CN105649612A - Fish positioner - Google Patents
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- CN105649612A CN105649612A CN201610158279.5A CN201610158279A CN105649612A CN 105649612 A CN105649612 A CN 105649612A CN 201610158279 A CN201610158279 A CN 201610158279A CN 105649612 A CN105649612 A CN 105649612A
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- 241000251468 Actinopterygii Species 0.000 claims abstract description 215
- 239000000523 sample Substances 0.000 claims abstract description 84
- 238000000034 method Methods 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 7
- 238000005553 drilling Methods 0.000 claims description 50
- 230000000694 effects Effects 0.000 claims description 17
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- 238000001914 filtration Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000003129 oil well Substances 0.000 description 2
- 241000218158 Clematis Species 0.000 description 1
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
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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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
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- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a fish positioner. The fish positioner comprises a plurality of ultrasonic probes arranged on a liner plate in a linear equally-spaced manner, a self-rotation step motor for driving the liner plate to rotate, and an electronic compass mounted on the liner plate, wherein each ultrasonic probe, the self-rotation step motor and the electronic compass are connected with an MCU main control board; and the MCU main control board is connected with an upper computer. A fish positioning method comprises the following steps: descending the fish positioner into a well along a drill hole; when the fish positioner is descended and reaches the rod breaking depth, controlling the linear plate to rotate by the self-rotation step motor to realize 360-degree detection, and performing detection and forward movement simultaneously; when an object similar to a straight line is detected, indicating that the object similar to the straight line is a fish; calculating a tilt angle of the fish by the upper computer according to data detected by the electronic compass and the ultrasonic probes; and according to characteristics of mud in an out-of-round oversized hole and fish materials, performing stress analysis on the fish, calculating a fish top position, and catching the fish according to the fish top position. According to the fish positioner, the blindness of fish catching can be overcome and the fish catching progress is greatly accelerated.
Description
Technical field
The present invention relates to a kind of fish position finder, for the fish (break the drill bit fallen and drilling tool) in drilling process is positioned.
Background technology
In Process of Oil Well Drilling, owing to drilling tool exists wound, long-term being occurred tired, drill string to be failed after card to find in time by alternate stress effect, drilling tool can be put off or be twisted off, the H contained in stratum2S gas can cause that drill collar " hydrogen embrittlement " equal strength is destroyed. through to Puyang Oilfield, the investigation of the drilling crew staff such as Changqing oilfields, and pertinent literature carries out retrieval discovery both at home and abroad, breaking of rod situation in drilling process happens occasionally, similar for the processing mode of this type of accident both at home and abroad: 1) if drilling process is formed without out-of-round oversized hole, or top of fish is not within the scope of out-of-round oversized hole, now top of fish will not offset out boring, position according to drill rod breaking and fracture mode, select corresponding tradition fishing operation such as die nipple, female coupling tap, Qiang Ci, sleeve, milling, the modes such as mechanical hand crawl, fish can be rapidly completed salvage, 2) if Position on the top of the fish is exactly within the scope of out-of-round oversized hole, owing to mud has certain viscosity, top of fish will not quickly offset, and current solution is to salvage within the shortest time. if delaying and exceeding the regular hour, impact by the factor such as gravity, current, top of fish offsets out boring, and existing fishing operation is all to realize fast salvaging when known Position on the top of the fish, if fish particular location is unpredictable, experience now can only be relied on to carry out groping the exploratory salvaging of formula, blindness is big, salvages difficulty height, and cost is high, cycle is long, affects overall duration progress.
The external downhole video TV sticking point instrument developing aspect developing at fishing tool, it can be seen that shaft bottom overall picture but the particular location of fish cannot be determined, and the degree of depth is restricted, within being generally 2000m, expensive, practicality is not strong.
Domestic oil-water well is when practical operation is salvaged, and owing to the kind of oil well gets more and more, the kind of fish is also not quite similar, and the difficulty of salvaging is also continuously increased, backward in technique, and drawback manifests day by day, and fishing process and flow process cannot practical requirement.Present ultrasound examination product is often all not used in water, it is impossible to find range in water; It is only limitted in drilling process for the application in the distance of the drilling rod distance borehole wall for context of detection in mud, makes some simple early warning schemes, seldom have product. Although detection fish process adopts the position of electromagnetic induction technology detection magnetic head, but general position can only be estimated, salvaging process only play assosting effect, still cannot overcome the blindness that fish is salvaged.
