CN114740462A - System and method for acquiring data of deep hole wall surface stress relief drilling machine in real time - Google Patents
System and method for acquiring data of deep hole wall surface stress relief drilling machine in real time Download PDFInfo
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- CN114740462A CN114740462A CN202210326392.5A CN202210326392A CN114740462A CN 114740462 A CN114740462 A CN 114740462A CN 202210326392 A CN202210326392 A CN 202210326392A CN 114740462 A CN114740462 A CN 114740462A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/103—Systems for measuring distance only using transmission of interrupted, pulse modulated waves particularities of the measurement of the distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a system and a method for acquiring data of a deep hole wall stress relief drilling machine in real time, wherein the system comprises an underground measuring system, a communication power supply system, a ground circuit detection system, a hydraulic balance system and a pushing positioning unit; the underground measuring system is arranged in the wall surface stress relief drilling machine and is in communication connection with the communication power supply system; the communication power supply system is in communication connection with the ground circuit detection system; supplying power to each electrical appliance through the communication power supply system, sending an instruction and transmitting parameters acquired by each sensor of the underground measuring system back to the ground circuit detection system; the ground circuit detection system monitors the power and signal properties of the line in the whole process; the underground environment parameter and the drilling machine operation parameter are collected in real time through the underground measuring system, the communication power supply system and the circuit detection system, so that the real-time monitoring of the test environment is realized, and the drilling safety is further ensured.
Description
Technical Field
The invention belongs to the technical field of geotechnical measurement, and particularly relates to a system and a method for acquiring data of a deep hole wall stress relief drilling machine in real time.
Background
The local wall surface stress relieving method is a method for performing annular coring on a plurality of local positions on a well wall, recording micro-strain variation quantity on the positions before and after stress relieving by means of a strain gauge, measuring more than 6 independent positive strains on the local wall surface, and finally calculating corresponding far-field ground stress tensor by comprehensively measuring the strains. The wall surface stress relieving drilling machine separates rocks at a measuring point from surrounding rock masses by drilling holes on a well wall, so that a stress environment is relieved.
At present, the wall surface stress relief drilling machine is widely applied to drilling operation in the fields of energy development, deep ground engineering and the like. Practice proves that the measuring effect is influenced by the stress relief depth. The stress of the local wall surface of the core diameter with the depth reaching 1.2 times can be completely relieved. The key factor for restricting the development of the local wall surface stress relief normal to the deep rock stratum is that the success rate of stress relief in soft rock and rock stratum with relatively developed joints is low, core breaking and drill sticking often occur, so that complete stress relief cannot be performed on the test point, and therefore large errors are calculated by the ground stress.
In addition, when the wall surface stress relief drilling machine works, the wall surface stress relief drilling machine can disturb the wall of a well to a certain extent, and meanwhile, drilling fluid is filled underground, so that the situation of an operation area cannot be timely acquired through conventional means such as video. In order to avoid the occurrence of hole collapse accidents, the activity of downhole measurements is greatly limited. If a hole collapse accident happens, the drilling machine is easily buried, the fishing work of the deep hole is complicated, the success rate is extremely low, and finally, the waste hole is caused. In addition, the wall stress relieving drilling machine needs to perform an underground test, all drill rods in a hole need to be removed firstly, and the drilling machine is lowered to an operation area through a cable. In view of the complex drilling procedure of the drilling machine, the related parameters of the in-situ environment where the drilling machine is located should be collected as much as possible. The phenomena of core caking, core breaking and the like are easy to occur in the underground high confining pressure environment, and meanwhile, whether simple sampling or stress relief is carried out, certain requirements on the integrity of the core are met;
therefore, an earth stress system which can realize the real-time data acquisition of a deep hole (the depth range exceeds 1000 meters) wall surface stress relief drilling machine and can endure complex environments such as high temperature and high pressure is urgently needed to solve the defects in the prior art.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a system and a method for acquiring data of a deep hole wall stress relief drilling machine in real time, wherein an underground measuring system is arranged in the wall stress relief drilling machine, the upper end and the lower end of the underground measuring system are respectively connected with an underground communication power supply system and a hydraulic balance system through a pushing positioning unit, and the underground communication power supply system is in communication connection with a ground circuit detection system; the underground measuring system also comprises a drilling machine track recording module, an environmental parameter measuring module and a drilling process monitoring module which are sequentially arranged from top to bottom, and in order to improve the ground stress testing progress and ensure the basic construction safety, the underground measuring system collects the torque, the rotating speed, the drilling pressure and the displacement parameters of a drill bit through the drilling process detecting module; recording the attitude and track data of the drilling machine through a drilling machine track recording module; measuring the underground environment parameters of the drilling machine through an environment parameter measuring module; the circuit working condition of the drilling machine is monitored through a ground circuit detection system, and the whole process of drilling machine well descending, coring and recovery is monitored and monitored in real time through the method; according to the invention, by acquiring the underground environment parameters and the drilling machine operation parameters in real time, the test environment can be monitored in real time, hole collapse accidents are avoided, the drilling safety is ensured, a plurality of tasks can be completed by one-time underground drilling of the drilling machine, and the safety and the efficiency are both considered; the test effect can be ensured by collecting the parameters of the drilling machine in real time, and the accurate evaluation of the underground environment is facilitated; the problems that in the prior art, the wall surface stress relief is easy to cause core caking, core breaking and drill sticking under the underground high confining pressure environment can be solved; the wall surface stress relieving drilling machine can disturb the well wall to a certain extent when working, and the condition of an operation area cannot be obtained in time.
