CN105649612B - A kind of fish position indicator - Google Patents
A kind of fish position indicator Download PDFInfo
- Publication number
- CN105649612B CN105649612B CN201610158279.5A CN201610158279A CN105649612B CN 105649612 B CN105649612 B CN 105649612B CN 201610158279 A CN201610158279 A CN 201610158279A CN 105649612 B CN105649612 B CN 105649612B
- Authority
- CN
- China
- Prior art keywords
- fish
- coordinate system
- position indicator
- ultrasonic probe
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 204
- 239000000523 sample Substances 0.000 claims abstract description 81
- 238000005553 drilling Methods 0.000 claims abstract description 64
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 30
- 230000003287 optical effect Effects 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
- 238000002604 ultrasonography Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 3
- 230000007935 neutral effect Effects 0.000 claims description 3
- 230000003252 repetitive effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000006467 substitution reaction Methods 0.000 claims description 2
- 241001074085 Scophthalmus aquosus Species 0.000 claims 1
- 238000009987 spinning Methods 0.000 claims 1
- 201000004569 Blindness Diseases 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 20
- 238000012545 processing Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000003129 oil well Substances 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 241001022395 Semotilus corporalis Species 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000009096 changqing Substances 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/024—Determining slope or direction of devices in the borehole
Landscapes
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Geophysics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of fish position indicator, the ultrasonic probe including multiple linear equidistant arrangements on liner plate, the spin stepper motor of driving liner plate rotation, and the electronic compass being installed on liner plate；Each ultrasonic probe, spin stepper motor, electronic compass are connect with MCU master control borad respectively, and MCU master control borad connects host computer；Fish positioning is carried out using following steps: fish position indicator is sent into underground along drilling；When fish position indicator, which declines, reaches breaking of rod depth, is rotated by spin step motor control liner plate to realize 360 degree of detections, advanced in detection；When detecting near linear type object, then it is assumed that the near linear type object is fish；Host computer calculates fish inclination angle according to the data that electronic compass and ultrasonic probe measure；According to the characteristic of mud in out-of-round oversized hole and fish material, force analysis is carried out to fish, calculates Position on the top of the fish, fish is salvaged according to the Position on the top of the fish.The blindness that the present invention can overcome fish to salvage greatly improves the progress of fish salvaging.
Description
Technical field
The present invention relates to a kind of fish position indicator, for the fish (the disconnected drill bit and drilling tool fallen) in drilling process into
Row positioning.
Background technique
In Process of Oil Well Drilling, since there are wounds for drilling tool, is acted on by alternate stress fatigue, drill string occurs by card for a long time
After fail to find in time, drilling tool can be put off or be twisted off, the H contained in stratum2It is broken that S gas will lead to drill collar " hydrogen embrittlement " equal strength
It is bad.By the investigation to the drilling crews staff such as Puyang Oilfield, Changqing oilfields, and both at home and abroad, pertinent literature carries out retrieval hair
Existing, the breaking of rod situation in drilling process happens occasionally, similar for the processing mode of such accident both at home and abroad: if 1) drilling well
Out-of-round oversized hole or top of fish are not formed in journey not within the scope of out-of-round oversized hole, top of fish will not offset out drilling at this time, according to
The position of drill rod breaking and fracture mode select corresponding traditional fishing operation such as die nipple, female coupling tap, Qiang Ci, sleeve, milling, machine
Fish salvaging can be rapidly completed in the modes such as tool hand crawl；If 2) Position on the top of the fish is exactly within the scope of out-of-round oversized hole, by
There is certain viscosity in mud, top of fish will not shift quickly, current solution be within the shortest time into
Row is salvaged.If delaying is more than the regular hour, influenced by factors such as gravity, water flows, top of fish offsets out drilling, and existing
Fishing operation is all just to be able to achieve fast salvaging in known Position on the top of the fish, if fish specific location is unpredictable, at this time can only
Grope by experience the exploratory salvaging of formula, blindness is big, salvages difficulty height, at high cost, the period is long, influences the overall duration
Progress.
The downhole video TV sticking point instrument that foreign countries develop in terms of the development of fishing tool, it can be seen that shaft bottom overall picture but
It can not determine the specific location of fish, and restricted to depth, it is expensive within generally 2000m, it is not very practical.
Domestic oil-water well is when practical operation is salvaged, since the type of oil well is more and more, the type of fish also phase not to the utmost
Together, the difficulty of salvaging is also continuously increased, backward in technique, and drawback increasingly shows, and fishing process and process are unable to satisfy actual demand.
Present ultrasound examination product is often all not used in water, can not carry out ranging in water；For context of detection in mud
It is only limitted to the application in terms of the distance in drilling process for drilling rod apart from the borehole wall, makes some simple early warning schemes, seldom
There is product.Although using the position of electromagnetic induction technology detection magnetic head during detection fish, can only estimate general
Booster action is only played in position during salvaging, the blindness that fish still can not be overcome to salvage.
Summary of the invention
The technical problem to be solved in the present invention is that providing a kind of can position the fish in drilling process, be improved
Fish salvages the good fish position indicator of efficiency, real-time, of the existing technology to solve the problems, such as.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of fish position indicator, the ultrasonic probe including multiple linear equidistant arrangements on liner plate, driving liner plate rotation
Spin stepper motor, and the electronic compass being installed on liner plate；Each ultrasonic probe, spin stepper motor, electronics
Compass is connect with MCU master control borad respectively, and MCU master control borad connects host computer；Fish positioning is carried out using following steps:
Step 1: fish position indicator is sent into underground along drilling；Liner plate is placed equidistant with the 1st ultrasonic probe, the 2nd from bottom to top
Ultrasonic probe ..., m ultrasonic probe, m is positive integer；
Step 2: it when fish position indicator, which declines, reaches breaking of rod depth, is rotated by spin step motor control liner plate with reality
Existing 360 degree of detections, advance in detection；When detecting near linear type object, then it is assumed that the near linear type object is
Fish；
Step 3: host computer calculates fish inclination angle according to the data that electronic compass and ultrasonic probe measure；
Step 4: according to the characteristic of mud in out-of-round oversized hole and fish material, force analysis is carried out to fish, is calculated
Position on the top of the fish salvages fish according to the Position on the top of the fish.
