Method and apparatus for monitoring actual wellbore trajectory, and electronic device and storage medium

Abstract

Provided in the embodiments of the present application are a method and apparatus for monitoring an actual wellbore trajectory, and an electronic device and a storage medium. The method comprises: on the basis of measurement point parameters of at least two adjacent measurement points on an actual wellbore trajectory, determining a dogleg angle of a measurement segment between the at least two adjacent measurement points; on the basis of the dogleg angle, identifying the type of the measurement segment; on the basis of the type of the measurement segment, determining a position vector equation corresponding to the measurement segment; and on the basis of the type of the measurement segment, the position vector equation corresponding to the measurement segment, and position coordinates of a preset target body, outputting a monitoring result, which comprises target hit or target miss. The method is used for improving the accuracy of actual wellbore trajectory monitoring results.

Description

Methods, devices, electronic equipment, and storage media for monitoring actual drilled wellbore trajectories

[0001] This application claims priority to Chinese Patent Application No. 202411522988.8, filed on October 29, 2024, entitled “Method, Apparatus, Electronic Device and Storage Medium for Monitoring Actual Drilling Borehole Trajectory”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of oil drilling technology, and in particular to a method, device, electronic equipment and storage medium for monitoring actual drilled wellbore trajectory. Background Technology

[0003] In oil and gas drilling, horizontal drilling is an advanced drilling technology. After the drill bit has penetrated to a certain depth into the formation, it can change its direction and drill horizontally along the formation.

[0004] In horizontal well drilling, it is necessary to continuously monitor whether the drilled wellbore trajectory falls within the rectangular target. The rectangular target is a cuboid placed along the reservoir, defining the target area that the drill bit needs to hit during drilling. Monitoring whether the drilled wellbore trajectory falls within the rectangular target helps determine whether the drill bit has accurately reached the intended oil and gas layer or other target formation. In related technologies, the determination of whether the drilled wellbore trajectory hit or missed the target is mainly based on calculating whether the measuring point is within the rectangular target.

[0005] However, in sliding drilling, since the actual drilled wellbore of the sliding section is curved, it is possible that a part of the curved section extends beyond the boundary of the cuboid (outside the rectangular target), but the two measuring points forming the section may both be inside the rectangular target. In this scenario, when monitoring the actual drilled wellbore trajectory based on the methods provided by the relevant technologies, the monitoring results are inaccurate. Summary of the Invention

[0006] This application provides a method, apparatus, electronic device, and storage medium for monitoring actual drilled wellbore trajectories, in order to improve the accuracy of actual drilled wellbore trajectory monitoring results.

[0007] In a first aspect, embodiments of this application provide a method for monitoring the actual drilled well trajectory, comprising: determining the dogleg angle of the segment between at least two adjacent measuring points based on the measuring point parameters of at least two adjacent measuring points on the actual drilled well trajectory;

[0008] The type of the test segment is identified based on the dog leg angle;

[0009] Determine the position vector equation corresponding to the measurement segment based on the type of the measurement segment;

[0010] Based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of the preset target, the monitoring results are output, including whether the target is hit or misses.

[0011] In one possible implementation, the step of outputting monitoring results based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of a preset target includes:

[0012] Based on the position vector equation corresponding to the measurement segment, determine the relative positional relationship between each measurement point and the preset target;

[0013] Based on the type of the measurement segment and the relative positional relationship between each measurement point and the preset target, the monitoring results are output.

[0014] In one possible implementation, the type of the measuring segment includes a stable tilt measuring segment. The step of outputting monitoring results based on the type of the measuring segment and the relative positional relationship between each measuring point and the preset target includes:

[0015] If at least one of the measuring points is located outside the preset target, the output monitoring result is "missed target".

[0016] If all the measuring points are located within the preset target, the output monitoring result is "hit target"; wherein, the relative positional relationship includes the measuring points being located outside the preset target or the measuring points being located within the preset target.

[0017] In one possible implementation, the type of the measuring segment includes a circular arc measuring segment. The step of outputting monitoring results based on the type of the measuring segment and the relative positional relationship between each measuring point and the preset target includes:

[0018] If at least one of the measuring points is located outside the preset target, the output monitoring result is "missed target".

[0019] If all the measuring points are within the preset target, then calculate the number of intersections between the measuring segment and the side of the preset target.

[0020] The monitoring results are output based on the number of intersections and the corresponding bending angles at the intersections.

[0021] In one possible implementation, outputting the monitoring result based on the number of intersections and the corresponding bending angle at each intersection includes:

[0022] If the number of intersections includes at least one, and the bending angle corresponding to the intersection is greater than or equal to zero, and less than or equal to the dog leg angle, then the output monitoring result is "missed target".

[0023] When the number of intersection points is zero, the output monitoring result is "target hit".

[0024] In one possible implementation, calculating the number of intersections between the test segment and each side of the preset target includes:

[0025] Based on the position vector equation corresponding to the test segment and the position equations of each side of the preset target, the relative position equations of the test segment and each side are obtained.

