control processor. The monitoring and control processor includes a motion control chip. In response to receiving an activation notification from the motor control processor, the monitoring and control processor sends a monitoring activation signal to the motor monitoring unit and receives data on the actual motion state of the rotary scanning motor transmitted back by the motor monitoring unit.

[0022] In some embodiments, the motion control chip includes the GD32A503 high-performance motion control chip.

[0023] In some embodiments, the monitoring and control processor and the motor control processor communicate with each other through an independent communication protocol.

[0024] In some embodiments, the monitoring and control processor is configured to, upon receiving a target data upload instruction from the ground host computer, calculate the data of the actual motion state of the rotary scanning motor returned by the motor monitoring unit to obtain the corresponding target data, and upload it to the ground host computer within a number of instruction cycles after receiving the target data upload instruction.

[0025] In some embodiments, the system further includes a power module connected to the computing unit. The power module includes a control signal line input unit, a high-temperature resistant power supply, and a control loop step-down circuit connected to both. The power module is used to provide power to the circuit loop of the system.

[0026] In some embodiments, the control signal line input unit includes a high-temperature resistant multi-wire harness connector portion.

[0027] In some embodiments, the ground host computer is used to reshape and store the received data on actual motion state and data on the reflected signal array. In response to the stored data volume being greater than a preset threshold, the stored data is processed by a visualization processing algorithm to obtain a corresponding visualization image, and the abnormal data displayed on the visualization image is used to locate the object falling into the well.

[0028] Another aspect of this invention provides a method for locating objects falling into a well, used in a ground-based host computer, comprising: The transmission frequency, wavelength, and downhole propagation speed of the transmitted scanning signal array are obtained from the actual motion data of the forward scanning mechanism, as well as the speed at which the forward scanning mechanism advances downhole. The relative velocity between the reflected signal array received by the forward scanning mechanism and the forward scanning mechanism is calculated based on the downhole propagation speed of the scanning signal array and the forward scanning mechanism's forward movement speed downhole. The reflection frequency of the reflected signal array and the zero-crossing time intervals of adjacent reflected signal arrays are calculated based on the wavelength of the scanning signal array and the relative velocity to obtain the amplitude and phase information of the reflected signal array. The amplitude and phase information of the reflected signal array are monitored for anomalies. If an anomaly is detected, it is confirmed that there is a falling object in the well ahead. The distance between the forward scanning mechanism and the falling object is calculated based on the time interval between the scanning signal array and its corresponding reflected signal array and the speed of the forward scanning mechanism in the well, so as to locate the falling object.

[0029] The downhole object locating system for oil drilling provided by this invention, through the cooperation between a ground-based host computer and a scanning motion control mechanism and a forward scanning motion mechanism connected to it, drives the forward scanning motion mechanism to move according to the instructions issued by the host computer. The forward scanning motion mechanism advances downhole and emits a scanning signal array, while simultaneously receiving the returned reflected signal array and data on the actual movement status. Through data analysis and processing by the host computer, downhole objects can be located in a timely manner based on abnormal data, such as their position and attitude. Only the host computer needs to be deployed on the ground; the rest is lowered downhole, making the entire deployment process convenient and less affected by the drilling platform's deployment environment. This application provides a downhole object locating system for oil drilling that can efficiently and accurately locate downhole objects and is easy to deploy. It can quickly and accurately locate downhole objects, significantly improving the success rate of downhole object retrieval, and can further analyze the location of downhole objects for preliminary detailed exploration, providing necessary data support for subsequent wellbore damage assessment.

[0030] In addition, the method for locating falling objects in wells provided by this invention can also achieve the above-mentioned technical effects, and will not be described in detail here. Attached Figure Description

[0031] To better understand the present invention, reference can be made to the embodiments shown in the following figures. Components in the figures are not necessarily drawn to scale, and related elements may be omitted, or in some cases the scale may have been enlarged to emphasize and clearly illustrate the novel features described herein. Additionally, as is known in the art, system components may be arranged differently. Furthermore, in the figures, the same reference numerals denote corresponding parts throughout several views.

[0032] Figure 1 A schematic diagram illustrating the structural principle of a downhole object positioning system for oil drilling, provided as an embodiment of the present invention; Figure 2 A schematic diagram illustrating the application of a downhole object positioning system for oil drilling, provided as another embodiment of the present invention; Figure 3 for Figure 1 A schematic diagram of the remaining circuitry excluding the forward scanning mechanism 6; Figure 4 A control flowchart of a rotary scanning motor 61 provided for another embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures: 1. Power supply module; 2. Communication module; 3. Computing unit; 4. Motor drive unit; 5. Motor monitoring unit; 6. Forward scanning mechanism; 7. Ground host computer; 8. Scanning motion control mechanism; 9. Motion control unit; 11. Control signal line input unit; 12. High-temperature resistant power supply; 13. Control loop step-down circuit section; 21. Drilling wellhead; 22. Power signal transmission link; 23. Wellbore; 24. Travel direction; 25. Downhole debris; 26. Scanning signal; 27. Rotary scanning probe; 31. Motor control processor; 32. Monitoring and control processor; 41. Power isolation drive circuit section; 42. Rotary scanning motor drive circuit section; 51. Power amplifier circuit section; 52. Rotary transformer digital signal. The following components are included: 61. Rotary scanning motor; 62. Forward scanning array; 201. High-temperature resistant multi-wire harness connector; 202. Overall power input section of the rotary scanning control loop; 203. Integrated resolver-to-digital converter chip; 204. Integrated power amplifier circuit; 205. Motion control chip; 206. Isolated RS-485 / RS-422 transmitter circuit; 207. Isolated motor bus current detection circuit; 208. Integrated digital signal processor; 209. Isolated level conversion circuit; 210. Power transistor isolated drive loop; 211. Power transistor start / stop holding circuit; 212. Motor start / stop protection loop; 213. Brushless DC three-phase high-temperature resistant drive power switch. Detailed Implementation