It is θ with the angle perpendicular to ground direction if fish position indicator reaches breaking of rod location point, i.e., electronic compass measures
The pitch angle arrived, it is consistent with the deflecting angle above out-of-round oversized hole；The process of fish is detected in the step 2 specifically: when falling
When the decline of fish position indicator reaches breaking of rod depth, the pitching angle theta of electronic compass at this time is recorded first, then controls fish position indicator
Continue to decline, PC control spin stepper motor 360 degree rotation, if not detecting near linear type object, fish is fixed
Position instrument continues traveling downwardly, and sets 10 meters of each downlink, each downlink carries out 360 degree rotation liner plate after stopping visit ultrasonic probe scanning
It surveys, until detecting near linear type object, which is fish, records the navigation angle of electronic compass at this time
α。
The process that fish inclination angle is calculated in the step 3 is as follows: Repetitive controller fish position indicator downlink simultaneously detects, until
Come downwards to ultrasonic probe with the near linear type object that detects reach detection blind area apart from when, acquisition multi-group data save and on
It is transmitted to host computer；If d1mIt is m ultrasonic probe in the measurement distance perpendicular to liner plate direction to fish, m is positive integer, adjacent super
The distance of sonic probe is δ；Using the position where the 1st ultrasonic probe as coordinate origin O, to be horizontally directed to the direction of fish as X-axis
Positive direction, direction straight up are that Y-axis positive direction establishes XOY coordinate system；By XOY coordinate system rotated counterclockwise by angle θ, formed
X'OY' coordinate system, then X'OY' coordinate system is translated into d along X' axis positive direction11Obtain X " O'Y " coordinate system；Fish is calculated in X'OY'
Inclination angle in coordinate system:It is rightIt is averaged to obtain fish inclination angle
Average value
The process that Position on the top of the fish is calculated in the step 4 includes the following steps:
Step S1, coordinate transform:
X'OY' coordinate system is rotated in a clockwise direction θ degree and obtains XOY coordinate system, obtains coordinate conversion calculation formula are as follows:
1. coordinate in X'OY' coordinate system is converted to the coordinate in XOY coordinate system according to formula；
Step S2 determines the coordinate of the function curve and top of fish of fish in the XOY coordinate system:
When fish is in equilibrium state, self weight of the drilling rod in mud are as follows:
Formula 2. in:
G-is self weight of the drilling rod in mud, unit N/m；
The aerial self weight of q-drilling rod, unit N/m；
ρMud- mud density, unit g/cm3；
ρSteelThe density of-drilling rod, unit g/cm3；
From the upward 30m of fish supporting point, drilling rod maximum flexion is 2.2 degree, is the near linear type fish of 30m or so,
The fish approximation sees the beam that one end is fixing end, the other end is free end as, is approximately four under the action of gravity, buoyancy
Secondary curve；Effect of the fish by distributed load straight down, if G indicates that self weight of the drilling rod in mud, the self weight are to fall
Fish is self-possessed in air and the resultant force of fish buoyancy, and tilt angle is the pitching angle theta that electronic compass measures, and length of cantilever L is
The length of the part fish of interception, drilling route when drilling well are carried out by design drawing, drilling distance and the dive of fish position indicator away from
From for it is known that therefore length of cantilever L is known；The bending stiffness E and cantilever beam of cantilever beam relative to neutral axis inertia I by fish
Material determines, by cantilever beam by the line of deflection approximate differential equation after G effect are as follows:Y " " is y's "
Second dervative is solved in coordinate system X " O'Y " such as following formula unary biquadratic equation:
Each power coefficient is turned into A ", B ", C ", is obtained: y "=A " x "4+B”x”3+C”x”2, any micro- section is taken, Ke Yizhi
RoadY " ' be y " first derivative, to y " ' press series expansion soIt will be curved
Whole section of bent curve is integrated, and is had:
Y " '=4A " x "3+3B”x”2+ 2C " x " ... ... ... ... ... ... ... ... ... ... ... 5.,
To 5. formula substitution, 4. formula obtains:
6. abscissa point Wx " of the top of fish in X " O'Y " coordinate system can be obtained in formula to solution, and Wx " is brought into 6. formula, is obtained
Ordinate point Wy " of the top of fish in X " O'Y " coordinate system, thus Wx'=Wx "+d11, Wy'=Wy " obtains top of fish according to 1. formula and exists
Coordinate in XOY coordinate system are as follows: (α, Wx'*cos θ-Wy'*sin θ, Wx'*sin θ+Wy'*cos θ), α are the navigation of electronic compass
Angle；
3. formula indicates the fish equation obtained using the bottom of the fish intercepted as coordinate origin, this is equations turned to coordinate
It is that can be obtained in X'OY':
After merging abbreviation, each power coefficient is turned into A', B', C', D', E', is obtained: the fish in X'OY' coordinate system
Curvilinear equation y'=A'x'4+B'x'3+C'x'2+ D'x'+E', while y' derivation being obtained:
Y "=4A'x'3+3B'x'2+2C'x'+D'………………………………………………………………
……⑦；
Step S3, to fish curvilinear equation y'=A'x'4+B'x'3+C'x'2+ D'x'+E' is verified:
Ultrasonic probe is lifted up, each Top Runby is set as 10 meters, continues to detect, with step 3 calculation method,
N times are detected altogether, and calculating the fish inclination angle obtained every time isN is positive integer；TanWith x 'nSubstitute into formula 7., whereinM is the number of ultrasonic probe, verifies fish curvilinear equation coefficient A', the B' acquired,
Whether C', D', E' are accurate；If coefficient is accurate, step S4 is carried out, if equation coefficient is inaccurate, returns to step 3, and will
Ultrasonic probe continues traveling downwardly in X'OY' coordinate systemRice, makes ultrasonic probe as close possible to fish；
Step S4 calculates top of fish in XGroundOGroundYGroundCoordinate position in coordinate system:
Track in drilling process is according to desired trajectory operation, while the process of fish position indicator test is also according to predetermined
Wellbore trace carry out, distance and deflecting angle that fish position indicator is horizontally and vertically walked is known quantity,
Whether directly using deflecting angle accurate, the electronics if inaccuracy then be used directly if being examined using the pitch angle that electronic compass is measured
Compass repeatedly measures the average value of the pitch angle come as deflecting angle, and establishing with the Y-axis in XOY coordinate system is YGroundAxis, horizontally
Face is XGroundThe coordinate system X of axisGroundOGroundYGround, so utilizing the W in step S2x, Wy, top of fish is finally obtained in coordinate system XGroundOGroundYGroundIn
Coordinate points are as follows: (α, Wx, Wy-T), wherein azimuth is α, and distance of the T for fish position indicator apart from the dive of ground institute, i.e., the 1 surpasses
Vertical depth of the coordinate system O point apart from ground where sonic probe.
Spin stepper motor is connect by optical axis with liner plate.
It further include a cylinder type shell, spin stepper motor is fixed on cylinder type cover top portion；The connection of optical axis one end is certainly
Stepper motor is revolved, the optical axis other end is stretched out from cylinder type outer casing bottom to be connect with liner plate.
The bearing platform for preventing optical axis to be eccentrically rotated is additionally provided in cylinder type interior of shell.
The bearing platform is fixed on the internal edge of cylinder type shell；It is provided with and is mounted on optical axis on bearing platform
Bearing.
MCU master control borad includes MCU controller, and the pwm pulse signal of generation is output to pulse amplifying electricity by MCU controller
Road, pulse amplifying circuit receive pwm pulse signal and export high-voltage pulse signal to ultrasonic probe, and ultrasonic probe receives the height
Pressure pulse signal simultaneously emits ultrasonic wave；The echo-signal received is passed through band pass filter circuit filter and amplification by ultrasonic probe
Afterwards, then by being transported to MCU controller after logarithmic amplifying circuit or timer capture/external interrupt mode circuit sampling；Electronics
Compass, spin stepper motor are connect with MCU controller respectively；MCU controller is also connected with the communication mould for communicating with host computer
Block.