In order to achieve the above object, one aspect of the present invention provides a deep hole wall stress relief drilling machine data real-time acquisition system, which includes an underground measurement system, a communication power supply system, a ground circuit detection system, a hydraulic balance system and a pushing positioning unit; wherein the content of the first and second substances,
the underground measuring system comprises a drilling machine track recording module, an environmental parameter measuring module, a drilling process monitoring module and an expansion module which are sequentially arranged in the wall stress relief drilling machine from top to bottom; the communication power supply system comprises a steel cable, an optical cable and a cable which are arranged on the periphery of the winch; the ground circuit detection system comprises a power meter connected with the communication power supply system and an oscilloscope connected with the power meter;
the underground measuring system is arranged in the wall surface stress relief drilling machine and is in communication connection with the communication power supply system; the communication power supply system is in communication connection with the ground circuit detection system; supplying power to each electrical appliance through the communication power supply system, sending an instruction and transmitting parameters acquired by each sensor of the underground measuring system back to the ground circuit detection system; the ground circuit detection system monitors the power and signal properties of the line in the whole process; underground environment parameters and drilling machine operation parameters are collected in real time through an underground measuring system, a communication power supply system and a ground circuit detection system, so that real-time monitoring of a test environment is realized, and further drilling safety is ensured; centering and positioning the whole wall surface stress relief drilling machine data real-time acquisition system through the pushing positioning unit, and fixing the wall surface stress relief drilling machine on the wall surface; the hydraulic balance system is arranged at the bottom of the underground measuring system and used for compensating the hydraulic oil pressure of the whole acquisition system, and therefore the adaptability of the system applied to the deep drilling complex environment is improved.
Furthermore, the drilling machine track recording module comprises a gyroscope fixed on a diaphragm plate in the wall surface stress relief drilling machine and a cable length measuring instrument arranged on the ground; the gyroscope is used for obtaining the azimuth and the attitude of the drilling machine; the center of a sensor of the gyroscope is superposed with the center of the section of the wall surface stress relief drilling machine;
and the cable length measuring instrument is connected with the communication power supply system and is used for measuring the distance of the wall surface stress relief drilling machine submerged in the well.
Further, the environment parameter measuring module comprises an ultrasonic imager, a hydraulic sensor, a densitometer and a thermometer;
the ultrasonic imager is used for realizing visualization of underground states, is not interfered by drilling fluid, is symmetrically arranged at the concave parts on two sides of the outer wall of the drilling machine, and accurately depicts the shape of the hole wall by continuously transmitting ultrasonic waves to the outside and receiving reflected sound wave signals during working;
the hydraulic sensor, the densimeter and the thermometer are respectively used for collecting the pressure, the density and the temperature of the drilling fluid;
probes of the hydraulic sensor, the densimeter and the thermometer are fixed on a diaphragm plate in the wall surface stress relief drilling machine; the probes of the hydraulic sensor, the densimeter and the thermometer are all downward so as to avoid rock debris accumulation from influencing the measurement precision;
and the two sides of the sensor probe directions of the hydraulic sensor, the densimeter and the thermometer are respectively provided with an opening on the outer wall of the wall surface stress relief drilling machine, and drilling fluid can enter the inside of the wall surface stress relief drilling machine through the openings without being hindered.
Furthermore, the drilling process monitoring module comprises a torque rotating speed sensor, a stress slip ring, a guide rail, a shifting piece and a displacement sensor;
the torque rotating speed sensor and the stress slip ring are both arranged on the guide rail, and two ends of the guide rail are arranged between the inner walls of two opposite sides of the drilling machine;
the torque rotating speed sensor and the stress slip ring both comprise a stator shell and a rotor core which are concentric and coaxial, a drill rod of the wall surface stress relieving drilling machine penetrates through and is fixed on the rotor core, and a drill bit is arranged on the drill rod; the outer wall of the drilling machine opposite to the drill bit is provided with a drilling machine hole;
stator shells of the torque rotating speed sensor and the stress slip ring sensor are fixed on the guide rail and can slide along the guide rail without friction;
the stress slip ring is arranged on one side, close to the drill bit, of the torque rotating speed sensor and is used for collecting stress on the drill rod and converting the stress into bit pressure;
the plectrum is fixed at the front end of a stator shell of the stress slip ring, can slide along the guide rail and keeps advancing and retreating synchronously with the stator shell of the stress slip ring;
one end of the displacement sensor is fixed on the inner wall of the wall surface stress relief drilling machine, and the other end of the displacement sensor is connected with the shifting piece; when the torque rotating speed sensor, the stress slip ring and the displacement sensor advance along with the drill bit, the plectrum also advances along with the drill bit, and the advancing distance of the drill bit is measured through the displacement sensor;
the torque and rotating speed sensor is used for detecting the rotating speed of a drill bit and the torque on a drill rod in the coring process.
Furthermore, one end of each of the steel cable, the optical cable and the electric cable is connected with the underground measuring system, the other end of each of the steel cable, the optical cable and the electric cable is connected with the ground circuit detection system, the steel cable is used for bearing tension, and the optical cable is used for transmitting high-frequency digital signals; the cable is used for transmitting electric energy.
Further, the power meter is used for checking whether the power supply voltage value is reasonable when the wall surface stress relief drilling machine works; the oscilloscope is used for observing whether the waveform, amplitude and frequency of the voltage and current signals of the wall surface stress relief drilling machine during working meet the design requirements.