[0034] The following describes embodiments of the present disclosure. However, it should be understood that the disclosed embodiments are merely examples, and other embodiments may take various alternative forms. The drawings are not necessarily drawn to scale; certain functions may be exaggerated or minimized to show details of particular components. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but merely as a representative basis for teaching those skilled in the art to use the invention in various ways. As will be understood by those skilled in the art, various features shown and described with reference to any of the drawings may be combined with features shown in one or more other drawings to produce embodiments not explicitly shown or described. The combinations of features shown provide representative embodiments for typical applications. However, various combinations and modifications of features consistent with the teachings of this disclosure may be desirable for certain particular applications or implementations.

[0035] Furthermore, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements may include not only those elements but also elements not expressly listed or inherent to such process, method, article, or apparatus.

[0036] One or more embodiments of this application will now be described with reference to the accompanying drawings.

[0037] Based on the above objectives, the first aspect of the present invention provides an embodiment of a downhole object positioning system for oil drilling. Figure 1 The diagram shown illustrates a downhole object locating system for oil drilling, as provided in one embodiment of the present invention. Figure 1 As shown, the downhole object positioning system for oil drilling includes a ground-based host computer 7 and a scanning motion control mechanism 8 and a forward scanning motion mechanism 6 connected to it. The scanning motion control mechanism 8 includes a connected computing unit 3 and a motion control unit 9. The motion control unit 9 is connected to the forward scanning motion mechanism 6. The computing unit 3 is used to parse the motor motion commands from the instructions issued by the ground-based host computer 7 and send the parsed motor motion commands to the motion control unit 9 to drive the forward scanning motion mechanism 6. The computing unit 3 is also used to receive data from the motion control unit 9 on the actual motion state of the forward scanning motion mechanism 6 and upload it to the ground-based host computer 7. The forward scanning motion mechanism 6, driven by the motion control unit 9, transmits a scanning signal array and receives a reflected signal array to upload the reflected signal array to the ground-based host computer 7. The ground-based host computer 7 is used to locate downhole objects based on the reflected signal array and the data on the actual motion state of the forward scanning motion mechanism 6.

[0038] Specifically, the forward scanning mechanism 6, driven by the motion control unit 9, can transmit a scanning signal array, which is an array composed of multiple transmitting units arranged in a certain manner. Similarly, the reflected signals received by the forward scanning mechanism 6 are also in the form of a reflected signal array. Preferably, the forward scanning mechanism 6 can transmit ultrasonic signals at a set target frequency, that is, it can transmit an ultrasonic signal array.

[0039] For details, please refer to Figure 1-2 , Figure 2 The diagram shown illustrates an application of a downhole object locating system for oil drilling, provided as another embodiment of the present invention. Figure 2As shown, after a downhole object falls into the well, the on-site maintenance and detection personnel need to have a certain understanding of the type and characteristics of the object that caused the malfunction. After determining that maintenance is to be carried out, the maintenance personnel located at the drilling wellhead 21, after confirming that the reliability and protection level of the power signal transmission link 22 between the rotating scanning probe 27 and the ground host computer 7 meet the requirements, and after fully communicating with the ground host computer 7, use a dedicated matching lowering device to lower the rotating scanning probe 27 down into the well at a set speed along the casing. During the lowering process, it is necessary to constantly check whether the operating status of the power signal transmission link 22 between the ground host computer 7 and the rotating scanning probe 27 is normal to avoid secondary object falling due to being cut by other sharp objects left at the drilling wellhead 21; at the same time, as the distance between the rotating scanning probe 27 and the downhole object 25 changes, the visualization image displayed on the calculation software of the ground host computer 7 will also change accordingly. When the rotating scanning probe 27 reaches the optimal observation distance with the downhole object 25, the image of the reflected signal transmitted back by the downhole object 25 can be observed in the visualization image presented by the ground host computer 7. Based on the visualization image presented by the reflected signal, the location of the fault point of the downhole object 25 and the movement state of the downhole object 25 can be identified and calculated, which can provide a theoretical basis for subsequent maintenance and salvage operations.