Each ultrasonic probe uses the ultrasonic transducer of additional pressure-resistant shield.
Detection device is sent into well by the present invention along drilling, after going out top of fish offset using ultrasonic listening, according to drilling rod
Inclined direction and gradient calculate the azimuth information of top of fish by stress model of the drilling rod in mud, make original grope
Formula is salvaged the traditional type for becoming with clearly defined objective and is salvaged, and the progress of fish salvaging can be greatly improved；It is fallen suitable for domestic oil-water well
The salvaging of fish；Selected component and circuit design is suitable under the complex environments such as the mud of underground high temperature and pressure normal
Work.
Detailed description of the invention
Fig. 1 is drilling well fish schematic diagram.
Fig. 2 is the main view of fish position indicator of the invention.
Fig. 3 is the side view of fish position indicator of the invention.
Fig. 4 is the circuit diagram of fish position indicator of the invention.
Fig. 5 is that the 24V of MCU master control borad of the invention turns 5V circuit diagram.
Fig. 6 is that the 5V of MCU master control borad of the invention turns 3.3V circuit diagram.
Fig. 7 is the circuit diagram of STM32F407VG main control chip of the invention.
Fig. 8 is the reversed output circuit schematic diagram of pwm pulse wave of MCU master control borad of the invention
Fig. 9 is the SSP pulse starting transformer booster circuit schematic diagram of MCU master control borad of the invention.
Figure 10 is the band pass filter circuit schematic diagram of MCU master control borad of the invention.
Figure 11 is the logarithmic amplifying circuit schematic diagram of MCU master control borad of the invention.
Figure 12 is timer capture/external interrupt mode circuit diagram of MCU master control borad of the invention.
Figure 13 is the LED indication module circuit schematic of MCU master control borad of the invention；Wherein, figure (a) refers to for red LED
Indication lamp circuit schematic diagram, figure (b) are green LED indicator lamp circuit diagram.
Figure 14 is the drive circuit board power supply circuit schematic diagram of MCU master control borad of the invention；Wherein, figure (a) is driving electricity
Road plate 24V power-supplying circuit schematic diagram, figure (b) are drive circuit board 5V power-supplying circuit schematic diagram.
Figure 15 is the JLINK download interface circuit diagram of MCU master control borad of the invention.
Figure 16 is the stress model figure of fish of the invention.
Figure 17 is that fish point slope of the invention calculates schematic diagram.
Figure 18 is the signal for the function model that the coordinate system that fish of the invention is established in horizontal well carries out mathematical computations
Figure.
Figure 19 is Flexural cantilever model figure when fish of the invention is tilting.
Figure 20 is XOY coordinate system of the invention, X ' OY ' coordinate system and X'OY' establishment of coordinate system schematic diagram.
Figure 21 is that fish of the invention generates the salvaging process in horizontal well and establishes the schematic diagram after coordinate system.
Figure 22 is the schematic diagram of fish generation of the invention in the salvaging process of vertical well and after establishing coordinate system.
Figure 23 is fish positioning flow figure of the invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
The present invention provides a kind of fish position indicator, referring to fig. 2 to Fig. 3, including ultrasonic probe 1, spin stepper motor 2, holds
Connect platform 3, cylinder type shell 4, liner plate 5, optical axis 6, electronic compass 7, MCU master control borad；Each ultrasonic probe 1, spin stepping electricity
Machine 2, electronic compass 7 are separately connected MCU master control borad, and MCU master control borad connects host computer.
Ultrasonic probe 1, including it is multiple, it is configured as needed, is specifically configured to 4 here, linearly equidistantly from upper
It is arranged under and on liner plate 5；Four ultrasonic probes are respectively used to measure the distance of fish on the direction perpendicular to liner plate, lead to
The distance value that this four ultrasonic probes measure is crossed to calculate the average value of fish slope at detecting location and (establish shown in Figure 18
The slope of fish in XOY coordinate system, Q indicate the depth of each fish position indicator decline), to obtain fish at the detecting location
Inclination angle (angle of fish and detection direction).
Spin stepper motor 2, is fixed on 4 top of cylinder type shell, driving liner plate 5 rotates.
Bearing platform 3 is fixed on the internal edge of cylinder type shell 4, is provided on bearing platform 3 and is mounted on optical axis 6
On bearing.Optical axis can be prevented to be eccentrically rotated by bearing platform 3.
The bearing platform 3 for preventing optical axis to be eccentrically rotated, one end connection spin stepper motor of optical axis 6 are provided on optical axis 6
2, the other end of optical axis 6 is stretched out from 4 bottom of cylinder type shell and is connect with liner plate 5.
Electronic compass 7 is installed on liner plate 5, is fixed on 5 top of liner plate.
Spin stepper motor 2 is connect with MCU master control borad, and each ultrasonic probe 1 is connect by driving plate with MCU master control borad,
MCU master control borad connects host computer；Driving plate needs 3.3V (VDD), 5V, 24V power supply: wherein 5V and 24V is by MCU master control borad
24V turns 5V circuit (referring to Fig. 5) offer, and it is by turning pressure core that 3.3V, which turns 3.3V circuit (referring to Fig. 6) by the 5V of master control borad and provides,
5V voltage is transformed into 3.3V by piece LM1117 and corresponding RC circuit (increasing stability).