Further, the pushing positioning unit comprises a first pushing positioning piece arranged between the top of the wall surface stress relief drilling machine and the bottom of the communication power supply system and a second pushing positioning piece arranged between the bottom of the wall surface stress relief drilling machine and the hydraulic balance system;
the pushing positioning unit drives the connecting rod structure to act in a hydraulic piston driving mode, so that the connecting structure is folded under the action of thrust and is unfolded along the radial direction of the drilled well, the connecting rod hinged point and the drilled well wall form a plurality of supporting points, the fact that the straight line determined by positioning of the pushing positioning mechanism is overlapped with the axis of the drilled well is guaranteed, centering and positioning of the whole wall stress relieving drilling machine data real-time acquisition system are completed, and the wall stress relieving drilling machine is fixed on the wall.
The invention also provides a real-time data acquisition method for the deep hole wall surface stress relief drilling machine, which comprises the following steps:
s1: checking the performance of the drilling machine through a ground circuit detection system, and lowering the drilling machine through a communication power supply system;
s2: determining a drill lowering track through an underground measuring system, measuring underground environment parameters in real time and acquiring a test area meeting the requirements;
s3: fixing the drilling machine on the well wall through the pushing positioning unit, and aligning the drill bit to the well wall to be drilled;
s4: starting a drilling machine to start stress relief operation, and obtaining drilling machine operation parameters through a drilling process monitoring module;
s5: and (4) transmitting the drilling machine operation parameters acquired by the drilling process monitoring module in the step S4 to the ground circuit detection system in real time through an optical cable of a communication power supply system, and transmitting an operation instruction sent by the ground circuit detection system to each system in real time through the optical cable, so that the whole process of drilling machine well descending, coring and recovery is monitored in real time.
Further, step S2 further includes the following steps:
s21: in the lowering process, the position and the posture of the drilling machine are recorded in real time through a gyroscope of the drilling machine track recording module, and the lowering distance is recorded through a cable length measuring instrument, so that the drilling machine track is determined;
s22: the hydraulic pressure, the liquid density and the temperature parameters of the underground environment are respectively measured in real time through a hydraulic sensor, a densimeter and a thermometer of the environment parameter measuring module; and scanning the well wall form by an ultrasonic imager of the environmental parameter measuring module until a complete stratum meeting the requirement is selected as a test area.
Further, step S1 includes starting a ground circuit detection system, performing circuit inspection on the wall stress relief drilling machine after turning on the power meter and the oscilloscope, and after no abnormality is detected, hoisting the wall stress relief drilling machine through the communication power supply system and lowering the wall stress relief drilling machine along the drilled well;
step S4 further includes recording the torque and the rotational speed of the drill bit via a torque rotational speed sensor of the drilling process monitoring module, recording the stress on the drill rod via a stress slip ring, and recording the distance the drill bit advances via a displacement sensor.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the invention relates to a data real-time acquisition system of a deep hole wall stress relief drilling machine, which is characterized in that an underground measuring system is arranged in the wall stress relief drilling machine, the upper end and the lower end of the underground measuring system are respectively connected with an outdoor communication power supply system and a hydraulic balance system through a pushing positioning unit, and the outdoor communication power supply system is in communication connection with a ground circuit detection system; the underground measuring system also comprises a drilling machine track recording module, an environmental parameter measuring module and a drilling process monitoring module which are sequentially arranged from top to bottom, and in order to improve the ground stress testing progress and ensure the basic construction safety, the invention collects the torque, the rotating speed, the drilling pressure and the displacement parameters of a drill bit through a torque rotating speed sensor, a stress slip ring and a displacement sensor of the drilling process detecting module; recording the attitude and track data of the drilling machine through a gyroscope of the drilling machine track recording module and a cable length measuring instrument; measuring the underground environment parameters of the drilling machine through an ultrasonic imager, a hydraulic sensor, a densimeter and a thermometer of the environment parameter measuring module; the circuit working condition of the drilling machine is monitored through a power meter and an oscilloscope of a ground circuit detection system, and the whole process of drilling machine descending, coring and recovery is monitored and monitored in real time through the method; according to the invention, by acquiring the underground environment parameters and the drilling machine operation parameters in real time, the test environment can be monitored in real time, hole collapse accidents are avoided, the drilling safety is ensured, a plurality of tasks can be completed by one-time underground drilling of the drilling machine, and the safety and the efficiency are both considered; the testing effect can be ensured by collecting the parameters of the drilling machine in real time, and the accurate evaluation of the underground environment is facilitated; the problems that in the prior art, the wall surface stress relief is easy to cause core caking, core breaking and drill sticking under the underground high confining pressure environment can be solved; the wall surface stress relieving drilling machine can disturb the well wall to a certain extent when working, and the condition of an operation area cannot be obtained in time.
(2) According to the deep hole wall surface stress relief drilling machine data real-time acquisition system, the underground environment parameters and the drilling machine operation parameters are acquired in real time through the underground measurement system 1, the outdoor communication power supply system 2 and the ground circuit detection system 3, so that the test environment can be monitored, the drilling safety is ensured, and hole collapse accidents are avoided; the construction cost of the deep hole is extremely high, and the stability of the drilling well is not damaged when various monitoring activities are carried out. Through the acquired downhole parameters, the operation state of the drilling machine and the stability of the coring area environment in the sidewall coring process can be monitored. Once the parameters are abnormal, the drilling can be stopped or related measures can be taken immediately, and accidents are avoided. The collected environmental parameters are also valuable in-situ test data. The drilling machine can complete multiple tasks once when going into the well, and safety and efficiency are both considered.
(3) According to the deep hole wall surface stress relief drilling machine data real-time acquisition system, the test effect can be ensured by acquiring the drilling machine parameters in real time. Whether sidewall coring is for the purpose of sampling or measuring stress, there is a requirement for core integrity. The test precision is greatly influenced by the short core taking length. At the same time, the acquired drilling data can assist in the improvement of sidewall coring techniques.