[0026] Obtain the real roots of the relative position equation, and calculate the number of intersections between the measured segment and each side based on the real roots.

[0027] In one possible implementation, identifying the type of the test segment based on the dogleg angle includes:

[0028] When the dog leg angle is greater than a preset threshold, the measured segment is determined to be a circular arc measured segment;

[0029] When the dog leg angle is less than or equal to the preset threshold, the test segment is determined to be a stable slope test segment.

[0030] Secondly, embodiments of this application provide a drilling trajectory monitoring device, comprising:

[0031] The first determining module is used to determine the dogleg angle of the section between at least two adjacent measuring points based on the measuring point parameters of at least two adjacent measuring points on the actual drilled wellbore trajectory.

[0032] The identification module is used to identify the type of the measured segment based on the dog leg angle;

[0033] The second determining module is used to determine the position vector equation corresponding to the measuring segment based on the type of the measuring segment;

[0034] The processing module is used to analyze the monitoring results based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of the preset target, and output the monitoring results, which include whether the target is hit or misses.

[0035] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0036] The memory stores computer-executed instructions;

[0037] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0039] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0040] The method, apparatus, electronic device, and storage medium for monitoring actual drilled wellbore trajectories provided in this application identify the type of the monitoring segment, and then determine the positional relationship of the entire monitoring segment relative to a preset target based on the type of the monitoring segment and its corresponding position vector equation. This allows for the determination of whether the entire monitoring segment is within the preset target, rather than only monitoring the monitoring points. The monitoring results are more accurate, especially for arc monitoring segments, where it can accurately identify whether the monitoring points are within the preset target while the curved parts are outside the preset target. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0042] Figure 1 is a flowchart illustrating a method for monitoring the actual drilled well trajectory provided in this application.

[0043] Figure 2 is a schematic diagram of a local rectangular coordinate system on the target plane of the preset target provided in this application;

[0044] Figure 3a is a front view of the preset target provided in an embodiment of this application;

[0045] Figure 3b is a top view of the preset target provided in an embodiment of this application;

[0046] Figure 3c is a side view of the preset target provided in an embodiment of this application;

[0047] Figure 4 is a schematic diagram of the actual drilling trajectory within the preset target body;

[0048] Figure 5 is a schematic diagram of the scene outside the preset target body where part of the actual drilled well trajectory is located;

[0049] Figure 6 is a schematic flowchart of a method for monitoring the actual drilling trajectory provided in this application.

[0050] Figure 7 is a schematic diagram of the off-target / target hit corresponding to the stable inclination section of the actual drilled well trajectory provided in this application;

[0051] Figure 8 is a flowchart illustrating a method for monitoring the actual drilling trajectory provided in this application.

[0052] Figure 9 is a schematic diagram of the off-target / target hit corresponding to the arc section of the actual drilled well trajectory provided in the application;

[0053] Figure 10 is a schematic diagram of the structure of the monitoring device for actual drilling trajectory provided in this application;

[0054] Figure 11 is a schematic diagram of the structure of the electronic device provided in this application.

[0055] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0057] First, let me explain the terms used in this application:

[0058] Actual drilling borehole trajectory: refers to the actual drilling process, the trajectory of the hole formed after the drill bit penetrates the ground (i.e., the formed channel);

[0059] Measuring points: These are points used in drilling engineering to measure specific parameters (such as well depth, inclination angle, azimuth angle, etc.). These measuring points are distributed at different depths of the well and are used to monitor and record real-time data during the drilling process.

[0060] A measurement segment refers to the line segment of the trajectory between two consecutive measurement points.

[0061] Target hit: refers to the drill bit successfully penetrating the predetermined target area during the drilling process;

[0062] Off-target: This refers to the drill bit failing to successfully drill into the intended target area and instead deviating from the target.

[0063] Dogleg angle: refers to the angle between two adjacent measuring points on the wellbore trajectory and the tangent to the wellbore direction line (the axis of the wellbore). It reflects the magnitude of the change in the direction of the wellbore between these two measuring points; the size of the dogleg angle reflects the degree of curvature of the wellbore axis.

[0064] Target body: In horizontal well drilling, a cuboid is used to indicate the target area (e.g., a rectangular target) that the drill bit is expected to reach, extending along the reservoir.

[0065] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0066] Figure 1 is a flowchart illustrating a method for monitoring the trajectory of a drilled wellbore provided in this application. As shown in Figure 1, the method includes:

[0067] S101. Based on the measurement parameters of at least two adjacent measurement points on the actual drilled well trajectory, determine the dogleg angle of the measurement segment between at least two adjacent measurement points;

[0068] In this embodiment, the executing entity is an electronic device, which can be a drilling device or a monitoring device for the drilling device, etc.