[0040] For details, please refer to Figure 1-2The ground-based host computer 7 is deployed on the ground near the wellhead 21. The host computer 7 communicates with the rotary scanning probe 27, which is lowered into the well, via a power signal transmission link. In this embodiment, the scanning action control mechanism 8 and the forward scanning action mechanism 6 are integrated at the end of the rotary scanning probe 27. Preferably, the forward scanning action mechanism 6 is installed within the base of the rotary scanning probe 27, and the scanning action control mechanism 8 is installed in other areas of the downhole object positioning system for oil drilling, excluding the base. The rotary scanning probe 27 moves forward along the well path within the well wall 23 and emits a scanning signal array. Under normal circumstances, without external influences such as mechanical vibration, the corrugated environment inside the drilling pipeline is relatively calm, and the speed of sound wave propagation in the medium is much greater than that in air. When the rotating scanning probe 27 is lowered into the well containing the downhole object 25 at a constant speed, the carrier signal array emitted by the forward scanning mechanism 6 of the rotating scanning probe 27 and the reflected signal array returned by the downhole object 25 will show a relatively obvious difference. Moreover, as the attitude state of the downhole object 25 in the well varies, the amplitude and phase of the signal detected by the forward scanning mechanism 6 will also be different. The distance between the forward scanning mechanism 6 and the fault point of the downhole object 25 is proportional to the scanning time interval of the downhole object 25. The difference between the points of the corresponding scanning array is linearly related to the frequency of the reflected signal array. The actual motion state data of the forward scanning mechanism 6 of the rotating scanning probe 27 and the reflected signal array are uploaded to the ground host computer 7 through the power signal transmission link 22. The position and attitude of the downhole object 25 in the well can be analyzed to achieve positioning.

[0041] Through the cooperation between the ground-based host computer 7 and the scanning motion control mechanism 8 and the forward scanning motion mechanism 6 connected to it, the forward scanning motion mechanism 6 is driven to move according to the instructions issued by the ground-based host computer 7, advancing downhole and transmitting a scanning signal array. Simultaneously, it receives the returned reflected signal array and data on the actual movement status. Through data analysis and processing by the ground-based host computer 7, downhole objects can be located in a timely manner based on abnormal data, such as their position and attitude. Only the ground-based host computer 7 needs to be deployed on the ground; the rest is lowered downhole, making the entire process convenient and less affected by the drilling platform deployment environment. This application provides a downhole object positioning system for oil drilling that can efficiently and accurately locate downhole objects and is easy to deploy. It can quickly and accurately locate downhole objects, significantly improving the success rate of downhole object retrieval, and can further analyze the location of downhole objects for preliminary detailed exploration, providing necessary data support for subsequent wellbore damage assessment.

[0042] Please refer to several embodiments of the present invention. Figure 1-2The motion control unit 9 is used to send a motion start signal to the forward scanning mechanism 6 according to the motor motion command to drive the forward scanning mechanism 6 to start moving, and to monitor the actual motion state data of the forward scanning mechanism 6 and send it to the calculation unit 3. Specifically, the data for monitoring the actual motion state of the forward scanning mechanism 6 includes rotation angle data and attitude data, etc.

[0043] Please refer to several embodiments of the present invention. Figure 1-2 The forward scanning mechanism 6 includes a rotary scanning motor 61 and a forward scanning array 62 connected to each other. The rotary scanning motor 61 is used to adjust to the corresponding motion posture according to the motion start signal. The forward scanning array 62 is used to transmit a scanning signal array and receive a reflected signal array when the rotary scanning motor 61 is in the corresponding motion posture, so as to send the reflected signal array to the host computer.

[0044] Specifically, the rotary scanning motor 61 can rotate to different angles. Under the action of a motion activation signal, the rotary scanning motor 61 can adjust to the corresponding angle and, within the direction of travel determined by that angle, adjust to the corresponding travel speed, thus achieving the purpose of adjusting to the corresponding motion posture according to the motion activation signal. The rotary scanning motor 61 drives the forward-probing scanning array 62 to move forward and emit an array of scanning signals. It can be understood that the emitted scanning signals are in array form, covering the area in front of it. Correspondingly, the forward-probing scanning array 62 receives the array-form reflected signals.

[0045] According to several embodiments of the present invention, the rotary scanning motor 61 is connected to an independent mechanical gearbox assembly, which can move along the radial direction of the tray.

[0046] Specifically, the independently designed rotary motion mechanism of the forward scanning action mechanism 6 ensures that the forward scanning array 62, while rotating forward with the rotary scanning motor 61, utilizes an independently designed, highly reliable gearbox assembly that moves radially along the tray. Compared to methods requiring the deployment of traditional servo motors, this application offers greater reliability and stability in harsher production environments. The addition of the radial motion gearbox assembly allows the scanning signal array transmitted by the forward scanning array 62 to completely cover the forward detection area along its travel path, providing a basis for accurately acquiring the position and attitude of the downhole object 25.

[0047] According to several embodiments of the present invention, the forward scanning action mechanism 6 further includes a transducer mounting interface, and the forward scanning action mechanism 6 and the motion control unit 9 are electrically connected through the transducer mounting interface.

[0048] Please refer to several embodiments of the present invention. Figure 1-3 , Figure 3 The following is shown Figure 1The diagram shows the remaining circuitry excluding the forward scanning mechanism 6. The system also includes a communication module 2, which comprises an isolated RS-485 / RS-422 transmitter circuit 206, capable of signal conversion and signal format matching.