(4) The data real-time acquisition system for the deep hole wall surface stress relief drilling machine is beneficial to accurate evaluation of the underground environment through comprehensive acquisition parameters. And multiple parameters obtained from the same point position are integrated, so that the evaluation accuracy can be improved. If the inclination of the drilling machine is recorded, the accurate direction of stress relief can be accurately obtained, and the method is also helpful for predicting the main stress direction. The values acquired by the strain gauge can be corrected by means of the recorded downhole temperature parameters. The drilling machine data acquisition system has more electronic components and limited internal space, so that certain requirements are made on the manufacturing integration capacity.
Drawings
Fig. 1 is a schematic diagram of a working state of a data real-time acquisition system for a deep hole wall surface stress relief drilling machine according to an embodiment of the invention.
FIG. 2 is a schematic structural diagram of a data real-time acquisition system of a deep hole wall stress relief drilling machine according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a drilling rig trajectory recording module of an underground measuring system of a deep hole wall stress relief drilling rig data real-time acquisition system according to an embodiment of the invention;
FIG. 4 is a schematic view of an environmental parameter measurement module of an underground measurement system of a real-time data acquisition system of a deep hole wall stress relief drilling machine according to an embodiment of the invention;
FIG. 5 is a schematic view of a drilling process monitoring module of an underground measuring system of a real-time data acquisition system for a deep hole wall stress relief drilling machine according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for acquiring data of a deep hole wall stress relief drilling machine in real time according to an embodiment of the invention.
In all the figures, the same reference numerals denote the same features, in particular: 1-underground measuring system, 11-drilling rig track recording module, 111-gyroscope, 112-cable length measuring instrument, 12-environmental parameter measuring module, 121-ultrasonic imager, 122-hydraulic sensor, 123-densimeter, 124-thermometer, 125-tapping, 13-drilling process monitoring module, 131-sensor, 132-stress slip ring, 133-guide rail, 134-plectrum, 135-displacement sensor, 14-expansion module, 2-extra-well communication power supply system, 21-steel cable, 22-optical cable, 23-cable, 3-ground circuit detection system, 31-power instrument, 32-oscilloscope, 4-hydraulic balance system, 5-pushing positioning unit, 51-first pushing positioning piece, 52-second pushing positioning piece, 6-wall surface stress relieving drilling machine, 61-diaphragm plate, 62-drill bit and 63-drill hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, when an element is referred to as being "fixed to", "disposed on" or "provided on" another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element; the terms "mounted," "connected," and "provided" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
As shown in fig. 1-5, the invention provides a data real-time acquisition system for a deep hole wall surface stress relief drilling machine, which comprises an underground measurement system 1, an off-well communication power supply system 2, a ground circuit detection system 3, a hydraulic balance system 4 and a pushing positioning unit 5; the underground measuring system 1 is arranged in the wall surface stress relieving drilling machine 6 and is in communication connection with the off-well communication power supply system 2, the underground measuring system 1 is a main measuring and collecting module of the whole wall surface stress relieving drilling machine data real-time collecting system, and the underground measuring system is integrated by various sensors to monitor the underground environment in real time; the off-well communication power supply system 2 is in communication connection with the ground circuit detection system 3; the communication power supply system 2 is responsible for supplying power to all electrical appliances, sending instructions and transmitting parameters acquired by all sensors of the underground measuring system 1 back to the ground circuit detection system 3; the circuit detection system 3 is used for monitoring the power of the line and the property of the signal in the whole process, if an abnormal condition occurs, corresponding measures are adopted for processing, and the power is re-electrified after the fault is eliminated; the pushing positioning unit 5 comprises a first pushing positioning piece 51 arranged between the top of the wall surface stress relieving drilling machine 6 and the bottom of the extrawell communication power supply system 2 and a second pushing positioning piece 52 arranged between the bottom of the wall surface stress relieving drilling machine 6 and the hydraulic balance system 4, and a straight line is determined by two points, so that the straight line determined by the pushing positioning mechanism is unique; the pushing positioning unit 5 drives the connecting rod structure to act in a hydraulic piston driving mode, so that the connecting structure is folded under the action of thrust and is unfolded along the radial direction of the drilled well, a plurality of supporting points are formed between the hinged point of the connecting rod and the drilled well wall, the straight line determined by positioning of the pushing positioning mechanism is ensured to be superposed with the axis of the drilled well, the centering and positioning of the whole wall stress relieving drilling machine data real-time acquisition system are completed, and the wall stress relieving drilling machine 6 is fixed on the wall surface; the hydraulic balance system 4 is arranged at the bottom of the underground measuring system 1 and is used for compensating the hydraulic oil pressure filled in the pushing positioning unit 5 and the underground measuring system 1 so as to balance the pressure in a drilling well, so that the high-pressure environment of a deep drilling hole is adapted, the system is prevented from being damaged by pressure, and the application adaptability of the system in the complex environment of deep drilling is further improved; according to the invention, the underground environment parameters and the drilling machine operation parameters are collected in real time through the underground measuring system 1, the outdoor communication power supply system 2 and the ground circuit detection system 3, so that the test environment can be monitored, the drilling safety is ensured, hole collapse accidents are avoided, the accurate evaluation of the underground environment is facilitated, and the test effect is ensured.