MCU master control borad includes MCU controller, and MCU controller uses STM32F407VG main control chip, referring to Fig. 7, wherein
12,13 pins connect 8MHz external crystal-controlled oscillation, and 94 pin BOOT0, the external 100K resistance of 37 pin BOOT1 are followed by GND.Referring to fig. 4,
The pwm pulse signal of generation is output to pulse amplifying circuit by MCU controller, and pulse amplifying circuit receives pwm pulse signal simultaneously
High-voltage pulse signal is exported to ultrasonic probe, ultrasonic probe receives high-voltage pulse and emits ultrasonic wave, and ultrasonic probe will receive
Echo-signal after band pass filter circuit filter and amplification, then by logarithmic amplifying circuit or timer capture/outside
MCU controller is transported to after disconnected mode circuit sampling；Electronic compass 7, spin stepper motor 2 are connect with MCU controller respectively；
MCU controller connects the communication module for communicating with host computer.Wherein:
1, STM32F407VG main control chip has a characteristic that
(1) advanced technology and technique
Memory accelerator: adaptive accelerator (ART Accelerator in real timeTM)
Multiple ahb bus matrix and multi-channel DMA: support program executes and data transmit parallel processing, data transmission speed
Rate is very fast
- 90nm technique
(2) high-performance
-210DMIPS@168MHz
Due to using the ART accelerator of ST (STMicw Electronics), to be equivalent to 0 waiting more from FLASH operation for program
Memory
Up to 1MB FLASH
- 192Kb SRAM:128KB on bus matrix, 64KB on aiming at the data/address bus that CPU is used advanced peripheral with
STM32F2 is compatible
- USB OTG high speed 480Mbit/s
- IEEE1588, ethernet mac 10/100
- PWM high speed timer: 168MHz maximum frequency
Encryption/Hash hardware processor: 32 randomizers (RNG)
The real-time clock of 32 RTC: < 1 μ A with calendar function, 1 second precision
(3) more to be promoted
Low-voltage: 1.8V to 3.6V VDD can be reduced to 1.7V in certain encapsulation
Full duplex 12S
- 12 ADC:0.41us conversions/2.4Msps (7.2Msps is in alternate mode)
High speed USART, up to 10.5Mbits/s
High speed SPI, up to 37.5Mbits/s
- Camera interface, up to 54M byte/s
2, ultrasonic probe
200K-75KHz ultrasonic transducer is used, additional pressure resistance shield is suitable for industrial mud and water
Model: DYW-75/200-E
Range: 1.8~300m of 200KHz 0.6~120m, 75KHz
Blind area: 0.6 meter of the blind area 200KHz, 1.5 meters of the blind area 75KHz
Frequency: 200KHz ± 5KHz or 75KHZ ± 3KHz
Operating voltage: crest voltage < 800VPP
Operating temperature: -20~+80 DEG C
Pressure: maximum 5000m liquid is deep
Angle: -3dB:10.4 ° of@of (beam angle) half-power angle when 200KHz, tooth angle: 24.6 °；(wave beam when 75KHz
Width) -3dB:28 ° of half-power angle@, tooth angle: 69 °
Corrosion resistance: it can be used in the environment of weak acid and weak base.
3, pulse amplifying circuit
Pulse amplifying circuit includes the reversed output circuit of sequentially connected pwm pulse wave and SSP pulse starting transformer liter
Volt circuit.The pwm signal that MCU main control chip issues (according to the requirement of the frequency of energy converter and real work, generates 5-20 week
The frequency of the pulse signal of phase, signal must be suitable with the frequency of energy converter, signal amplitude 5Vpp) by anti-by 74HCT04D
The reversed output circuit of pwm pulse wave that phase device element and auxiliary circuit are constituted (74HCT04D is a six channel phase inverters, referring to
The SSP signal opposite with pwm signal is obtained after Fig. 8)；SSP signal is using SSP pulse starting transformer booster circuit (SSP arteries and veins
Punching manages whether transformer T1 processed boosts by LU3410NMOS, and boosting driving ultrasound is then carried out when SSP has pulse
Probe, no pulse when, do not drive then, referring to Fig. 9) after obtain ultrasonic probe input signal TRANS, SSP pulse shown in Fig. 9 is opened
T1 in dynamic transformer booster circuit is transformer, and effect is that voltage is raised to voltage value required for ultrasonic probe emits；
4, band pass filter circuit
Referring to Figure 10, band pass filter circuit uses low cost, high speed, voltage feedback type amplifier AD8052, has letter
The effect of number active power filtering, 9018 hyperfrequency silicon triode Q1 have signal amplification, and (echo-signal passes through 9,018 3 poles first
Pipe Q1 amplifies faint echo-signal, cooperates auxiliary RC filter circuit to carry out level-one filtering and secondary filter using AD8052, makes
Correlated noise and interference wave are filtered out)；The signal that band pass filter circuit has been handled is exported by network C HULI to logarithmic amplification
Circuit or timer capture/external interrupt mode circuit.
5, logarithmic amplifying circuit and timer capture/external interrupt mode circuit
Two different working methods have been respectively adopted in logarithmic amplifying circuit, timer capture/external interrupt mode circuit,
Logarithmic amplifying circuit can be acquired by AD conversion mode, and timer capture/external interrupt mode circuit can be using fixed
When device acquisition mode acquire, be illustrated for using timer capture/external interrupt mode circuit here:
1) logarithmic amplifying circuit:
Bandwidth-limited circuit is connected to logarithmic amplifying circuit by network C HULI.Logarithmic amplifying circuit is adopted referring to Figure 11
Main chip has AD8310 and LM358.AD8310 is a kind of high speed voltage output type logafier of AD company production.
It can demodulate the frequency range of DC to 440MHz.LM358 is dual operational amplifier, inside include there are two it is independent,
The dual operational amplifier that high-gain, internal frequency compensate is suitable for the very wide single supply of supply voltage range and uses, is also applied for
Dual power supply operating mode, under the operating condition of recommendation, source current is unrelated with supply voltage, and (use in this circuit is single supply
Mode)；The SIG_AD signal obtained after logarithmic amplifying circuit is handled is sent to main control chip, is handled by program.
2) timer capture/external interrupt mode circuit:
Timer capture/external interrupt mode circuit, referring to Figure 12, the main chip used is with rail for LMC7211
The Small-sized C MOS comparator inputted to rail, sets a reference voltage and is adjusted by potentiometer R39, when pulse amplitude is greater than base
Then LMC7211 pin 1 (OUT pin) exports high level when quasi- voltage, and main control chip STM32F4 acquires the output time of this level
It puts to calculate echo time point, so-called timer capture/external interrupt mode is exactly to pass through to be loaded into process control main control chip
STM32F4 carries out the determination of echo time point to the pulse received.Bandwidth-limited circuit connects timer through network C HULI and catches
/ external interrupt mode circuit is obtained, INT_AD signal is obtained after timed device capture/external interrupt mode processing of circuit, is sent into master
Chip STM32F4 is controlled, main control chip STM32F4 analyzes echo signal processing.
To sum up, the overall circuit operational process of ultrasonic probe receiving and transmitting signal are as follows: pass through the timer of main control chip STM32F4
2 generate a PWM waveform, and the number of pulse is controlled by timer 3 (number and measurement distance dependent, the remote then number of distance are more)
It motivates ultrasonic probe to emit ultrasonic wave, encounters after back echo signal TRANS returns by bandwidth-limited circuit shown in Figure 10
Processing, is sent to timer capture as shown in figure 12/external interrupt mode circuit, and final SIG_INT signal is sent into master control core
Piece STM32F4 carries out the record at the interval of time.Above-mentioned logarithmic amplifying circuit and timer capture/external interrupt mode circuit are adopted
Two ways can carry out ranging, but often or timer capture/external interrupt mode sampled it is more smart
It is quasi- and easy, so selecting this mode.
6, electronic compass
Pour angle compensation formula three-dimensional electronic compass is selected, model HCM365 is mainly used in industrial petroleum geology well logging.It is special
Property is as follows:
Measurement range: 360 ° of full postures
Band Hard Magnetic, soft magnetism and pour angle compensation
Precision: 0.3 °~0.5 °
Output interface: RS232, RS485, TTL (optional)
Operating voltage: DC+5V
Wide temperature work: -40~+85 DEG C
Operating current: 40mA
Volume: 55*37*24mm may customize.