[0049] Specifically, the communication module 2 provides a communication link between the host computer 7 and the scanning action control mechanism 8 and the forward scanning action mechanism 6. The ground host computer 7 and the computing unit 3 communicate through the isolated RS-485 / RS-422 transmitter circuit section 206 of the communication module 2. The ground host computer 7 and the forward scanning array 62 also communicate through the isolated RS-485 / RS-422 transmitter circuit section 206 of the communication module 2. The forward scanning array 62 uploads the reflected signal array it receives to the ground host computer 7 through the communication module 2 so that the ground host computer 7 can locate the object 25 that has fallen into the well.

[0050] Please refer to several embodiments of the present invention. Figure 1-3 The motion control unit 9 includes a motor drive unit 4, which is connected to the computing unit 3. The motor drive unit 4 includes a power isolation drive circuit section 41 and a rotary scanning motor drive circuit section 42. The motor drive unit 4 is used to send a motion start signal to the rotary scanning motor 61 based on motor motion commands. Please continue to refer to... Figure 3 The rotary scanning motor drive circuit section 42 includes a power transistor start / stop holding circuit section 211, a motor start / stop protection loop section 212, and a brushless DC three-phase high-temperature resistant drive power switch section 213. The power isolation drive circuit section 41 includes... Figure 3 The isolated motor bus current detection circuit 207, the isolated level conversion circuit 209, and the power transistor isolated drive loop section 210 are included.

[0051] Specifically, the isolated motor bus current detection circuit 207 plays a corresponding role in ensuring equipment and personnel safety, accurately detecting bus current, assisting in fault diagnosis and protection, and providing a basis for motor control. The isolated level conversion circuit 209 can realize electrical isolation protection and level conversion functions, effectively blocking electromagnetic interference from one side of the circuit into the other, improving the anti-interference capability of signal transmission. The power transistor isolated drive loop section 210 can effectively isolate the control circuit from the high-voltage, high-current circuit where the power transistor is located, ensuring the safety of the entire control circuit. Simultaneously, the power transistor isolated drive loop section 210 can accurately transmit control signals from the control circuit to the gate (for metal-oxide-semiconductor field-effect transistors) or gate terminal (for insulated-gate bipolar transistors) of the power transistor, achieving effective signal transmission. The isolated level conversion circuit 209 and the power transistor isolated drive loop section 210 can be integrated into a dedicated IGBT (Insulated Gate Bipolar Transistor) isolated drive chip for decoding data control.

[0052] The power transistor start-stop holding circuit 211 provides suitable initial start-up conditions for the power transistor during the circuit system startup phase, ensuring a smooth transition from the cutoff state to the conduction state. It also ensures a smooth stop for the entire circuit system when it needs to be stopped. During motor startup, the motor start-stop protection loop 212 prevents overcurrent and impact startup. During motor shutdown, it prevents overcurrent and sudden stops. The brushless DC three-phase high-temperature resistant drive power switch 213 converts the input DC power into three-phase AC power capable of driving the brushless DC motor normally, adapting to the motor's characteristics and ensuring optimal drive performance, improving efficiency and performance. Its high-temperature resistance allows it to operate in high-temperature environments, guaranteeing the reliability and stability of the entire circuit system. These circuit components work together to provide a stable high-drive capability for the rotary scanning motor 61, and, while ensuring drive power, perform motion control through the calculation unit 3.

[0053] Please refer to several embodiments of the present invention. Figure 1-3 The motion control unit 9 also includes a motor monitoring unit 5 connected to the computing unit 3. The motor monitoring unit 5 includes a power amplifier circuit section 51 and a rotary transformer digital signal conversion section 52. The motor monitoring unit 5 is used to monitor the actual motion state of the rotary scanning motor 61 according to the monitoring start signal sent by the computing unit 3, and to send the monitored data of the actual motion state of the rotary scanning motor 61 back to the computing unit 3.

[0054] Specifically, Figure 2 The power amplifier circuit section 51 corresponds to Figure 3 The integrated power amplifier circuit section 204 in the middle, Figure 2 The digital signal conversion section 52 of the rotary transformer corresponds to Figure 3 The integrated resolver-to-digital converter chip (RDC) 203 is used in the system. The integrated power amplifier circuit 204 amplifies power to output appropriate voltage and current, improving system energy conversion efficiency and enhancing system stability. The integrated resolver-to-digital converter chip 203 accurately converts the analog signal output from the resolver into a digital signal, enabling accurate measurement of the corresponding rotation angle of the resolver. The power amplifier circuit 51 and the resolver digital signal conversion section 52 work together to accurately monitor the actual motion state of the rotary scanning motor 61, achieving higher performance deployment within a relatively narrow circuit board space and matching the power consumption of the resolver with high drive power requirements.

[0055] Please refer to several embodiments of the present invention. Figure 1-3 The computing unit 3 includes a motor control processor 31, which includes an integrated digital signal processor section 208. The motor control processor 31 is used to verify whether the command issued by the ground host computer 7 is a non-interference signal after the system is powered on and enters a stable state. In response to the verification that it is a non-interference signal, it parses the signal to obtain the motor motion command and sends it to the motor drive unit 4.

[0056] Specifically, the integrated digital signal processor 208 can filter the input signal to remove noise and interference components, thereby achieving signal optimization. Simultaneously, while ensuring sufficient drive power, the integrated digital signal processor 208 can also perform motion control on the rotary scanning motor 61.