Further, as shown in fig. 1 to 5, the wall stress relief drilling machine 6 has a high-strength metal casing structure, which can well protect the working components to adapt to the underground environment with high temperature and high pressure and full of drilling fluid; the underground measuring system 1 comprises a drilling machine track recording module 11, an environmental parameter measuring module 12, a drilling process monitoring module 13 and an expansion module 14 which are sequentially arranged in the wall stress relieving drilling machine 6 from top to bottom; the drilling rig track recording module 11 comprises a gyroscope 111 fixed on the transverse diaphragm 61 in the wall surface stress relieving drilling rig 6 and a cable length measuring instrument 112 arranged on the ground; the gyroscope 111 is similar to an electronic compass and is used for measuring an inclination angle and obtaining the azimuth and the attitude of the drilling machine; the center of the sensor of the gyroscope 111 coincides with the center of the section of the wall surface stress relief drilling machine 6; the cable length measuring instrument 112 is connected with the communication power supply system 2 and is used for measuring the distance of the wall surface stress relief drilling machine 6 submerged in the well; the direction and the posture of the wall stress relieving drilling machine 6 are measured by the gyroscope 111, and the track of the wall stress relieving drilling machine 6 in the well can be recorded in detail by combining the distance of the wall stress relieving drilling machine 6 in the well, which is measured by the cable length measuring instrument 112; besides measuring the drilling verticality, the drilling angle of the wall surface stress relieving drilling machine 6 during stress contact can be calculated, and the analysis of the ground stress direction is facilitated.
Further, as shown in fig. 1 to 5, the environmental parameter measurement module 12 includes an ultrasonic imager 121, a hydraulic pressure sensor 122, a densitometer 123, and a thermometer 124; the ultrasonic imager 201 is used for realizing visualization of an underground state, is not interfered by drilling fluid, is symmetrically arranged at the concave parts at two sides of the outer wall of the drilling machine, and accurately depicts the shape of the hole wall by continuously emitting ultrasonic waves to the outside and receiving reflected sound wave signals during working; if the survey area finds integrity or is at a stratigraphic boundary, the survey area may be selected to take measurements elsewhere; the hydraulic sensor 122, the densimeter 123 and the thermometer 124 are respectively used for collecting the pressure, the density and the temperature of the drilling fluid; the probes of the hydraulic sensor 122, the densimeter 123 and the thermometer 124 are fixed on a diaphragm plate in the wall surface stress relief drilling machine 6, and the probes of the hydraulic sensor 122, the densimeter 123 and the thermometer 124 are all downward, so that rock debris accumulation is avoided from influencing measurement accuracy; the outer walls of the wall stress relief drilling machine 6 on two sides of the sensor probe directions of the hydraulic sensor 122, the densimeter 123 and the thermometer 124 are respectively provided with an opening 125, and drilling fluid can enter the inside of the wall stress relief drilling machine 6 through the opening 125 without being obstructed.
Further, as shown in fig. 1 to 5, the drilling process detection module 13 includes a torque rotation speed sensor 131, a stress slip ring 132, a guide rail 133, a dial 134, and a displacement sensor 135; the torque rotating speed sensor 131 and the stress slip ring 132 are both arranged on the guide rail 133, and two ends of the guide rail 133 are arranged between the inner walls of two opposite sides of the drilling machine; the torque rotating speed sensor 131 and the stress slip ring 132 both comprise a stator shell and a rotor core which are concentric and coaxial, a drill rod of the wall surface stress relieving drilling machine 6 penetrates through and is fixed on the rotor core, and a drill bit 62 is arranged on the drill rod; the drill bit 62 is provided with a drill hole 63 on the outer wall of the drill opposite to the drill hole 62, when the drill bit works, the drill bit 62 can extend out of the drill hole to perform stress relieving operation, and after the operation is finished, the drill bit can be retracted into the inner cavity; stator housings of the torque rotating speed sensor 131 and the stress slip ring 132 are fixed on the guide rail 133 and can slide along the guide rail 133 without friction; the stress slip ring 132 is arranged on one side of the torque rotating speed sensor 131 close to the drill bit; the plectrum 134 is fixed at the front end of the stator housing of the stress slip ring 132 (the side far away from the torque and rotation speed sensor 131), and the plectrum 134 can slide along the guide rail 133 and synchronously move with the stator housing of the stress slip ring 132; one end of the displacement sensor 135 is fixed on the inner wall of the wall surface stress relief drilling machine 6, and the other end is connected with the poking piece 134; when the torque rotating speed sensor 131, the stress slip ring 132 and the displacement sensor 135 advance along with the drill bit, the plectrum 304 also advances, and the displacement sensor 135 can measure the advancing distance of the drill bit 62; the torque rotating speed sensor 131 is used for detecting the rotating speed of a drill bit and the torque on a drill rod in the coring process; the stress slip ring 132 is used for collecting the stress on the drill rod and converting the stress into the weight on bit; when coring operation is carried out, data such as the rotating speed of the drill bit, the torque on the drill rod, the stress on the drill rod, which is acquired by the stress slip ring 132, the advancing distance of the drill bit, which is measured by the displacement sensor 135, and the like in the coring process, which are detected by the torque rotating speed sensor 131, are transmitted to ground operators, so that real-time monitoring of downhole operation is realized; the mechanical energy dissipated while advancing the coring bit is related to the properties of the formation, such as the compressive strength of the formation rock, and therefore valuable information about the formation can be extracted from the drilling parameters measured by the drilling process detection module 13.