Summary of the invention
The technical problem to be solved in the present invention is in that to provide and a kind of fish in drilling process can be positioned, improves the fish position finder that fish salvages efficiency, real-time is good, to solve prior art Problems existing.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
A kind of fish position finder, including multiple linearly equidistant arrangement ultrasonic probe on liner plate, drives the spin motor that liner plate rotates, and is installed on the electronic compass on liner plate; Described each ultrasonic probe, spin motor, electronic compass are connected with MCU master control borad respectively, and MCU master control borad connects host computer; Following steps are adopted to carry out fish location:
Step one: fish position finder is sent into down-hole along boring; Liner plate is placed equidistant the 1st ultrasonic probe, the 2nd ultrasonic probe ..., m ultrasonic probe from bottom to top, and m is positive integer;
Step 2: when fish position finder declines and arrives the breaking of rod degree of depth, spin step motor control liner plate rotating to realize 360 degree of detections, advances in detection limit, limit; When detecting near linear type object, then it is assumed that described near linear type object is fish;
Step 3: the data that host computer records according to electronic compass and ultrasonic probe calculate fish inclination angle;
Step 4: according to the characteristic of mud in out-of-round oversized hole and fish material, carries out force analysis to fish, calculates Position on the top of the fish, salvages fish according to described Position on the top of the fish.
If fish position finder arrives the breaking of rod location point, it is �� with the angle being perpendicular to direction, ground, the angle of pitch that namely electronic compass measurement is arrived, consistent with the deflecting angle above out-of-round oversized hole, described step 2 detects the process of fish particularly as follows: when fish position finder decline arrive the breaking of rod degree of depth time, first the pitching angle theta of now electronic compass is recorded, then control fish position finder to continue to decline, PC control spin motor 360 degree rotation, if not detecting near linear type object, then fish position finder continues descending, set descending 10 meters every time, carry out 360 degree of rotary lining plates after each descending stopping and making ultrasonic probe scanning probe, until detecting near linear type object, this near linear type object is fish, record the navigation angle �� of now electronic compass.
The process calculating fish inclination angle in described step 3 is as follows: Repetitive controller fish position finder is descending and detects, until when coming downwards to ultrasonic probe and reach detection blind area distance with the near linear type object detected, gathering multi-group data and preserve and be uploaded to host computer; If d1mBeing that m ultrasonic probe is being perpendicular to the liner plate direction measurement distance to fish, m is positive integer, and the distance of adjacent ultrasonic probe is ��; With the position at the 1st ultrasonic probe place for zero O, be X-axis positive direction with the direction being horizontally directed to fish, direction straight up set up XOY coordinate system for Y-axis positive direction; By XOY coordinate system rotated counterclockwise by angle ��, form X'OY' coordinate system, then X'OY' coordinate system is translated d along X' axle positive direction11Obtain X " O'Y " coordinate system;Calculate fish inclination angle in X'OY' coordinate system:Right������Average and obtain fish dip mean
The process calculating Position on the top of the fish in described step 4 comprises the steps:
Step S1, coordinate transform:
X'OY' coordinate system being rotated in a clockwise direction �� degree and obtains XOY coordinate system, obtaining Coordinate Conversion computing formula is:
According to formula 1. by coordinate that the Coordinate Conversion in X'OY' coordinate system is in XOY coordinate system;
Step S2, it is determined that the function curve of fish and top of fish coordinate in XOY coordinate system:
When fish is in poised state, drilling rod deadweight in mud is:
Formula 2. in:
G is drilling rod deadweight in mud, unit N/m;
The aerial deadweight of q drilling rod, unit N/m;
��MudMud density, unit g/cm3;
��SteelThe density of drilling rod, unit g/cm3;
From the fish strong point upwards 30m, drilling rod maximum flexion is 2.2 degree, can be approximately the linear type fish of nearly about 30m, and this fish can be similar to and see one end as be fixing end, the other end is the beam of free end, gravity, buoyancy effect under, be approximately biquadratic curve; Fish is subject to the effect of distributed load straight down, if G represents drilling rod deadweight in mud, this deadweight be fish conduct oneself with dignity in atmosphere and fish buoyancy make a concerted effort, angle of inclination is the pitching angle theta that electronic compass measurement is arrived, length of cantilever L is the length of the part fish intercepted, the route that creeps into during drilling well is undertaken by design drawing, creeps into distance and fish position finder dive distance for it is known that event length of cantilever L is known; The bending stiffness E of cantilever beam and cantilever beam are determined by fish material relative to the inertia I of neutral axis, cantilever beam be subject to the line of deflection approximate differential equation after G effect and be:Y " second dervative of " for y ", at coordinate system X " O'Y " solve such as following formula unary biquadratic equation:
Each power coefficient is turned to A ", B ", C " and, obtain: y "=A " x "4+B��x��3+C��x��2, take arbitrary micro-section, it is possible to knowY " ' for y " first derivative, to y " ' by series expansion soWhole section of curve of bending is integrated, has:
Y " '=4A " x "3+3B��x��2+ 2C " x " ... ... ... ... ... ... ... ... 5.,
5. formula is substituted into 4. formula obtain:
Solution 6. formula can obtain top of fish at X " O'Y " abscissa point Wx in coordinate system ", by Wx " and it is brought into 6. formula, obtain top of fish at X " O'Y " vertical coordinate point Wy in coordinate system ", thus Wx'=Wx "+d11, Wy'=Wy ", obtaining top of fish coordinate in XOY coordinate system according to 1. formula is: (��, Wx=Wx'*cos ��-Wy'*sin ��, Wy=Wx'*sin ��+Wy'*cos ��), �� is the navigation angle of electronic compass;
3. formula represents the fish equation obtained with the bottom of fish intercepted for zero, this equations turned can be obtained in coordinate system X'OY':
After merging abbreviation, each power coefficient is turned to A', B', C', D', E', obtains: the fish curvilinear equation y'=A'x' in X'OY' coordinate system4+B'x'3+C'x'2+ D'x'+E', obtains y' derivation simultaneously:
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:
Being lifted up by ultrasonic probe, each Top Runby is set as 10 meters, continues detection, and with step 3 computational methods, detection n time altogether, calculating the fish inclination angle every time obtained isN is positive integer; ?And x'nSubstitute into formula 7., whereinM is the number of ultrasonic probe, and whether fish curvilinear equation coefficient A', B', C', D', E' that checking is tried to achieve be accurate;If coefficient is accurate, carries out step S4, if equation coefficient is inaccurate, then return to step 3, and by ultrasonic probe in X'OY' coordinate system, continue descendingRice, makes ultrasonic probe as close possible to fish;
Step S4, calculates top of fish at XGroundOGroundYGroundCoordinate position in coordinate system:
Track in drilling process is according to desired trajectory operation, the process of fish position finder test simultaneously is also carry out according to predetermined wellbore trace, distance and deflecting angle that fish position finder is horizontally and vertically walked are known quantity, whether utilize the angle of pitch that electronic compass is measured to check directly uses deflecting angle accurate, if inaccurate, directly the meansigma methods of the angle of pitch that use electronic compass is repeatedly measured is as deflecting angle, sets up with the Y-axis in XOY coordinate system for YGroundAxle, level ground is XGroundThe coordinate system X of axleGroundOGroundYGround, utilize the W in step S2x, Wy, obtain top of fish at coordinate system XGroundOGroundYGroundIn coordinate points be: (��, Wx, Wy-T), the distance of wherein to be ��, T be at azimuth fish position finder distance ground institute dive, i.e. the 1st ultrasonic probe place coordinate system O point vertical depth apart from ground.
Spin motor is connected with liner plate by optical axis.
Fish position finder also includes a cylinder type shell, and spin motor is fixed on cylinder type cover top portion; Optical axis one end connects spin motor, and the optical axis other end stretches out from cylinder type outer casing bottom and is connected with liner plate.
It is additionally provided with a bearing platform preventing optical axis eccentric rotary in cylinder type enclosure.
Bearing platform is fixed on the internal edge of cylinder type shell; Bearing platform is provided with the bearing being arranged on optical axis.
MCU master control borad includes MCU controller, the pwm pulse signal of generation is exported pulse amplifying circuit by MCU controller, pulse amplifying circuit receives pwm pulse signal and exports high-voltage pulse signal to ultrasonic probe, and ultrasonic probe receives described high-voltage pulse signal and launches ultrasound wave; The echo-signal that receives after band pass filter circuit filter and amplification, is transported to MCU controller again through after logarithmic amplifying circuit or timer capture/external interrupt mode circuit sampling by ultrasonic probe; Electronic compass, spin motor are connected with MCU controller respectively; MCU controller is also connected with the communication module for communicating with host computer.
Each ultrasonic probe adopts the ultrasonic transducer of additional pressure protective cover.
The present invention will detect device and send in well along boring, after utilizing ultrasonic listening to go out top of fish skew, incline direction according to drilling rod and gradient, by drilling rod stress model in mud, calculate the azimuth information of top of fish, original formula salvaging of groping is made to become with clearly defined objective traditional type salvaging, it is possible to be greatly improved the progress that fish is salvaged; Salvaging suitable in domestic oil-water well fish; Selected components and parts and circuit design, be suitable for normal operation under the complex environment such as mud of underground High Temperature High Pressure.
Accompanying drawing explanation
Fig. 1 is drilling well fish schematic diagram.
Fig. 2 is the front view of the fish position finder of the present invention.
Fig. 3 is the side view of the fish position finder of the present invention.
Fig. 4 is the circuit theory diagrams of the fish position finder of the present invention.
The 24V that Fig. 5 is the MCU master control borad of the present invention turns 5V circuit theory diagrams.
The 5V that Fig. 6 is the MCU master control borad of the present invention turns 3.3V circuit theory diagrams.