[0069] Before this step, a target area model is first established based on the target area parameters at the entry point. Based on this model, a pre-defined target body is obtained. The target area model reflects the structural shape of the pre-defined target body, its coordinate position, the position equations of each side surface forming the target body, and the equations of each variable line. The following explains the process of establishing the target area model:

[0070] As shown in Figures 2, 3a, 3b, and 3c, the target region (a rectangular structure) is first defined based on the storage layer, and the entry point A and exit point B are determined. Target region parameters are then set based on the position of entry point A, including the half-window height h. a Half window width w a Inclination angle α a Azimuth φ a And the target length ΔL.

[0071] The target window rectangle at point A (centered at A, with a width of 2w) is defined. a The height is 2h a The rectangular prism formed by moving from A to B along the straight line AB (with its top and bottom edges parallel to the horizontal plane) is defined as the pre-defined target (a three-dimensional structure composed of three perspectives, as shown in Figures 3a, 3b, and 3c). The line connecting A and B is the axis of the pre-defined target, and the plane containing any point C on the axis is the target plane.

[0072] As shown in Figure 2, a local two-dimensional rectangular coordinate system C-xy is established on the target plane, where P is the intersection of the actual drilled wellbore trajectory and the target surface. Based on the target area parameters and the rectangular coordinate system, the wellbore elevation vector h at the entry point A is determined. a Vertical azimuth vector v a Wellbore direction vector t aand position vector r a :

[0073] For example, the wellbore height vector h a for:

[0074] Vertical azimuth vector v a for:

[0075] Wellbore direction vector t a for:

[0076] Position vector r a for:

[0077] Where, N a Let E be the north-south coordinate of point A. a Let H be the east-west coordinate of point A. a Let A be the vertical depth.

[0078] Based on a Cartesian coordinate system, the position vectors of the four vertices of the rectangle on the target entry surface, starting from the upper right corner and proceeding clockwise, are as follows:

[0079] Top right corner ①: r1 = r a +h a h a +w a v a ;

[0080] Bottom right corner ②: r2 = r a -h a h a +w a v a ;

[0081] Bottom left corner ③: r3 = r a -h a h a -w a v a ;

[0082] Top left corner ④: r4 = r a +h a h a -w a v a ;

[0083] The equations of the lines along the four sides of the axis (defined the same as the vertex of the target face) are, in order: r = r i +λ i t a ;

[0084] Where, 0≤λi ≤ΔL, i=1,2,3,4

[0085] The plane equations of the four sides along the axial direction (defined the same as the vertex of the target entry surface) are, in order: (rr) i )·m i =0;

[0086] in: i = 1, 2, 3, 4; m i is the normal vector of the side surface; r is the position vector of any point on the side surface.

[0087] The above method yields a target area model of the preset target, reflecting the structure of the preset target, the position equations of each side of the preset target, and the linear equations of each side.

[0088] In actual drilling operations, especially in horizontal drilling, the wellbore trajectory is constantly changing, as shown in Figures 4 and 5. In Figure 4, although the wellbore trajectory changes continuously along the wellbore direction, it remains within the preset target area, meaning the wellbore trajectory does not miss the target. However, in Figure 5, part of the wellbore trajectory is outside the preset target area, indicating a miss. Therefore, it is necessary to continuously monitor whether the actual drilled wellbore trajectory remains within the preset target area.

[0089] In related technologies, monitoring whether some measuring points are within a preset target body determines whether the measuring points have missed or hit the target. In this embodiment, monitoring whether the connecting segments between consecutive measuring points (i.e., the line segments connecting the measuring points) are within the preset target body determines whether the actual drilling trajectory has missed or hit the target. Based on practical engineering applications, the types of measuring segments generally include stable inclination measuring segments and circular arc measuring segments. The methods for determining the positions of each point on stable inclination measuring segments and circular arc measuring segments are different. Therefore, this embodiment constructs multiple position vector equations based on the characteristics of stable inclination measuring segments and circular arc measuring segments to reflect the positions of each point on stable inclination measuring segments and circular arc measuring segments, respectively. After constructing the preset target body, the position vector equations for the stable inclination measuring segments and the circular arc measuring segments can be constructed based on the local coordinates of the preset target body, as shown below:

[0090] The position vector equation of the stable inclined section is: r = r m +λt m ;

[0091] Where r represents the position vector of any point on the measured section; r m t is the position vector of measuring point m; m Let be the borehole direction vector at measuring point m; λ is a parameter, where 0 ≤ λ ≤ ΔL. m ΔL m ΔL represents the length of a measurement segment between at least two adjacent measurement points (the sum of multiple measurement segments equals the target area length ΔL).m =L n -L m .

[0092] The position vector equation of the circular arc section is: r = r m +(t m +n m sinθ+t m cosθ)R m tan(θ / 2);

[0093] in, t m Let t be the borehole direction vector at measuring point m. n ε is the borehole direction vector at measurement point n; m Let θ be the dogleg angle, and θ be the curvature angle of the arc segment, where 0 ≤ θ ≤ ε. m .