Further, as shown in fig. 1-5, the downhole measurement system 1 further includes an expansion module 14, where the expansion module 14 is used to add measurement instruments such as borehole diameter, formation resistivity, porosity, permeability, acoustic velocity, vibration, etc. as required;
further, as shown in fig. 1-5, the power supply system 2 for off-well communication includes a steel cable 21, an optical cable 22 and an electric cable 23 disposed at the periphery of the winch; one end of each of the steel cable 21, the optical cable 22 and the electric cable 23 is connected with the downhole measurement system 1, and the other end of each of the steel cable, the optical cable 22 and the electric cable 23 is connected with the surface circuit detection system 3; when the wall surface stress relieving drilling machine 6 works, the wall surface stress relieving drilling machine 6 is hoisted underground by using a winch, a steel cable 21 on the periphery of the winch bears tension, a high-frequency digital signal is transmitted by an optical cable 22, electric energy is transmitted by a cable 23, and the optical cable 22 has excellent performance in the aspects of bandwidth and data transmission rate; supplying power to each electrical appliance through the communication power supply system 2, sending an instruction and transmitting parameters acquired by each sensor of the underground measuring system 1 back to the ground circuit detection system 3; the circuit detection system 3 monitors the power of the circuit and the property of the signal in the whole process, if an abnormal condition occurs, corresponding measures are adopted for processing, and the circuit is electrified again after the fault is eliminated.
Further, as shown in fig. 1 to 5, the ground circuit detection system 3 includes a power meter 31 connected to the communication power supply system 2 and an oscilloscope 32 connected to the power meter 31; the power meter 31 is used for checking whether the power supply voltage value is reasonable when the wall stress relief drilling machine 6 works, if an abnormal condition occurs, the power supply is immediately disconnected, and the power supply is powered on again after abnormal faults are checked and eliminated; the oscilloscope 32 is used for observing whether the waveform, amplitude and frequency of the voltage and current signals of the wall surface stress relief drilling machine 6 during working meet the design requirements.
As shown in fig. 6, another aspect of the present invention provides a method for acquiring data of a deep hole wall surface stress relief drilling machine in real time, including the following steps:
s1: checking the performance of the drilling machine through a ground circuit detection system, and lowering the drilling machine through an off-well communication power supply system; specifically, a ground circuit detection system 3 is started, a power meter and an oscilloscope are opened, circuit inspection is carried out on the wall stress relief drilling machine, and after no abnormity is detected, the wall stress relief drilling machine is hoisted and lowered down along a drilled well through an off-well communication power supply system 2;
s2: determining a drill rig lowering track through the underground measuring system 1, measuring underground environment parameters in real time and acquiring a test area meeting the requirements; the method specifically comprises the following steps:
s21: in the lowering process, the position and the posture of the drilling machine are recorded in real time through a gyroscope 111 of the drilling machine track recording module 11, and the lowering distance is recorded through a cable length measuring instrument 112, so that the drilling machine track is determined;
s22: the hydraulic sensor 122, the densimeter 123 and the thermometer 123 of the environmental parameter measuring module 12 are used for respectively measuring the hydraulic pressure, the liquid density and the temperature parameters of the underground environment in real time; scanning the well wall form by an ultrasonic imager 121 of the environmental parameter measuring module 12 until a complete stratum meeting the requirement is selected as a test area;
s3: fixing the drilling machine on a well wall through a pushing positioning unit 5, and aligning a drill bit to the well wall to be drilled;
s4: starting a drilling machine to start stress relief operation, and acquiring drilling machine operation parameters through a drilling process monitoring module 13; specifically, the torque and the rotation speed of the drill bit are recorded by a torque and rotation speed sensor 131 of the drilling process monitoring module 13, the stress on the drill rod is recorded by a stress slip ring 132, and the advancing distance of the drill bit is recorded by a displacement sensor 135;
s5: the drilling machine operation parameters collected by the drilling process monitoring module 13 in the step S4 are transmitted to the ground circuit detection system 3 in real time through an optical cable of the outdoor communication power supply system 2, and the operation instructions sent by the ground circuit detection system 3 are also transmitted to each system in real time through the optical cable, so that the whole process of monitoring the drilling machine for lowering the well, coring and recycling in real time is realized.
The invention provides a working principle of a deep hole wall surface stress relief drilling machine data real-time acquisition system, which comprises the following steps: the underground measurement system 1 is arranged in the wall stress relieving drilling machine, the upper end and the lower end of the underground measurement system 1 are respectively connected with the outdoor communication power supply system 2 and the hydraulic balance system 4 through the pushing positioning unit 5, and the ground circuit detection system 3 is in communication connection with the outdoor communication power supply system 2; the underground measuring system 1 also comprises a drilling machine track recording module 11, an environmental parameter measuring module 12 and a drilling process monitoring module 13 which are sequentially arranged from top to bottom, and in order to improve the ground stress test progress and ensure the basic construction safety, the invention collects the torque, the rotating speed, the drilling pressure and the displacement parameters of a drill bit through a torque rotating speed sensor, a stress slip ring and a displacement sensor of the drilling process detecting module; recording the attitude and track data of the drilling machine through a gyroscope of the drilling machine track recording module and a cable length measuring instrument; measuring the underground environment parameters of the drilling machine through an ultrasonic imager, a hydraulic sensor, a densimeter and a thermometer of the environment parameter measuring module; the circuit working condition of the drilling machine is monitored through a power meter and an oscilloscope of a ground circuit detection system, and the whole process of drilling machine descending, coring and recovery is monitored and monitored in real time through the method; according to the invention, by acquiring the underground environment parameters and the drilling machine operation parameters in real time, the test environment can be monitored in real time, hole collapse accidents are avoided, the drilling safety is ensured, a plurality of tasks can be completed by one-time underground drilling of the drilling machine, and the safety and the efficiency are both considered; the test effect can be ensured by collecting the parameters of the drilling machine in real time, and the accurate evaluation of the underground environment is facilitated; the problems that in the prior art, the wall surface stress relief is easy to cause core caking, core breaking and drill sticking under the underground high confining pressure environment can be solved; the wall surface stress relieving drilling machine can disturb the well wall to a certain extent when working, and the condition of an operation area cannot be obtained in time.