[0057] Please refer to several embodiments of the present invention. Figure 1-3 The computing unit 3 also includes a monitoring and control processor 32, which is communicatively connected to the motor control processor 31. The monitoring and control processor 32 includes a motion control chip 205, preferably a GD32A503 high-performance motion control chip 205. In response to receiving an activation notification from the motor control processor 31, the monitoring and control processor 32 sends a monitoring activation signal to the motor monitoring unit 5 and receives data on the actual motion state of the rotary scanning motor 61 transmitted back by the motor monitoring unit 5.

[0058] Specifically, the motion control chip 205 can provide independent motion attitude detection and communication response control functions. The motion control chip 205, together with the integrated resolver-to-digital converter chip 203 and the integrated power amplifier circuit 204, can form an independent resolver decoding and rotary scanning motor 61 motion detection loop. Compared with decoding loops composed of other discrete operational amplifiers, the integrated resolver-to-digital converter chip 203 and the integrated power amplifier circuit 204 controlled by the motion control chip 205 can save circuit board design space to achieve high-performance deployment.

[0059] Please refer to several embodiments of the present invention. Figure 1-3 The monitoring and control processor 32 and the motor control processor 31 communicate with each other through an independent communication protocol, such as using the RS-485 protocol for serial communication or using the SPI (Serial Peripheral Interface, full-duplex serial communication) protocol for communication.

[0060] Please refer to several embodiments of the present invention. Figure 1-3 The monitoring and control processor 32 is used to calculate the actual motion state data of the rotating scanning motor 61 returned by the motor monitoring unit 5 to obtain the corresponding target data if it receives the target data upload instruction issued by the ground host computer 7, which includes rotation angle upload instruction, speed upload instruction, etc., and uploads it to the ground host computer 7 within a number of instruction cycles after receiving the target data upload instruction.

[0061] Specifically, for example, when the motion control chip 205 receives the rotation angle upload command sent by the ground host computer 7 through the communication module 2, it will provide real-time feedback to the ground host computer 7 on the operating status data of the rotary scanning motor 61 within three command cycles after receiving the command, including the rotation angle data. The overall detection loop ensures stable operation in high temperature environment while also ensuring the reliability of device supply.

[0062] Please refer to several embodiments of the present invention. Figure 1-4 Based on the downhole object positioning system for oil drilling provided in this application, Figure 4 A control flowchart of a rotary scanning motor 61 provided in another specific embodiment of this application is given.

[0063] Please refer to Figure 4After the system is powered on, it will enter a brief power-on stability verification phase. This phase verifies whether the ground-based host computer 7 has completed electrical connection with the forward scanning mechanism 6 and the scanning action control mechanism 8 via the communication module 2, whether the forward scanning mechanism 6 and the scanning action control mechanism 8 have completed electrical connection, and whether the internal connections of each component are complete. The system will only enter operation after confirming that all components are electrically connected and the power supply is stable. The specific verification process is as follows: When the computing unit 3 receives the start signal acquisition command from the host computer, the motor control processor 31 ( Figure 3 The integrated digital signal processor (208) immediately verifies the received instruction data. After confirming that the received instruction data is a non-interference signal, it decodes it. If the decoded result is not a stop instruction, it communicates with the monitoring and control processor (32) via an independent communication protocol. Figure 3 The motion control chip 205 communicates with the monitoring and control processor 32, which in turn communicates with the motor monitoring unit 5. Figure 3 The integrated power amplifier circuit 204 and the integrated resolver-to-digital converter chip 203 send a start signal. The motor monitoring unit 5 monitors the actual motion state of the rotary scanning motor 61 and sends the data back to the monitoring and control processor 32. At the same time, the motor control processor 31 controls the motor drive unit 4 ( Figure 3 The isolated level conversion circuit 209, the power transistor isolated drive loop section 210, the power transistor start-stop holding circuit section 211, the motor start-stop protection loop section 212, and the brushless DC three-phase high-temperature resistant drive power switch section 213 in the motor drive unit 4 complete the reliable operation and start-up of the rotary scanning motor 61.

[0064] For example, monitoring and control processor 32 ( Figure 3 The motion control chip 205 calculates the motion state of the rotary scanning motor 61 every 0.01 seconds. After receiving the rotation angle upload command from the ground host computer 7, it confirms whether the current angle data has been read and stored. If the condition is met, it responds to the rotation angle upload command from the ground host computer 7. At the same time, the forward scanning array 62 transmits back the reflected signal of its scanning signal at the moment of motion. The ground host computer 7 stores the transmitted data in a specific storage peripheral. After the number of stored data reaches a preset threshold, the ground host computer 7 begins to process the transmitted data and presents the real-time processed data on the monitor of the ground host computer 7 to provide a more intuitive image, which helps technicians locate the position of the fallen object 25 in the well. When the system confirms that the data transmission is normal, after the calculation unit 3 receives the motor speed adjustment command for the next moment, the system enters the next control cycle.

[0065] According to several embodiments of the present invention, the system further includes a power supply module 1 connected to the computing unit 3. The power supply module 1 includes a control signal line input unit 11, a high-temperature resistant power supply 12, and a control loop step-down circuit section 13 connected to both. The power supply module is used to provide power to the circuit loop of the system.