[0094] In this step, when monitoring the wellbore trajectory during actual drilling, the dogleg angle of the section between at least two adjacent measuring points is first determined based on the measuring point parameters of at least two adjacent measuring points. The dogleg angle then identifies the type of section between these adjacent measuring points. After determining the section type, the relative positional relationship between each point on the section and the preset target can be monitored based on the position vector equation corresponding to the section type. The measuring point parameters include at least one of the position vector of the measuring point and the wellbore direction vector at that measuring point.

[0095] It should be noted that two measuring points can be connected to form a line segment. Therefore, the following explanation uses the line segment formed by connecting two adjacent measuring points as an example:

[0096] After determining two consecutive measuring points (two adjacent measuring points), the measuring point parameters of each measuring point are calculated in the following way:

[0097] Suppose there are two consecutive measuring points, m and n, where the position vector of point m is:

[0098] The borehole direction vector at point m is:

[0099] The borehole direction vector at point n is:

[0100] After determining the measuring point parameters, the dogleg angle of the measuring segment is calculated based on these parameters. Optionally, the dogleg angle between measuring points can be calculated as follows: ε m =arccos(t m ·t n ).

[0101] S102. Identify the type of the test segment based on the dog leg angle;

[0102] Optionally, the dogleg angle reflects the magnitude of the directional change of the wellbore between these two measuring points. The size of the dogleg angle reflects the degree of curvature of the wellbore axis, which in turn reflects the degree of curvature of the measuring section. Therefore, the type of measuring section can be identified by the dogleg angle.

[0103] As an example, when the dog leg angle is greater than a preset threshold, the measurement segment is determined to be a circular arc measurement segment; when the dog leg angle is less than or equal to the preset threshold, the measurement segment is determined to be a stable slope measurement segment.

[0104] Optionally, the preset threshold is 0 or close to 0. When the dogleg angle is greater than 0, it indicates that the measured segment is curved, and the larger the dogleg angle, the greater the degree of curvature of the measured segment. When the dogleg angle is equal to 0, it indicates that the measured segment is stable and there is no curvature.

[0105] S103. Determine the position vector equation corresponding to the measurement segment based on the type of measurement segment;

[0106] When the measured section is a stable incline section, the corresponding position vector equation of the measured section is: r = r m +λt m The position vector of any point on the measured section can be calculated using this position vector equation.

[0107] When the measured segment is a circular arc segment, the corresponding position vector equation of the measured segment is: r = r m +(t m +n m sinθ+t m cosθ)R m tan(θ / 2); The position vector of any point on the measured section can be calculated using this position vector equation.

[0108] S104. Based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the preset position coordinates of the target, output the monitoring results, including whether the target is hit or misses.

[0109] After determining the type of the measurement segment and the corresponding position vector equation, the positional relationship between the measurement segment and the preset target can be determined based on the type of the measurement segment, the corresponding position vector equation, and the position coordinates of the preset target. Based on this positional relationship, it can be determined whether there is at least one point on the measurement segment outside the preset target. If so, it is determined that part of the measurement segment is out of target; if not, it is determined that all positions of the measurement segment are in target, and the monitoring results are output.

[0110] As an example, based on the type of the measurement segment, the corresponding position vector equation of the measurement segment, and the preset position coordinates of the target, the monitoring results are output, specifically as follows:

[0111] Based on the position vector equation corresponding to the measurement section, calculate the position coordinates of all points in the measurement section; compare the position coordinates of all points with the position coordinates of each side of the preset target to obtain the relative positional relationship between all points on the measurement section and the preset target; then determine whether the target is hit or misses the target based on all the relative positional relationships and output the monitoring results.

[0112] For example, if at least one point is outside the preset target (outside the three-dimensional body formed by the sides of the preset target), then the test segment is determined to have missed the target. If all points on the test segment are within the preset target, then the test segment is determined to have hit the target.

[0113] In this example, the position vector of any point on the test section can be calculated based on the position vector equation of the test section. Then, the relative position relationship between the position vector of any point and the preset target can be used to determine whether any point has missed the target. This monitoring method has high accuracy.

[0114] Another example is to output monitoring results based on the type of the measurement segment, the corresponding position vector equation of the measurement segment, and the preset position coordinates of the target. Specifically, it can also be:

[0115] Based on the position vector equation corresponding to the measurement segment, determine the relative positional relationship between each measurement point and the preset target; based on the type of measurement segment and the relative positional relationship between each measurement point and the preset target, output the monitoring results.

[0116] In this example, the relative positional relationship between the measuring point and the preset target includes the measuring point being outside the preset target (or outside the cuboid when the preset target is a rectangular cuboid) and the measuring point being inside the preset target (within the cuboid).