The invention discloses a data real-time acquisition system of a deep hole wall surface stress relief drilling machine. The wall surface stress relief drilling machine data real-time acquisition system can be partially or completely single, and modules can be added or reduced according to requirements. The system of the embodiment of the invention utilizes the optical cable to transmit signals, and is also suitable for other transmission forms such as wireless and common signal cables.
In addition, it should be noted that, although the technical scheme disclosed by the prior patent CN113605886A for a deep drilling complex environment local wall stress relief method testing system can collect strain data in the stress relief process, the detection data of the stress relief process and the environment where the drilling machine is located are less, the stability of the well wall and the integrity of the core cannot be guaranteed, and the accuracy of the test result is poor. The invention has a high-strength metal shell structure, and can well protect working parts to adapt to the underground environment with high temperature and high pressure and full of drilling fluid; meanwhile, underground in-situ parameters are collected in a mode of arranging various sensors inside the shell, and then the underground in-situ parameters are transmitted to the ground through the optical fiber cable to be recorded and analyzed in real time, so that the purposes of monitoring underground conditions and ensuring test effects are achieved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a deep hole wall stress relief rig data real-time acquisition system which characterized in that: the system comprises a downhole measurement system (1), a communication power supply system (2), a ground circuit detection system (3), a hydraulic balance system (4) and a pushing positioning unit (5); wherein the content of the first and second substances,
the underground measuring system (1) comprises a drilling machine track recording module (11), an environmental parameter measuring module (12), a drilling process monitoring module (13) and an expansion module (14) which are sequentially arranged in a wall surface stress relief drilling machine (6) from top to bottom; the communication power supply system (2) comprises a steel cable (21), an optical cable (22) and a cable (23) which are arranged on the periphery of the winch; the ground circuit detection system (3) comprises a power meter (31) connected with the communication power supply system (2) and an oscilloscope (32) connected with the power meter (31);
the underground measuring system (1) is arranged in the wall surface stress relief drilling machine (6) and is in communication connection with the communication power supply system (2); the communication power supply system (2) is in communication connection with the ground circuit detection system (3); supplying power to each electrical appliance through the communication power supply system (2), sending an instruction and transmitting parameters acquired by each sensor of the underground measuring system (1) back to the ground circuit detection system (3); the power and signal properties of the line are monitored in the whole process through the ground circuit detection system (3); underground environment parameters and drilling machine operation parameters are collected in real time through an underground measuring system (1), a communication power supply system (2) and a ground circuit detection system (3), so that the real-time monitoring of a test environment is realized, and the drilling safety is further ensured; centering and positioning the whole wall surface stress relief drilling machine data real-time acquisition system through the pushing positioning unit (5), and fixing the wall surface stress relief drilling machine (6) on the wall surface; the hydraulic balance system (4) is arranged at the bottom of the underground measuring system (1) and used for compensating the hydraulic oil pressure of the whole acquisition system, and therefore the adaptability of the system applied to the deep drilling complex environment is improved.
2. The system for acquiring data of the deep hole wall surface stress relief drilling machine in real time according to claim 1, is characterized in that: the drilling machine track recording module (11) comprises a gyroscope (111) fixed on a diaphragm plate (61) in the wall surface stress relieving drilling machine (6) and a cable length measuring instrument (112) arranged on the ground; the gyroscope (111) is used for obtaining the orientation and the posture of the drilling machine; the center of a sensor of the gyroscope (111) is superposed with the center of the section of the wall stress relief drilling machine (6);
the cable length measuring instrument (112) is connected with the communication power supply system (2) and is used for measuring the submerging distance of the wall surface stress relief drilling machine (6).
3. The system for acquiring data of the deep hole wall surface stress relief drilling machine in real time according to claim 2, is characterized in that: the environment parameter measuring module (12) comprises an ultrasonic imager (121), a hydraulic sensor (122), a densitometer (123) and a thermometer (124);
the ultrasonic imaging instrument (121) is used for realizing underground state visualization, is not interfered by drilling fluid, is symmetrically arranged at the concave parts at two sides of the outer wall of the drilling machine, continuously emits ultrasonic waves to the outside during work, and accurately depicts the shape of the hole wall by receiving reflected sound wave signals;
the hydraulic sensor (122), the densimeter (123) and the thermometer (124) are respectively used for acquiring the pressure, the density and the temperature of the drilling fluid;
probes of the hydraulic sensor (122), the densimeter (123) and the thermometer (124) are fixed on a diaphragm plate in the wall surface stress relief drilling machine (6); the probes of the hydraulic sensor (122), the densimeter (123) and the thermometer (124) are all downward so as to avoid rock debris accumulation from influencing the measurement accuracy;
and the two sides of the sensor probe directions of the hydraulic sensor (122), the densimeter (123) and the thermometer (124) are respectively provided with an opening (125) on the outer wall of the wall surface stress relief drilling machine (6), and the drilling fluid can enter the inside of the wall surface stress relief drilling machine (6) through the openings (125) without being blocked.