[0066] Specifically, the ground-based host computer 7 provides power to the entire circuitry of the system via power module 1. Power module 1 works in conjunction with... Figure 3 The high-temperature resistant multi-wire harness connector section 201 and the overall power input section 202 of the rotary scanning control loop can maintain long-term operation in high-temperature environments, providing a power supply guarantee for the system. Preferably, the control signal line input unit 11 includes the high-temperature resistant multi-wire harness connector section 201, which can ensure the reliability of the electrical connection at the interface under high temperature, high humidity, high corrosion, and strong vibration conditions. The overall power input section 202 of the rotary scanning control loop uses an integrated switching power supply chip, which can ensure the overall power supply stability of the entire operation and control loop under external power input fluctuations, and on this basis, achieves the localization of the entire power supply component.

[0067] According to several embodiments of the present invention, the ground host computer 7 is used to perform shaping processing on the received actual motion state data and the data of the reflected signal array and then store them. In response to the stored data amount being greater than a preset threshold, the stored data is processed by a visualization processing algorithm to obtain a corresponding visualization image, and the abnormal data displayed on the visualization image is used to locate the object falling into the well.

[0068] For details, please refer to Figure 1-4 The ground-based host computer 7 has a communication link decoding section that matches the forward scanning array 62. This section can dynamically compensate for and filter transmission line interference caused by excessively long transmission lines and complex underground rock strata. The ground-based host computer 7 stores the transmitted data in a specific storage peripheral. Once the storage volume reaches a preset threshold, the host computer 7 begins processing the transmitted data and displays the real-time processed data on its monitor to provide a more intuitive image, facilitating real-time location of the downhole object 25 by technicians.

[0069] The data processing process of the ground-based host computer 7 is as follows: The ground-based host computer 7 performs programmable gain and shaping on the digital logic signals transmitted back from the forward scanning array, using a new generation of fast logic-based shaping algorithms. After further data processing and calculation, this ensures accurate and real-time transmission to the ground-based host computer 7. The ground-based host computer 7 can process the shaped data using a visualization algorithm, responding within a very short time after receiving the transmitted data. The dedicated imaging algorithm integrated into the software of the ground-based host computer 7 can respond within seconds, ensuring the accuracy and real-time performance of the visualized image formed from the transmitted data. The dedicated imaging algorithm also supports precise scaling and imaging of subdivided signals at a specific moment within the same time period, ensuring real-time error-free data during image scaling and reducing the introduction of additional data noise due to scaling operations.

[0070] A second aspect of the present invention provides a method for locating objects falling into a well, for use in a ground-based host computer 7, comprising the following steps: S1. Obtain the transmission frequency, wavelength, and downhole propagation speed of the transmitted scanning signal array from the data of the actual motion state of the forward scanning mechanism, as well as the speed at which the forward scanning mechanism advances downhole; S2. Calculate the relative velocity between the reflected signal array received by the forward scanning mechanism and the forward scanning mechanism based on the downhole propagation velocity of the scanning signal array and the forward scanning mechanism's forward movement velocity downhole. S3. Calculate the reflection frequency of the reflection signal array and the zero-crossing time interval of adjacent reflection signal arrays based on the wavelength and relative velocity of the scanning signal array, so as to obtain the amplitude and phase information of the reflection signal array. S4. Monitor the amplitude and phase information of the reflected signal array for anomalies. If an anomaly is detected, confirm that there is a falling object in the well ahead. Calculate the distance between the forward scanning mechanism and the falling object in the well based on the time interval between the scanning signal array and its corresponding reflected signal array and the speed of the forward scanning mechanism in the well, so as to locate the falling object.

[0071] The following is based on the downhole object positioning system for oil drilling provided by this invention. Please refer to it. Figure 1-4 A specific example of a method for locating objects falling into a well is given.

[0072] First, the propagation speed of the carrier signal array emitted by the rotating scanning probe 27 in the logging subsurface medium is set to... (m / s), select carrier frequency as (kHz), carrier wavelength is (mm), the rotating scanning probe 27 moves radially downhole, emitting a continuous scanning signal array. The traveling speed of the rotating scanning probe 27 is... (m / s), then we have .

[0073] Rotating scanning probe 27 at speed (m / s) During the downward movement of the probe 27 in the well, the reflected signal is received simultaneously. The frequency of the reflected signal is... (kHz), at this time, the time interval between the two zero-crossing points being half a wavelength is half a period: .

[0074] Rotating scanning probe 27 at speed As the probe travels (m / s) down the well, the relative velocity between the rotating scanning probe 27 and the reflected signal becomes... .

[0075] The time interval between two zero-crossing points of the received adjacent reflected signals becomes: .

[0076] in, The frequency of the reflected signal received by the rotating scanning probe 27.

[0077] Based on the above, taking the average propagation speed of the carrier wave in downhole water as 1482 m / s as an example, a 40 kHz ultrasonic probe is used for continuous wave scanning, the lowering speed of the rotating scanning probe 27 is 3 m / s, and the ultrasonic wavelength is: .