[0117] In a further example, the monitoring results are output based on the type of the measurement segment, the corresponding position vector equation of the measurement segment, and the preset position coordinates of the target. Specifically, this could also be:

[0118] When the measurement segment is a stable inclined segment, the monitoring results are output based on the relative positional relationship between each measuring point and the preset target. When the measurement segment is a circular arc segment, the relative positional relationship between the measurement segment and the preset target is determined based on the position vector equation corresponding to the circular arc segment and the three-dimensional model of the preset target, and then the monitoring results are output. The three-dimensional model of the preset target includes the position equations of each side and each edge.

[0119] This example uses different discrimination methods to determine whether a measurement segment is within a preset target body, depending on the type of measurement segment. This adapts to the specific characteristics of different types of measurement segments and ensures that the monitoring results for each type of measurement segment are relatively accurate. For example, for a stable incline measurement segment, the relative positional relationship between the measuring point and the preset target body is used to determine the position of the entire stable incline segment; while for a circular arc measurement segment, the relative positional relationship between the measuring point and each point of the circular arc measurement segment and the preset target body is used to determine the position of the circular arc measurement segment.

[0120] The method for monitoring the actual drilled wellbore trajectory provided in this application identifies the type of monitoring segment and then determines the positional relationship of the entire segment relative to a preset target based on the segment type and its corresponding position vector equation. This allows for the determination of whether the entire segment is within the preset target, rather than monitoring only the measuring points. This results in more accurate monitoring, especially for arc-shaped segments, where it can accurately identify situations where measuring points are within the preset target but curved sections are outside. This avoids missing instances where parts of the actual drilled wellbore trajectory are outside the preset target, thus more accurately determining whether the wellbore trajectory is within or outside the target. Furthermore, different segment types require different monitoring methods, offering diverse monitoring options and increasing the adaptability of the monitoring approach.

[0121] Figure 6 is a flowchart illustrating the second method for monitoring the actual drilled well trajectory provided in this application. As shown in Figure 6, this embodiment, based on the above embodiment, takes a stable inclination section as an example to describe the method for monitoring the actual drilled well trajectory in detail. The method includes:

[0122] S601. Based on the measurement parameters of at least two adjacent measurement points on the actual drilled well trajectory, determine the dogleg angle of the measurement segment between at least two adjacent measurement points;

[0123] S602. Identify the type of the test segment based on the dog leg angle;

[0124] S603. Determine the position vector equation corresponding to the measurement segment based on the type of measurement segment;

[0125] The implementation of steps S601 to S603 is similar to that of steps S101 to S103 in the embodiment of Figure 1, and will not be repeated here.

[0126] S604. Determine the relative positional relationship between each measuring point and the preset target body based on the position vector equation corresponding to the measuring section;

[0127] In this step, the relative positional relationship between the measuring point and the preset target includes whether the measuring point is located outside the preset target or inside the preset target.

[0128] Taking two consecutive measuring points P and Q between targets A and B as an example, this illustrates how the relative positional relationship between each measuring point and the preset target body is determined:

[0129] In some examples, the relative position of each measuring point to the preset target can be determined based on the lateral and longitudinal deviations between each measuring point and the axis of the preset target. For example, suppose the lateral deviation of point P relative to the axis of the preset target is x. p The longitudinal deviation is y p When |x p |≤ha And |y p |≤w a If the deviation is within the target body, then the measuring point P is located inside the target body; otherwise, the measuring point P is located outside the target body. Similarly, assume that the lateral deviation of point Q relative to the axis of the target body is x. q The longitudinal deviation is y q ;|x q |≤h a And |y q |≤w a If the lateral deviation of the measuring point from the axis of the preset target is greater than half the height of the preset target and the longitudinal deviation is greater than half the width of the preset target, then the measuring point Q is located inside the preset target; otherwise, the measuring point Q is located outside the preset target. In other words, if the lateral deviation of the measuring point from the axis of the preset target is greater than half the height of the preset target and the longitudinal deviation is greater than half the width of the preset target, then the measuring point is outside the preset target.

[0130] This example determines the relative position of the measuring point to the preset target by measuring the lateral and longitudinal deviations of the measuring point relative to the axis of the preset target. The determination method is simple and accurate, improving the accuracy of the monitoring results.

[0131] Optionally, this example calculates the lateral and longitudinal deviations of the measuring point relative to the axis of the preset target body in the following manner:

[0132] Based on measuring point P, determine its vertical projection point C on the axis of the preset target; based on measuring point Q, determine its vertical projection point D on the axis of the preset target; based on the position vector equation corresponding to the measuring segment, calculate the position vectors of P and C respectively, and obtain r. p and r c Similarly, based on the position vector equations corresponding to the measured segments, the position vectors of Q and D are calculated respectively, and r is obtained. q and r d The lateral deviation x of P is calculated using the following formulas. p and longitudinal deviation y p :

[0133] The lateral deviation x of Q is calculated using the following formulas. q and longitudinal deviation y q :

[0134] In the above formula, r p Let v be the wellbore elevation vector at point A. a This is the vertical azimuth vector.