4. The system for acquiring data of a deep hole wall surface stress relief drilling machine in real time according to any one of claims 1 to 3, wherein: the drilling process monitoring module (13) comprises a torque rotating speed sensor (131), a stress slip ring (132), a guide rail (133), a shifting piece (134) and a displacement sensor (135);
the torque rotating speed sensor (131) and the stress slip ring (132) are arranged on the guide rail (133), and two ends of the guide rail (133) are arranged between the inner walls of two opposite sides of the drilling machine;
the torque rotating speed sensor (131) and the stress slip ring (132) both comprise a stator shell and a rotor core which are concentric and coaxial, a drill rod of the wall surface stress relieving drilling machine (6) penetrates through and is fixed on the rotor core, and a drill bit (62) is arranged on the drill rod; the outer wall of the drilling machine opposite to the drill bit (62) is provided with a drilling machine hole (63);
stator housings of the torque rotating speed sensor (131) and the stress slip ring (132) are fixed on the guide rail (133) and can slide along the guide rail (133) without friction;
the stress slip ring (132) is arranged on one side, close to the drill bit, of the torque rotating speed sensor (131) and is used for collecting stress on a drill rod and converting the stress into weight on bit;
the plectrum (134) is fixed at the front end of a stator shell of the stress slip ring (132), and the plectrum (134) can slide along the guide rail (133) and synchronously moves with the stator shell of the stress slip ring (132);
one end of the displacement sensor (135) is fixed on the inner wall of the wall surface stress relief drilling machine (6), and the other end of the displacement sensor is connected with the poking sheet (134); when the torque rotating speed sensor (131), the stress slip ring (132) and the displacement sensor (135) advance along with the drill bit, the plectrum 304 also advances, and the advancing distance of the drill bit (62) is measured through the displacement sensor (135);
the torque speed sensor (131) is used for detecting the rotating speed of the drill bit and the torque on the drill rod in the coring process.
5. The system for acquiring data of a deep hole wall surface stress relief drilling machine in real time according to any one of claims 1 to 3, wherein: one end of the steel cable (21), one end of the optical cable (22) and one end of the electric cable (23) are connected with the underground measuring system (1), the other end of the steel cable is connected with the surface circuit detection system (3), the steel cable (21) is used for bearing tension, and the optical cable (22) is used for transmitting high-frequency digital signals; the cable (23) is used for transmitting electric energy.
6. The system for acquiring data of a deep hole wall surface stress relief drilling machine in real time according to any one of claims 1 to 3, wherein: the power meter (31) is used for checking whether the power supply voltage value is reasonable when the wall stress relief drilling machine (6) works; the oscilloscope (32) is used for observing whether the waveform, amplitude and frequency of the voltage and current signals of the wall surface stress relief drilling machine (6) during working meet the design requirements.
7. The system for acquiring data of a deep hole wall surface stress relief drilling machine in real time according to any one of claims 1 to 3, wherein: the pushing positioning unit (5) comprises a first pushing positioning piece (51) arranged between the top of the wall surface stress relief drilling machine (6) and the bottom of the communication power supply system (2) and a second pushing positioning piece (52) arranged between the bottom of the wall surface stress relief drilling machine (6) and the hydraulic balance system (4);
the pushing positioning unit (5) drives the connecting rod structure to act in a hydraulic piston driving mode, so that the connecting structure is folded under the action of thrust and is unfolded along the radial direction of the drilled well, a plurality of supporting points are formed between the hinged point of the connecting rod and the wall of the drilled well, the straight line determined by positioning of the pushing positioning mechanism is enabled to be coincident with the axis of the drilled well, centering and positioning of the whole wall stress relieving drilling machine data real-time acquisition system are completed, and the wall stress relieving drilling machine (6) is fixed on the wall.
8. A real-time data acquisition method for a deep hole wall stress relief drilling machine is realized by applying the real-time data acquisition system for the deep hole wall stress relief drilling machine according to any one of claims 1 to 7, and comprises the following steps:
s1: checking the performance of the drilling machine through a ground circuit detection system, and lowering the drilling machine through a communication power supply system;
s2: determining a drill lowering track through an underground measuring system (1), measuring underground environment parameters in real time and acquiring a test area meeting the requirements;
s3: fixing the drilling machine on the well wall by a pushing positioning unit (5), and aligning the drill bit to the well wall to be drilled;
s4: starting a drilling machine to start stress relief operation, and obtaining drilling machine operation parameters through a drilling process monitoring module (13);
s5: the drilling machine operation parameters collected by the drilling process monitoring module (13) in the step S4 are transmitted to the ground circuit detection system (3) in real time through an optical cable of the communication power supply system (2), and an operation instruction sent by the ground circuit detection system (3) is also transmitted to each system in real time through the optical cable, so that the whole process of drilling machine well descending, coring and recovery is monitored in real time.
9. The method for collecting data of the deep hole wall surface stress relief drilling machine in real time according to claim 8, characterized by comprising the following steps: step S2 further includes the steps of:
s21: in the lowering process, the azimuth and the attitude of the drilling machine are recorded in real time through a gyroscope (111) of a drilling machine track recording module (11), and the lowering distance is recorded through a cable length measuring instrument (112), so that the drilling machine track is determined;
s22: the hydraulic pressure, the liquid density and the temperature parameters of the underground environment are respectively measured in real time through a hydraulic sensor (122), a densimeter (123) and a thermometer (123) of an environment parameter measuring module (12); and scanning the well wall shape through an ultrasonic imager (121) of the environmental parameter measuring module (12) until a complete stratum meeting the requirement is selected as a test area.
10. The method for acquiring data of the deep hole wall surface stress relief drilling machine in real time according to claim 8 or 9, wherein the method comprises the following steps: step S1 further comprises the steps that a ground circuit detection system (3) is started, a power meter (31) and an oscilloscope (32) are opened, then circuit inspection is carried out on the wall stress relieving drilling machine (6), and after no abnormity is detected, the wall stress relieving drilling machine (6) is hoisted and placed down along a drilled well through a communication power supply system (2);
step S4 further includes recording the torque and rotational speed of the drill bit via a torque rotational speed sensor (131) of the drilling process monitoring module (13), the stress on the drill rod via a stress slip ring (132), and the distance the drill bit has advanced via a displacement sensor (135).
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