[0078] During the movement of the rotating scanning probe 27, the frequency received by the rotating scanning probe 27 For: .

[0079] The time interval between the zero-crossing points of two adjacent scan waves is: .

[0080] At this time, the relative distance between the rotating scanning probe 27 and the object 25 falling from the well is: The time of the scanning sound wave emission is recorded as The time when the reflected signal of object 27 falling from the well was received was Then there is Let v = 3 m / s.

[0081] Here This is the precise time interval between the transmission and reflection signals of the rotating scanning probe 27. While the rotating scanning probe 27 transmits the scanning signal, it continues to descend at a pre-set speed of 3 m / s. Ignoring the nonlinear effects of the downhole medium on the speed under non-ideal conditions, the distance at which the rotating scanning probe 27 receives the reflected signal from the downhole object 25 can be calculated. .

[0082] Therefore, based on the "time-sharing synchronous scanning algorithm" of the ground host computer 7, a relatively clear feedback image of the underground object 25 can be presented on the monitor of the ground host computer 7, providing a solid theoretical basis for subsequent maintenance personnel.

[0083] The control unit mentioned in the above-disclosed documents may include a processor and a memory, and may also include input devices and output devices. The processor, memory, input devices, and output devices may be connected via a bus or other means. The input devices may receive input digital or character information, and generate signal inputs related to user settings and function control in the present invention. The output devices may include display devices such as a screen.

[0084] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the scheme of this application. Memory may include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the scheme of this invention, etc. Furthermore, memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the local module via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The processor executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory, thereby implementing the methods described in the above method embodiments.

[0085] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the functionality of various illustrative components, modules, circuits, and steps has been generally described. Whether this functionality is implemented as software or as hardware depends on the specific application and the design constraints imposed on the system as a whole. Those skilled in the art can implement the functionality described herein in various ways for each specific application, but such implementation should not be construed as departing from the scope of the embodiments disclosed herein.

[0086] It should be understood that, without conflict, all embodiments, features, and advantages described above with respect to the downhole object positioning system 100 for oil drilling according to the first aspect of the invention are equally applicable to the downhole object positioning method according to the other aspect of the invention. That is, all embodiments and variations thereof described above can be directly transferred and incorporated herein. For the sake of brevity, they will not be repeated here.

[0087] The above are exemplary embodiments disclosed in this invention. However, it should be noted that various changes and modifications can be made without departing from the scope of the embodiments of this invention as defined by the claims. The functions, steps, and / or actions of the methods according to the disclosed embodiments described herein do not need to be performed in any particular order. Furthermore, although the elements disclosed in the embodiments of this invention may be described or claimed individually, they may be understood as multiple unless explicitly limited to a singular number.

[0088] It should be understood that, as used herein, the singular form “a” is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, “and / or” refers to any and all possible combinations of one or more of the associated listed items.

[0089] The embodiment numbers disclosed in the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0090] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0091] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples. Within the framework of the invention, technical features of the above embodiments or different embodiments can be combined, and many other variations of different aspects of the invention exist, which are not provided in the details for the sake of brevity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A downhole object positioning system for oil drilling, characterized in that, include: Ground-based host computer; The scanning motion control mechanism and the forward scanning motion mechanism are communicatively connected to the ground-based host computer. The scanning motion control mechanism includes a connected computing unit and a motion control unit. The motion control unit is connected to the forward scanning motion mechanism. The computing unit is used to parse the motor motion command in the instruction issued by the ground host computer and send it to the motion control unit to drive the forward scanning motion mechanism to move, and to receive the data of the actual motion state monitored by the motion control unit on the forward scanning motion mechanism and upload it to the ground host computer. The forward scanning mechanism is used to transmit a scanning signal array and receive a reflected signal array under the drive of the motion control unit, and to upload the reflected signal array to the ground host computer. The ground-based host computer is used to locate objects falling into the well based on data from the actual motion state of the reflected signal array and the forward scanning mechanism.

2. The downhole object positioning system for oil drilling according to claim 1, characterized in that, The motion control unit is used to send a motion start signal to the forward scanning motion mechanism according to the motor motion command to drive the forward scanning motion mechanism to start moving, and to monitor the actual motion state data of the forward scanning motion mechanism and send it to the calculation unit.

3. The downhole object positioning system for oil drilling according to claim 2, characterized in that, The forward scanning mechanism includes a rotary scanning motor and a forward scanning array connected together, wherein... The rotary scanning motor is used to adjust to a corresponding motion posture according to the motion activation signal; The forward scanning array is used to transmit a scanning signal array and receive a reflected signal array when the rotary scanning motor is in the corresponding motion posture, and to send the reflected signal array to the host computer.

4. The downhole object positioning system for oil drilling according to claim 3, characterized in that, The rotary scanning motor is used to rotate to a corresponding angle according to the motion start signal, and to adjust to a corresponding travel speed in the travel direction determined by the corresponding angle.

5. The downhole object positioning system for oil drilling according to claim 3, characterized in that, The forward scanning array can emit ultrasonic signals at a set target frequency.

6. The downhole object positioning system for oil drilling according to claim 3, characterized in that, The rotary scanning motor is connected to an independent mechanical gearbox assembly, which can move forward along the radial direction of the tray.