[0135] In other examples, the position coordinates of each measuring point can be calculated based on the position vector equation corresponding to the inclined section. Then, the position coordinates of each measuring point are compared with the coordinates of the four vertices and the side of the preset target to determine whether the measuring point's position coordinates are outside the preset target's position coordinates, thus obtaining the relative positional relationship between the measuring point and the preset target. In other words, this example determines whether the measuring point is inside or outside the preset target by calculating its specific coordinate values.

[0136] S605. If at least one measuring point is located outside the preset target, the output monitoring result is "missed target".

[0137] S605. If all measuring points are located within the preset target, the output monitoring result is "hit target".

[0138] For a stable inclined section, since it has no curvature, if both measuring points forming the section are within the preset target, then all points on the section are within the preset target. Therefore, when all measuring points are within the preset target, the section can be determined to have hit the target. Conversely, if one or all measuring points are outside the preset target, then part or all of the section is outside the preset target, indicating that the section has missed the target and is at risk.

[0139] As shown in Figure 7, among the measurement segments P0P1, P1P2, P2P3, and P3P4, the measurement point P... 0、 P1, P2, P3, and P4 are all within the preset target area, so the monitoring output results for segments P0P1, P1P2, P2P3, and P3P4 are "hit the target". Segments P4P5 and P5P6 are in the target area, but measuring point P5 is outside the preset target area, so the monitoring output results for segments P4P5 and P5P6 are "missed the target".

[0140] The method for monitoring the actual drilled well trajectory provided in this application is simple and provides accurate monitoring results for monitoring stable inclination sections.

[0141] Figure 8 is a flowchart illustrating the third method for monitoring the actual drilled well trajectory provided in this application. As shown in Figure 8, this embodiment, based on all the above embodiments, takes a circular arc section as an example to describe the method for monitoring the actual drilled well trajectory in detail. The method includes:

[0142] S801. Based on the measurement parameters of at least two adjacent measurement points on the actual drilled well trajectory, determine the dogleg angle of the measurement segment between at least two adjacent measurement points;

[0143] S802. Identify the type of the test segment based on the dog leg angle;

[0144] S803. Determine the position vector equation corresponding to the measurement segment based on the type of measurement segment;

[0145] The implementation of steps S801 to S803 is similar to that of steps S101 to S103 in the embodiment of Figure 1, and will not be repeated here.

[0146] S804. Determine the relative positional relationship between each measuring point and the preset target body based on the position vector equation corresponding to the measuring section;

[0147] Step S804 is implemented in a similar way to step S604 in the embodiment of Figure 6, and will not be described again here.

[0148] S805, if at least one measuring point is outside the preset target, the output monitoring result is "missed target".

[0149] S806, If all measuring points are within the preset target, calculate the number of intersections between the measuring segment and the side of the preset target.

[0150] For a circular arc section, if P and / or Q are outside the preset target (i.e., at least one measuring point is outside the preset target), then part of the section PQ is inside the preset target and part is outside the preset target, as shown in Figure 5. In the rightmost wellbore trajectory, if a measuring point is outside the preset target, then the section is outside the preset target.

[0151] For a circular arc measurement segment, if both P and Q are within the preset target, but the entire measurement segment PQ is not necessarily entirely within the preset target, the part with the greatest curvature of the arc may be outside the cuboid (as shown in Figure 9). In this scenario, it is necessary to further determine the relative positional relationship between all positions of the circular arc measurement segment and the preset target to ensure the accuracy of the monitoring results.

[0152] In this example, the intersection points of the arc with each side of the preset target are calculated to further determine whether the arc is completely inside the preset target.

[0153] As an example, the number of intersections between the measuring point and each side of the preset target is calculated in the following way: based on the position vector equation corresponding to the measuring segment and the position equations of each side of the preset target, the relative position equations between the measuring segment and each side are obtained; the real roots of the relative position equations are obtained, and the number of intersections between the measuring segment and each side is calculated based on the real roots.

[0154] It should be noted that the position vector equation corresponding to the measurement segment reflects the position vector of any point on the measurement segment, while the side position equation reflects the position vectors of each side of the preset target. Substituting the position vector equation of the measurement segment into the side position equation yields the relative position equation. This relative position direction reflects whether there are intersections between the measurement segment and each side of the preset target, or the number of intersections. For example, if an arc is tangent to a side or one of the measurement points is on the side, there is one intersection; if an arc is tangent to a side, there are two intersections.

[0155] The following example uses the circular arc segment formed by measuring points P and Q. It is assumed that the target body is a rectangular target body with four sides i = 1, 2, 3, 4.

[0156] Referring to the embodiment shown in Figure 1 above, the equation for the side position of the preset target is: (rr i )·m i =0;

[0157] in:

[0158] The position vector equation of the circular arc section is: r = r m +(t m +n m sinθ+t m cosθ)R m tan(θ / 2);

[0159] Substituting the position vector equation of the circular arc segment into the side position equation, we get: {[r p +(t p +n p sinθ+t p cosθ)Rtan(θ / 2)]-r i}·m i =0;

[0160] By using temporary vectors and constants such as a, b, c, and s, the above equation is simplified to obtain: c(1+cosθ)tan(θ / 2)+ssinθtan(θ / 2)=b;

[0161] in, b = a·m i c = t p ·m i s = n p ·m i .