Referring to fig. 4, the data that electronic compass 7 acquires are uploaded to by the serial ports (communication module) connecting with MCU controller
Host computer.MCU master control borad circuit and host computer are placed on ground, only by fish position indicator mechanical structure (including four probe
With a stepper motor, there are also electronic compass, very mature, Ke Yizhi in terms of log well at present circuit protection and motor waterproof
Connect use) it is sent directly into underground, it can use circulation of drilling fluid and carry out cooling and heat dissipation processing, and since the process of detection is not related to
The movement such as broken rock, so too high temperature can't be generated, basic circulation of drilling fluid can reach radiating and cooling
Purpose.
MCU master control borad further includes that 24V turns 5V circuit, 5V turns 3.3V circuit, LED indication module, drive circuit board power supply electricity
Road, JLINK download interface；Wherein:
1,24V turns 5V circuit, connects external power supply 24V electricity using LM2596T5.0 (5) switching power supply regulator referring to Fig. 5
24V voltage is switched to 5.0V voltage by source, and J1 Wiring port is the port of the input of power supply, and J1.1 meets 24V, J1.2 and meets GND, warp
Cross 24V the and 5V power supply that 24V shown in Fig. 5 turns available needs after 5V processing of circuit；
2,5V turns 3.3V circuit, referring to Fig. 6, chip is adjusted using LM1117-3.3 voltage, by 5V (VCC) voltage by electricity
Pressure obtains 3.3V voltage (VDD) after adjusting chip processing, powers for main control chip STM32F407VG；
3, LED indication module, referring to Figure 13, including red LED lamp and green LED lamp, red LED lamp anode is by 5V power supply
Power supply, cathode ground connection, effect are that display 5V power supply is normal, and green LED lamp anode is by 3.3V power supply power supply, cathode and main control chip
95 pins connection, effect be cooperation software programming show program normal operation；
4, drive circuit board power supply circuit powers and provides ground for driving plate circuit referring to Figure 14, power supply be divided into 24V and
5V；
5, JLINK download interface is connected referring to Figure 15 with 72,76 pins of main control chip.
The present invention also provides a kind of method for carrying out fish positioning using above-mentioned fish position indicator, Fig. 1 is that drilling well fish is shown
It is intended to, cavity is drilling, causes out-of-round oversized hole for some reason, and breaking of rod point is located at C point, and the position after top of fish offset is
A, the bottom of out-of-round oversized hole are B.
Mentality of designing is as follows: multiple ultrasonic probes 1 are aligned on liner plate 5, are controlled and served as a contrast by spin stepper motor 2
Plate 5 is rotated to realize 360 degree of detections.Fish position indicator is sent into underground along drilling, (breaking of rod is vertically deep more than after breaking of rod point C point
Degree S is it is known that detection submerged depth T is also known), the rotated detection in traveling can when detecting near linear type object
Think that this linear type object is fish.By every characteristic of mud in the drilling rod inclined direction and out-of-round oversized hole that measure,
Drilling rod material etc. is carried out force analysis to drilling rod, calculates top of fish location A, then salvaged using traditional salvaging mode.
Following steps (such as Figure 21) is specifically included by taking the first Model of Horizontal Well as an example:
It is that θ (i.e. survey by electronic compass 7 with the angle perpendicular to ground direction if fish position indicator reaches breaking of rod location point
The pitch angle measured), it is consistent with the deflecting angle above out-of-round oversized hole.
Step 1: being mounted on drilling rod front end for fish position indicator, is sent into underground along drilling；Liner plate is successively equidistant from bottom to top
Be arranged the 1st ultrasonic probe, the 2nd ultrasonic probe ..., m ultrasonic probe, m is positive integer；Four are specifically configured to, respectively
1st ultrasonic probe, the 2nd ultrasonic probe, the 3rd ultrasonic probe and the 4th ultrasonic probe；
Step 2: when dropping to up to breaking of rod depth, (breaking of rod vertical depth S is it is known that detection submerged depth T is also
Know), the pitching angle theta of electronic compass at this time is recorded first, and fish position indicator is then made to continue to decline, PC control spin step
Into motor 360 degree rotation, if not detecting near linear type object, fish position indicator, which continues traveling downwardly, (sets each downlink
Distance Q is 10 meters), 360 degree rotation liner plate makes ultrasonic probe scanning probe again after stopping.It repeats the above steps, if detecting
Near linear type object records electronic compass 7 at this time then it is believed that the near linear type object is the disconnected drilling rod (fish) fallen
Navigation angle α.The slope β calculated by the detection range popped one's head in four1, β2, β3Whether be approximately equal value come into
Row judges whether it is near linear type object.
Step 3: fish inclination angle is calculated.
Referring to Figure 18, Repetitive controller fish position indicator downlink is simultaneously detected, until it is approximate with what is detected straight to come downwards to probe 1
Linear object reach detection blind area apart from when, acquisition multi-group data save and be uploaded to host computer.1st probe detection is to fish
Distance is d11, as shown in figure 20, using the position where the 1st ultrasonic probe as coordinate origin O, to be horizontally directed to the direction of fish
(the navigation direction angle α) is X-axis positive direction, direction is that Y-axis positive direction establishes coordinate system XOY straight up.By the XOY coordinate system inverse time
Needle rotates angle, θ, forms X'OY' coordinate system, then X'OY' coordinate system is translated d along X' axis positive direction11Obtain X " O'Y " coordinate
System, so far establishment of coordinate system finishes.Inclination angle of the fish in X'OY' coordinate system is calculated in conjunction with Figure 17 to be respectively as follows: Its
In: d11,d12,d13,d14Respectively the 1st ultrasonic probe, the 2nd ultrasonic probe, the 3rd ultrasonic probe, the 4th ultrasonic probe perpendicular to
Liner plate direction to the disconnected inclined drilling rod (fish) fallen measurement distance, it is rightIt is averaged to obtain fish inclination angle
Average valueIn Figure 18, four probes enter the data d measured when detection blind area01、d02、d03、d04For invalid data.
Step 4: coordinate transform.
Functional image as shown in figure 18 is established in detection process, each fish location point is as shown in Figure 18, to step
X'OY' coordinate system is rotated in a clockwise direction θ and obtains XOY coordinate system in rapid three, and coordinate converts calculation formula are as follows:
1. coordinate in X'OY' coordinate system can be converted to the coordinate in XOY coordinate system according to formula.
Step 5: the function curve and top of fish coordinate of fish are determined.
Referring to Figure 16, when fish is in equilibrium state, drilling rod is by self weight G, buoyancy fsAnd support force FBranchEffect, bore
Bar is in bending.Due to the effect of mud buoyancy, self weight of the drilling rod in mud are as follows:
Formula 2. in:
G-is self weight of the drilling rod in mud, unit N/m；
The aerial self weight of q-drilling rod, unit N/m；
ρMud- mud density (temperature and viscosity property that are decided by mud), unit g/cm3；
ρSteelThe density of-drilling rod, unit g/cm3。
From fish supporting point (generally out-of-round oversized hole bottom) upward 30m, drilling rod maximum flexion is 2.2 degree, is 30m
The near linear type fish of left and right, the fish approximation see the cantilever beam that one end is fixing end, the other end is free end as, such as scheme
It is approximately biquadratic curve under the action of gravity, buoyancy shown in 19.