7. The downhole object positioning system for oil drilling according to claim 1, characterized in that, The forward scanning mechanism also includes a transducer mounting interface, through which the forward scanning mechanism and the motion control unit are electrically connected.

8. The downhole object positioning system for oil drilling according to claim 1, characterized in that, The forward scanning mechanism is installed inside the base, and the scanning action control mechanism is installed in other areas of the oil drilling downhole object positioning system other than the base.

9. The downhole object positioning system for oil drilling according to claim 3, characterized in that, The system also includes a communication module, which includes an isolated RS-485 / RS-422 transmitter circuit.

10. The downhole object positioning system for oil drilling according to claim 9, characterized in that, Communication between the ground-based host computer and the computing unit, as well as between the ground-based host computer and the forward scanning array, is accomplished through the communication module.

11. The downhole object positioning system for oil drilling according to claim 9, characterized in that, The motion control unit includes a motor drive unit connected to the computing unit. The motor drive unit includes a power isolation drive circuit section and a rotary scanning motor drive circuit section. The motor drive unit is used to send the motion start signal to the rotary scanning motor based on the motor motion command.

12. The downhole object positioning system for oil drilling according to claim 11, characterized in that, The rotary scanning motor drive circuit includes a power transistor start / stop holding circuit, a motor start / stop protection loop, and a brushless DC three-phase high-temperature resistant drive power switch. The power isolation drive circuit includes an isolated motor bus current detection circuit, an isolated level conversion circuit, and a power transistor isolated drive loop.

13. The downhole object positioning system for oil drilling according to claim 11, characterized in that, The motion control unit also includes a motor monitoring unit connected to the computing unit. The motor monitoring unit includes a power amplifier circuit and a rotary transformer digital signal conversion section. The motor monitoring unit is used to monitor the actual motion state of the rotary scanning motor according to the monitoring start signal sent by the computing unit and send the data back to the computing unit.

14. The downhole object positioning system for oil drilling according to claim 13, characterized in that, The data on the actual motion state includes rotation angle data and posture data.

15. The downhole object positioning system for oil drilling according to claim 13, characterized in that, The computing unit includes a motor control processor, which includes an integrated digital signal processor. The motor control processor is used to verify whether the command issued by the ground host computer is a non-interference signal after the system is powered on and enters a stable state. In response to the verification that it is a non-interference signal, it parses the signal to obtain the motor motion command and sends it to the motor drive unit.

16. The downhole object positioning system for oil drilling according to claim 15, characterized in that, The computing unit further includes a monitoring and control processor that is communicatively connected to the motor control processor. The monitoring and control processor includes a motion control chip. In response to receiving an activation notification from the motor control processor, the monitoring and control processor sends a monitoring activation signal to the motor monitoring unit and receives data on the actual motion state of the rotary scanning motor transmitted back by the motor monitoring unit.

17. The downhole object positioning system for oil drilling according to claim 16, characterized in that, The monitoring and control processor and the motor control processor communicate with each other through an independent communication protocol.

18. The downhole object positioning system for oil drilling according to claim 16, characterized in that, The monitoring and control processor is used to calculate the actual motion state data of the rotary scanning motor returned by the motor monitoring unit to obtain the corresponding target data when it receives the target data upload instruction issued by the ground host computer, and upload it to the ground host computer within a number of instruction cycles after receiving the target data upload instruction.

19. The downhole object positioning system for oil drilling according to claim 18, characterized in that, The target data upload command includes a rotation angle upload command and a rotation speed upload command.

20. The downhole object positioning system for oil drilling according to claim 16, characterized in that, The system also includes a power module connected to the computing unit. The power module includes a control signal line input unit, a high-temperature resistant power supply, and a control loop step-down circuit connected to both. The power module is used to provide power to the circuit loop of the system.

21. The downhole object positioning system for oil drilling according to claim 1, characterized in that, The ground-based host computer is used to reshape and store the received data on actual motion status and data from the reflected signal array. In response to the amount of stored data exceeding a preset threshold, the stored data is processed by a visualization processing algorithm to obtain a corresponding visualization image. Based on the abnormal data displayed on the visualization image, the object falling into the well is located.

22. A method for locating objects falling into a well, characterized in that, The system implementation based on any one of claims 1-21 includes: The transmission frequency, wavelength, and downhole propagation speed of the transmitted scanning signal array, as well as the speed at which the forward scanning mechanism advances downhole, are obtained from the data of the actual motion state of the forward scanning mechanism. The relative velocity between the reflected signal array received by the forward scanning mechanism and the forward scanning mechanism is calculated based on the downhole propagation speed of the scanning signal array and the forward scanning mechanism's forward movement speed downhole. The reflection frequency of the reflected signal array and the zero-crossing time intervals of adjacent reflected signal arrays are calculated based on the wavelength of the scanning signal array and the relative velocity to obtain the amplitude and phase information of the reflected signal array. The amplitude and phase information of the reflected signal array are monitored for anomalies. If an anomaly is detected, it is confirmed that there is a falling object in the well ahead. The distance between the forward scanning mechanism and the falling object is calculated based on the time interval between the scanning signal array and its corresponding reflected signal array and the speed of the forward scanning mechanism in the well, so as to locate the falling object.

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