[0162] In the above formula, R is the radius of the circular arc segment; r i m is the position vector of the i-th vertex of the preset target; i t is the normal vector of the i-th side of the preset target; p Let n be the borehole direction vector at measuring point P; p Let be the principal normal vector of the measuring point P.

[0163] Simplifying the above equation into a quadratic algebraic equation in one variable, let u = tan(θ / 2), we obtain the equation for the relative position: (b-2s)u 2 -2cu+b=0;

[0164] In this embodiment, the simplified quadratic equation can be used to determine the intersection point between the test segment and the side of the preset target based on the discriminant of the root.

[0165] For example, the discriminant of the above quadratic algebraic equation in one variable is: Δ=4(c 2 -b 2 +2bs);

[0166] When Δ > 0, there are two unequal real roots, namely: The side of the test section and the preset target have two intersection points, that is, the number of intersection points is 2.

[0167] When Δ = 0, there is a unique real root: The side of the test section and the preset target body have an intersection point (such as a tangent point or a test point on the side), that is, the number of intersection points is 1.

[0168] When Δ < 0, there are no real roots, indicating that there is no intersection between the measured section and the side of the preset target.

[0169] This embodiment is based on the characteristic that the discriminant of a quadratic equation can reflect the intersection of two line segments or a line segment and a surface. The relative position equation of the side of the test segment and the preset target is simplified into a quadratic equation. There is no need to calculate the relative position relationship between each point of the test segment and each side of the preset target, which simplifies the calculation process and enables the monitoring results to be output in a timely manner.

[0170] S807 outputs monitoring results based on the number of intersections and the corresponding bending angle at each intersection.

[0171] When the number of intersection points is zero, it means that the test section does not intersect with any side of the preset target, and the test section is within the preset target. Therefore, the output monitoring result is a hit.

[0172] When the number of intersection points includes at least one, there are two scenarios: 1. The measuring segment is tangent to the side of the preset target (number of intersection points is 1); 2. The measuring segment intersects with the side of the preset target (number of intersection points is 2). In this case, the measuring segment is determined to be outside the preset target, so the output monitoring result is "missing the target".

[0173] Furthermore, since this embodiment determines the number of intersection points by substituting the position vector equation corresponding to the measured segment into the position equations of each side of the preset target, and then using the resulting relative position equations, the position vector equations can reflect the positions of each point on the measured segment and also the positions of each point on the extension line of the measured segment. Therefore, the obtained intersection points could be any point between the measured segments and the side, or any point on the extension line of the measured segment and the side (in which case it cannot be determined as an intersection between the measured segment and the side). Therefore, outputting the monitoring result based on the number of intersection points is inaccurate. Based on this, this embodiment also combines the bending angle corresponding to the intersection point to determine the monitoring result.

[0174] For example, if the number of intersections includes at least one, and the bending angle corresponding to the intersection is greater than or equal to zero and less than or equal to the dog leg angle, then the output monitoring result is a miss.

[0175] Assuming there is a unique real root: θ1=2arctanu1, when 0≤θ1≤ε, it is determined that the measured segment and the side of the preset target have an intersection point, and part of the measured segment is located outside the preset target, and the monitoring result is that the target is missed.

[0176] Suppose there are two distinct real roots: θ 1,2 =2arctanu 1,2 Then 0 ≤ θ 1,2 When the value is ≤ε, it is determined that the test segment intersects the side of the preset target at two points, indicating that part of the test segment is outside the preset target, and the monitoring result is "missing the target". In other cases, it is determined that the test segment is inside the preset target, and the monitoring result is "hit the target".

[0177] Referring to the wellbore trajectory shown in Figure 9, among the measurement segments P0P1, P1P2, P2P3, P3P4, and P4P5, the measurement points P0, P1, P2, P3, P4, and P5 are all within the preset target body. However, the arc of measurement segment P2P3 intersects with the side of the preset target body at point X1, and the arc of measurement segment P4P5 intersects with the side of the preset target body at points X2 and X3. Therefore, even if the measurement points are within the preset target body, the arc measurement segments may partially lie outside the preset target body. This embodiment determines whether a measurement segment is entirely within the preset target body based on calculating the intersection points between the arc measurement segments and the side of the preset target body.

[0178] Using the monitoring method provided in this embodiment, the monitoring results obtained in segments P0P1, P1P2, and P3P4 are "hit the target". In segments P2P3 and P4P5, the monitoring results are "miss the target".

[0179] This embodiment can monitor points other than the measuring points in the arc measuring segment, determine the relative positional relationship between each point on the arc measuring segment and the preset target, and then determine whether the entire arc measuring segment is within the preset target to obtain monitoring results, which are more accurate.