As shown in figure 19, effect of the fish by distributed load G straight down.In figure, G indicates drilling rod in mud
Self weight, the self weight are that fish is self-possessed in air and the resultant force tilt angle of fish buoyancy is pitching angle theta, and length of cantilever L is to cut
The length of the part fish taken, drilling route when drilling well are carried out by design drawing, and drilling distance and survey meter dive distance is
Know, therefore L is known；The bending stiffness E and cantilever beam of cantilever beam are determined relative to the inertia I of neutral axis by fish material.By hanging
Arm beam is by the line of deflection approximate differential equation after G effect:Y " " is the second dervative of y ", in coordinate
It is that X " O'Y " is solved such as following formula unary biquadratic equation:
Each power coefficient is turned into A ", B ", C ", is obtained: y "=A " x "4+B”x”3+C”x”2, (L' indicates fish according to fig. 20
Withstand on the distance of Y " axis decline), any micro- section is taken, it is known thatY " ' is the first derivative of y ", to y " '
By series expansion soCurved whole section of curve is integrated,
Y " '=4A " x "3+3B”x”2+2C”x”…………………………………………………………
5. will 5. formula substitute into 4. formula obtain:
Abscissa point Wx " of the solution top of fish that 6. formula can be obtained in X " O'Y " coordinate system, is brought into 6. formula for Wx ", obtains
To ordinate point Wy " of the top of fish in X " O'Y " coordinate system, 0 Wx'=Wx "+d is obtained according to fig. 211, Wy'=Wy ", according to 1. formula
Obtain the coordinate of top of fish in the XOY coordinate system are as follows: (α, Wx=Wx'*cos θ-Wy'*sin θ, Wy=Wx'*sin θ+Wy'*cos θ),
α is the navigation angle of electronic compass, Wx, WyFor shown in Figure 20.
3. formula indicates the fish curvilinear equation obtained using the bottom of the fish intercepted as coordinate origin, according to fig. 2 shown in 0,
This equations turned can be obtained into coordinate system X'OY':
After merging abbreviation, each power coefficient is turned into A', B', C', D', E', the fish obtained in X'OY' coordinate system is bent
Line equation: y'=A'x'4+B'x'3+C'x'2+ D'x'+E', while y' derivation being obtained:
Y "=4A'x'3+3B'x'2+2C'x'+D'…………………………………………………………
…………⑦
Step 6: to fish curvilinear equation y'=A'x'4+B'x'3+C'x'2+ D'x'+E' is verified.
Probe 1 is lifted up, each Top Runby is set as 10 meters, continues to detect, and with step 3 calculation method, detects n altogether
Secondary, calculating the fish inclination angle obtained every time is(n is positive integer).TanWith x 'n
M is the number of ultrasonic probe) substitute into formula 7., fish curvilinear equation the coefficient A', B', C' acquired is verified, whether D', E' are quasi-
Really.If coefficient is accurate, step 7 is carried out.If equation coefficient is inaccurate, step 3 is returned to, and probe is sat in X'OY'
In mark system, continue traveling downwardlyRice makes probe 1 as close possible to fish.
Step 7: top of fish is calculated in XGroundOGroundYGroundCoordinate in coordinate system.
Track in drilling process is according to desired trajectory operation, while the process of fish position indicator test is also according to predetermined
Wellbore trace carry out, distance and deflecting angle that fish position indicator is horizontally and vertically walked is known quantity,
Whether directly using deflecting angle accurate, the electronics if inaccuracy then be used directly if being examined using the pitch angle that electronic compass is measured
Compass repeatedly measures the average value of the pitch angle come as deflecting angle, and in Figure 21, establishing with the Y-axis in XOY coordinate system is YGround
Axis, level ground XGroundThe coordinate system X of axisGroundOGroundYGround, utilize the W in step 5x, Wy, top of fish is obtained in coordinate system XGroundOGroundYGroundIn
Coordinate points are as follows: (α, Wx, Wy-T), the distance of azimuth α, T for fish position indicator apart from the dive of ground institute, i.e., the 1st ultrasound are visited
Vertical depth of the coordinate system O point apart from ground where head.
Above step is a series of force analysis and mathematical computations of the progress for the first kind horizontal well being directed to, and is that comparison is multiple
Miscellaneous situation, as θ=0, (such as Figure 22) is not needed compared with horizontal well the case where progress fish positioning as in vertical well
The conversion of coordinate is carried out, calculating fish curvilinear function equation actually pertains only to the mechanical analysis of functional equation and coordinate system is put down
It moves.
Fish positioning flow of the invention is as shown in figure 23.
The component and circuit design of present invention selection army grade and protection, can be in complexity such as the mud of underground high temperature and pressure
It is worked normally under environment, while can use drilling fluid and achieving the purpose that heat dissipation in detecting devices circulation.
Claims (10)
1. a kind of fish position indicator, it is characterised in that: including ultrasonic probe of multiple linear equidistant arrangements on liner plate, driving
The spin stepper motor of liner plate rotation, and the electronic compass being installed on liner plate；Each ultrasonic probe, spin stepping electricity
Mechanical, electrical sub- compass is connect with MCU master control borad respectively, and MCU master control borad connects host computer；Fish positioning is carried out using following steps:
Step 1: fish position indicator is sent into underground along drilling；Liner plate is placed equidistant with the 1st ultrasonic probe, the 2nd ultrasound from bottom to top
Probe ..., m ultrasonic probe, m is positive integer；
Step 2: it when fish position indicator, which declines, reaches breaking of rod depth, is rotated by spin step motor control liner plate to realize 360
Degree detection is advanced in detection；When detecting near linear type object, then it is assumed that the near linear type object is fish；
Step 3: host computer calculates fish inclination angle according to the data that electronic compass and ultrasonic probe measure；
Step 4: according to the characteristic of mud in out-of-round oversized hole and fish material, force analysis is carried out to fish, calculates top of fish
Fish is salvaged according to the Position on the top of the fish in position.
2. fish position indicator according to claim 1, it is characterised in that: when setting fish position indicator arrival breaking of rod location point,
It is θ with the angle perpendicular to ground direction, i.e. the pitch angle that measures of electronic compass, with the deflecting angle one above out-of-round oversized hole
It causes；The process of fish is detected in the step 2 specifically: when fish position indicator, which declines, reaches breaking of rod depth, record first
Then the pitching angle theta of electronic compass at this time controls fish position indicator and continues to decline, PC control spins 360 degree of stepper motor
Rotation, if not detecting near linear type object, fish position indicator is continued traveling downwardly, and sets 10 meters of each downlink, under each
Row, which carries out 360 degree rotation liner plate after stopping, making ultrasonic probe scanning probe, and until detecting near linear type object, the approximation is straight
Linear object is fish, records the navigation angle α of electronic compass at this time.