[0180] Figure 10 is a structural schematic diagram of the drilling trajectory monitoring device provided in this application. As shown in Figure 4, the monitoring device 100 provided in this embodiment includes:

[0181] The first determining module 1001 is used to determine the dogleg angle of the measuring segment between at least two adjacent measuring points based on the measuring point parameters of at least two adjacent measuring points on the actual drilled wellbore trajectory.

[0182] The identification module 1002 is used to identify the type of the test segment based on the dog leg angle;

[0183] The second determining module 1003 is used to determine the position vector equation corresponding to the measuring segment based on the type of the measuring segment;

[0184] The processing module 1004 is used to analyze the monitoring results and output the monitoring results based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of the preset target. The monitoring results include whether the target is hit or misses.

[0185] The monitoring device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0186] Figure 11 is a schematic diagram of the structure of the electronic device provided in this application. As shown in Figure 11, the electronic device 1100 provided in this embodiment includes at least one processor 1101 and a memory 1102. Optionally, the device 1100 also includes a communication component 1103. The processor 1101, the memory 1102, and the communication component 1103 are connected via a bus.

[0187] In a specific implementation, at least one processor 1101 executes computer execution instructions stored in memory 1102, causing at least one processor 1101 to perform the above-described method.

[0188] The specific implementation process of processor 1101 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0189] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0190] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0191] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0192] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0193] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0194] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0195] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0196] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0197] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for monitoring the trajectory of a drilled wellbore, characterized in that, include: Based on the measurement point parameters of at least two adjacent measurement points on the actual drilled well trajectory, determine the dogleg angle of the measurement segment between the at least two adjacent measurement points; The type of the test segment is identified based on the dog leg angle; Determine the position vector equation corresponding to the measurement segment based on the type of the measurement segment; Based on the type of the test segment, the position vector equation corresponding to the test segment, and the position coordinates of the preset target, the monitoring results are output, including whether the test segment hits the target or misses the target.

2. The method according to claim 1, characterized in that, The monitoring results are output based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of the preset target, including: Based on the position vector equation corresponding to the measurement segment, determine the relative positional relationship between each measurement point and the preset target; Based on the type of the measurement segment and the relative positional relationship between each measurement point and the preset target, the monitoring results are output.

3. The method according to claim 2, characterized in that, The types of measurement sections include stable tilt measurement sections. Based on the type of measurement section and the relative positional relationship between each measurement point and the preset target, monitoring results are output, including: If at least one of the measuring points is located outside the preset target, the output monitoring result is "missed target". If all the measuring points are located within the preset target, the output monitoring result is "hit target"; wherein, the relative positional relationship includes the measuring points being located outside the preset target or the measuring points being located within the preset target.

4. The method according to claim 2, characterized in that, The types of measurement segments include circular arc measurement segments. Based on the type of measurement segment and the relative positional relationship between each measurement point and the preset target, the monitoring results are output, including: If at least one of the measuring points is located outside the preset target, the output monitoring result is "missed target". If all the measuring points are within the preset target, then calculate the number of intersections between the measuring segment and the side of the preset target. The monitoring results are output based on the number of intersections and the corresponding bending angles at the intersections.

5. The method according to claim 4, characterized in that, The step of outputting the monitoring results based on the number of intersections and the corresponding bending angles at the intersections includes: If the number of intersections includes at least one, and the bending angle corresponding to the intersection is greater than or equal to zero, and less than or equal to the dog leg angle, then the output monitoring result is "missed target". When the number of intersection points is zero, the output monitoring result is "target hit".

6. The method according to claim 4, characterized in that, The calculation of the number of intersection points between the test segment and each side of the preset target includes: Based on the position vector equation corresponding to the test segment and the position equations of each side of the preset target, the relative position equations of the test segment and each side are obtained. Obtain the real roots of the relative position equation, and calculate the number of intersections between the measured segment and each side based on the real roots.

7. The method according to any one of claims 1 to 6, characterized in that, The step of identifying the type of the test segment based on the dog leg angle includes: When the dog leg angle is greater than a preset threshold, the measured segment is determined to be a circular arc measured segment; When the dog leg angle is less than or equal to the preset threshold, the test segment is determined to be a stable slope test segment.

8. A drilling trajectory monitoring device, characterized in that, include: The first determining module is used to determine the dogleg angle of the section between at least two adjacent measuring points based on the measuring point parameters of at least two adjacent measuring points on the actual drilled wellbore trajectory. The identification module is used to identify the type of the measured segment based on the dog leg angle; The second determining module is used to determine the position vector equation corresponding to the measuring segment based on the type of the measuring segment; The processing module is used to analyze the monitoring results based on the type of the measurement segment, the position vector equation corresponding to the measurement segment, and the position coordinates of the preset target, and output the monitoring results, which include whether the target is hit or misses.

9. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

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