3. fish position indicator according to claim 2, it is characterised in that: calculate the process at fish inclination angle in the step 3
As follows: Repetitive controller fish position indicator downlink simultaneously detects, until the near linear type object for coming downwards to ultrasonic probe and detecting
Reach detection blind area apart from when, acquisition multi-group data save and be uploaded to host computer；If d1mIt is m ultrasonic probe perpendicular to lining
Plate direction is to the measurement distance of fish, and m is positive integer, and the distance of adjacent ultrasonic probe is δ；With the position where the 1st ultrasonic probe
It is set to coordinate origin O, is that Y-axis positive direction establishes XOY to be horizontally directed to the direction of fish as X-axis positive direction, direction straight up
Coordinate system；By XOY coordinate system rotated counterclockwise by angle θ, X'OY' coordinate system is formed, then X'OY' coordinate system is put down along X' axis positive direction
Move d11Obtain X " O'Y " coordinate system；Calculate inclination angle of the fish in X'OY' coordinate system:It is rightIt is averaged to obtain fish dip mean
4. fish position indicator according to claim 3, it is characterised in that: calculate the process of Position on the top of the fish in the step 4
Include the following steps: step S1, coordinate transform:
X'OY' coordinate system is rotated in a clockwise direction θ degree and obtains XOY coordinate system, obtains coordinate conversion calculation formula are as follows:
1. coordinate in X'OY' coordinate system is converted to the coordinate in XOY coordinate system according to formula；
Step S2 determines the coordinate of the function curve and top of fish of fish in the XOY coordinate system:
When fish is in equilibrium state, self weight of the drilling rod in mud are as follows:
Formula 2. in:
G-is self weight of the drilling rod in mud, unit N/m；
The aerial self weight of q-drilling rod, unit N/m；
ρMud- mud density, unit g/cm3；
ρSteelThe density of-drilling rod, unit g/cm3；
From the upward 30m of fish supporting point, it is the near linear type fish of 30m or so, this falls that drilling rod maximum flexion, which is 2.2 degree,
Fish approximation sees the beam that one end is fixing end, the other end is free end as, is approximately four songs under the action of gravity, buoyancy
Line；Effect of the fish by distributed load straight down, if G indicates that self weight of the drilling rod in mud, the self weight are that fish exists
It is self-possessed in air and the resultant force of fish buoyancy, tilt angle is the pitching angle theta that electronic compass measures, length of cantilever L is interception
Part fish length, drilling route when drilling well carries out by design drawing, and drilling distance and fish position indicator dive distance are
It is known that therefore length of cantilever L is known；The bending stiffness E and cantilever beam of cantilever beam relative to neutral axis inertia I by fish material
It determines, by cantilever beam by the line of deflection approximate differential equation after G effect are as follows:Y " " is the second order of y "
Derivative is solved in coordinate system X " O'Y " such as following formula unary biquadratic equation:
Each power coefficient is turned into A ", B ", C ", is obtained: y "=A " x "4+B”x”3+C”x”2, any micro- section is taken, it is known thatY " ' be y " first derivative, to y " ' press series expansion soIt will bending
Whole section of curve integrated, have:
Y " '=4A " x "3+3B”x”2+ 2C " x " ... ... ... ... ... ... ... ... ... ... ... 5.,
To 5. formula substitution, 4. formula obtains:
6. abscissa point Wx " of the top of fish in X " O'Y " coordinate system can be obtained in formula to solution, and Wx " is brought into 6. formula, obtains top of fish
Ordinate point Wy " in X " O'Y " coordinate system, thus Wx'=Wx "+d11, Wy'=Wy " obtains top of fish in XOY according to 1. formula
Coordinate in coordinate system are as follows: (α, Wx'*cos θ-Wy'*sin θ, Wx'*sin θ+Wy'*cos θ), α are the navigation angle of electronic compass；
3. formula indicates the fish equation obtained using the bottom of the fish intercepted as coordinate origin, this is equations turned to coordinate system X'
It can be obtained in OY':
After merging abbreviation, each power coefficient is turned into A', B', C', D', E', is obtained: the fish curve in X'OY' coordinate system
Equation y'=A'x'4+B'x'3+C'x'2+ D'x'+E', while y' derivation being obtained:
Y "=4A'x'3+3B'x'2+2C'x'+D'…………………………………………………………………
…⑦；
Step S3, to fish curvilinear equation y'=A'x'4+B'x'3+C'x'2+ D'x'+E' is verified:
Ultrasonic probe is lifted up, each Top Runby is set as 10 meters, continues to detect, and with step 3 calculation method, visits altogether
N times are surveyed, calculating the fish inclination angle obtained every time isN is positive integer；?With x 'nSubstitute into formula 7., whereinM is the number of ultrasonic probe, verifies fish curvilinear equation coefficient A', the B' acquired,
Whether C', D', E' are accurate；If coefficient is accurate, step S4 is carried out, if equation coefficient is inaccurate, returns to step 3, and will
Ultrasonic probe continues traveling downwardly in X'OY' coordinate systemRice, makes ultrasonic probe as close possible to fish；
Step S4 calculates top of fish in XGroundOGroundYGroundCoordinate position in coordinate system:
Track in drilling process is according to desired trajectory operation, while the process of fish position indicator test is also according to scheduled brill
Well track carries out, and distance and deflecting angle that fish position indicator is horizontally and vertically walked is known quantity, utilizes
Whether the pitch angle that electronic compass is measured directly uses deflecting angle accurate to examine, the electronic compass if inaccuracy then be used directly
The average value of the pitch angle come is repeatedly measured as deflecting angle, establishing with the Y-axis in XOY coordinate system is YGroundAxis, level ground are
XGroundThe coordinate system X of axisGroundOGroundYGround, so utilizing the W in step S2x, Wy, top of fish is finally obtained in coordinate system XGroundOGroundYGroundIn coordinate
Point are as follows: (α, Wx, Wy-T), wherein azimuth is α, distance of the T for fish position indicator apart from the dive of ground institute, i.e., the 1st ultrasound spy
Vertical depth of the coordinate system O point apart from ground where head.
5. fish position indicator according to claim 1, it is characterised in that: spin stepper motor is connected by optical axis and liner plate
It connects.
6. fish position indicator according to claim 5, it is characterised in that: it further include a cylinder type shell, stepping of spinning
Motor is fixed on cylinder type cover top portion；Optical axis one end connection spin stepper motor, the optical axis other end is from cylinder type outer casing bottom
Stretching is connect with liner plate.
7. fish position indicator according to claim 6, it is characterised in that: be additionally provided with one in cylinder type interior of shell and prevent
The only bearing platform that optical axis is eccentrically rotated.
8. fish position indicator according to claim 7, it is characterised in that: the bearing platform is fixed on cylinder type shell
On internal edge；The bearing being mounted on optical axis is provided on bearing platform.
9. fish position indicator according to claim 1, it is characterised in that: MCU master control borad includes MCU controller, MCU control
The pwm pulse signal of generation is output to pulse amplifying circuit by device, and pulse amplifying circuit receives pwm pulse signal and exports high pressure
To ultrasonic probe, ultrasonic probe receives the high-voltage pulse signal and simultaneously emits ultrasonic wave pulse signal；Ultrasonic probe will receive
Echo-signal after band pass filter circuit filter and amplification, then by logarithmic amplifying circuit or timer capture/outside
MCU controller is transported to after disconnected mode circuit sampling；Electronic compass, spin stepper motor are connect with MCU controller respectively；MCU
Controller is also connected with the communication module for communicating with host computer.
10. fish position indicator according to claim 1, it is characterised in that: each ultrasonic probe uses additional pressure resistance
The ultrasonic transducer of shield.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158279.5A CN105649612B (en) | 2016-03-18 | 2016-03-18 | A kind of fish position indicator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158279.5A CN105649612B (en) | 2016-03-18 | 2016-03-18 | A kind of fish position indicator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105649612A CN105649612A (en) | 2016-06-08 |
| CN105649612B true CN105649612B (en) | 2018-12-25 |
Family
ID=56494802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610158279.5A Expired - Fee Related CN105649612B (en) | 2016-03-18 | 2016-03-18 | A kind of fish position indicator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105649612B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111197483B (en) * | 2018-10-31 | 2022-09-23 | 中石化石油工程技术服务有限公司 | Ultrasonic detector for fish falling in petroleum drilling |
| CN111594149A (en) * | 2019-02-20 | 2020-08-28 | 中石化石油工程技术服务有限公司 | Device for detecting fish falling in petroleum drilling by utilizing ultrasonic principle |
| CN109869109B (en) * | 2019-03-26 | 2023-07-14 | 中铁大桥局集团有限公司 | Method for fishing drill bit and drill bit fishing device |
| CN112049594B (en) * | 2020-09-03 | 2022-08-12 | 吉林师范大学 | Slurry internal environment detection and salvage platform |
| CN112647931B (en) * | 2020-12-29 | 2022-08-09 | 中国地质大学（武汉） | Underground accident detection device and method in geological drilling process |
| CN114215509A (en) * | 2021-12-30 | 2022-03-22 | 丁琰 | Fish-touch instrument for well logging in petroleum engineering |
| CN115182695B (en) * | 2022-08-01 | 2024-04-05 | 成都安蒂瑞斯能源科技有限公司 | Drilling well fish fishing tool and fishing method |
| CN116717240B (en) * | 2023-04-13 | 2024-01-19 | 中国石油天然气集团有限公司 | Underground fish head detection system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200986541Y (en) * | 2006-03-17 | 2007-12-05 | 岳为 | Underground litter detector |
| US7463553B2 (en) * | 2007-03-26 | 2008-12-09 | Furuno Electric Company Limited | Underwater detection device |
| CN201180537Y (en) * | 2007-11-28 | 2009-01-14 | 杭州瑞利声电技术公司 | Down-hole falling objects detection actuating mechanism |
| CN201297171Y (en) * | 2008-11-27 | 2009-08-26 | 中国石化股份胜利油田分公司现河采油厂 | Casing falling materials detecting device |
| CN103954966A (en) * | 2014-04-10 | 2014-07-30 | 华南理工大学 | Ultrasonic detection imaging method and device |
| US20150300151A1 (en) * | 2014-02-13 | 2015-10-22 | Shahab D. Mohaghegh | System and method providing real-time assistance to drilling operation |
| CN105317422A (en) * | 2015-11-18 | 2016-02-10 | 中石化石油工程技术服务有限公司 | Underground visual probing equipment and method |
-
2016
- 2016-03-18 CN CN201610158279.5A patent/CN105649612B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200986541Y (en) * | 2006-03-17 | 2007-12-05 | 岳为 | Underground litter detector |
| US7463553B2 (en) * | 2007-03-26 | 2008-12-09 | Furuno Electric Company Limited | Underwater detection device |
| CN201180537Y (en) * | 2007-11-28 | 2009-01-14 | 杭州瑞利声电技术公司 | Down-hole falling objects detection actuating mechanism |
| CN201297171Y (en) * | 2008-11-27 | 2009-08-26 | 中国石化股份胜利油田分公司现河采油厂 | Casing falling materials detecting device |
| US20150300151A1 (en) * | 2014-02-13 | 2015-10-22 | Shahab D. Mohaghegh | System and method providing real-time assistance to drilling operation |
| CN103954966A (en) * | 2014-04-10 | 2014-07-30 | 华南理工大学 | Ultrasonic detection imaging method and device |
| CN105317422A (en) * | 2015-11-18 | 2016-02-10 | 中石化石油工程技术服务有限公司 | Underground visual probing equipment and method |
Non-Patent Citations (1)
| Title |
|---|
| BN-3井测井仪器打捞技术;林立新等;《石油钻探技术》;20030625;第31卷(第3期);第62-63页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105649612A (en) | 2016-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105649612B (en) | A kind of fish position indicator | |
| US9851467B2 (en) | Tool for azimuthal resistivity measurement and bed boundary detection | |
| CN101713286B (en) | Electromagnetic system for detecting distance between adjacent wells while drilling | |
| US9465132B2 (en) | Tool for azimuthal resistivity measurement and bed boundary detection | |
| CN101852078B (en) | Electromagnetic distance measurement guide system for double solenoid set during drilling | |
| CN101806210B (en) | System using solenoid groups to achieve electromagnetic guiding distance measurement while drilling | |
| CN101799558B (en) | Electromagnetic surveying system while drilling of adjacent-well parallel intervals | |
| CN101713288B (en) | Measuring instrument for distance between adjacent wells by electromagnetic detection while drilling | |
| CN205532589U (en) | Fish locater | |
| CN110196452A (en) | Extraordinary great burying underground piping detection device | |
| US8613315B2 (en) | Complex tool for well monitoring | |
| CN112097633B (en) | Underground displacement three-dimensional measurement system and method based on double-mutual-inductance equivalent voltage | |
| CN202391408U (en) | Anti-collision range unit based on alternating magnetic field measurement | |
| CN2627214Y (en) | Multiple parameter ultrasonic engineering logging device | |
| CN105804728B (en) | A kind of fish localization method | |
| CN109322660A (en) | A kind of main stress direction measurement-while-drilling system signal exciting bank of level | |
| CN109209360A (en) | A kind of main stress direction measurement-while-drilling system of level and measurement method | |
| CN207296995U (en) | A kind of high accuracy Integral wireless measurement-while-drilling system | |
| WO2021043043A1 (en) | Imaging feature extraction method and imaging apparatus for use in multidimensional borehole | |
| CN103089239A (en) | Methods and systems for determining standoff between downhole tool and geological formation | |
| BR112015004054B1 (en) | method for determining a geometric factor of a sensor | |
| CN201521293U (en) | Wireless while-drilling measuring device integrated with orientation and natural gamma ray | |
| BR102019027985A2 (en) | CONNECTOR RING, SYSTEM, AND, METHOD | |
| CN109611075A (en) | A kind of real-time clock synchronization system and well logging device | |
| CN109184675A (en) | A kind of main stress direction measurement-while-drilling system signal acquisition of level and storage device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 |