Fig. 7 is the circuit theory diagrams of the STM32F407VG main control chip of the present invention.
Fig. 8 is the reverse output circuit schematic diagram of pwm pulse ripple of the MCU master control borad of the present invention
Fig. 9 is the SSP pulse starting transformer booster circuit schematic diagram of the MCU master control borad of the present invention.
Figure 10 is the band pass filter circuit schematic diagram of the MCU master control borad of the present invention.
Figure 11 is the logarithmic amplifying circuit schematic diagram of the MCU master control borad of the present invention.
Figure 12 is the timer capture/external interrupt mode circuit theory diagrams of the MCU master control borad of the present invention.
Figure 13 is the LED indicating module circuit theory diagrams of the MCU master control borad of the present invention; Wherein, Figure 13 (a) is red LED indicator light circuit schematic diagram, and Figure 13 (b) is green LED indicator light circuit schematic diagram.
Figure 14 is the drive circuit board power supply circuits schematic diagram of the MCU master control borad of the present invention; Wherein, Figure 14 (a) is drive circuit board 24V power-supplying circuit schematic diagram, and Figure 14 (b) is drive circuit board 5V power-supplying circuit schematic diagram.
Figure 15 is the JLINK download interface circuit theory diagrams of the MCU master control borad of the present invention.
Figure 16 is the stress model figure of the fish of the present invention.
The fish point slope that Figure 17 is the present invention calculates schematic diagram.
Figure 18 is the schematic diagram that the coordinate system that the fish of the present invention is set up in horizontal well carries out the function model of mathematical calculation.
Figure 19 be the fish of the present invention tilting time Flexural cantilever model figure.
Figure 20 is the XOY coordinate system of the present invention, X'OY' coordinate system and X " O'Y " establishment of coordinate system schematic diagram.
Figure 21 is the schematic diagram after the fish of the present invention produces salvaging process when horizontal well and sets up coordinate system.
Figure 22 is that the fish of the present invention produces at the salvaging process of peupendicular hole and the schematic diagram after setting up coordinate system.
Figure 23 is the fish positioning flow figure of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The present invention provides a kind of fish position finder, referring to Fig. 2 to Fig. 3, including ultrasonic probe 1, spin motor 2, bearing platform 3, cylinder type shell 4, liner plate 5, optical axis 6, electronic compass 7, MCU master control borad; Each ultrasonic probe 1, spin motor 2, electronic compass 7 connect MCU master control borad respectively, and MCU master control borad connects host computer.
Ultrasonic probe 1, including multiple, is configured as required, is specifically configured to 4 here, is linearly equidistantly arranged on liner plate 5 from top to bottom; Four ultrasonic probes are respectively used on the direction be perpendicular to liner plate to measure the distance arriving fish, by these four ultrasonic probe measurements to distance value calculate the meansigma methods (slope of fish in the XOY coordinate system set up shown in Figure 18 of detecting location place fish slope, Q represents the degree of depth that each fish position finder declines), thus obtaining the inclination angle (angle of fish and detection direction) of this detecting location place fish.
Spin motor 2, is fixed on cylinder type shell 4 top, drives liner plate 5 to rotate.
Bearing platform 3, is fixed on the internal edge of cylinder type shell 4, bearing platform 3 is provided with the bearing being arranged on optical axis 6. It is possible to prevent optical axis eccentric rotary by bearing platform 3.
Being provided with the bearing platform 3 preventing optical axis eccentric rotary on optical axis 6, one end of optical axis 6 connects spin motor 2, and the other end of optical axis 6 stretches out bottom cylinder type shell 4 and is connected with liner plate 5.
Electronic compass 7, is installed on liner plate 5, is fixed on above liner plate 5.
Spin motor 2 is connected with MCU master control borad, and each ultrasonic probe 1 is by driving plate to be connected with MCU master control borad, and MCU master control borad connects host computer; Plate is driven to need 3.3V (VDD), 5V, 24V power supply: wherein 5V and 24V is turned 5V circuit (referring to Fig. 5) by the 24V of MCU master control borad provides, 3.3V is turned 3.3V circuit (referring to Fig. 6) by the 5V of master control borad to be provided, and is, by turn pressure chip LM1117 and corresponding RC circuit (increase stability), 5V voltage is transformed into 3.3V.
MCU master control borad includes MCU controller, and MCU controller adopts STM32F407VG main control chip, and referring to Fig. 7, wherein 12,13 pins connect 8MHz external crystal-controlled oscillation, and 94 pin BOOT0, the 37 external 100K resistance of pin BOOT1 are followed by GND. Referring to Fig. 4, the pwm pulse signal of generation is exported pulse amplifying circuit by MCU controller, pulse amplifying circuit receives pwm pulse signal and exports high-voltage pulse signal to ultrasonic probe, ultrasonic probe receives high-voltage pulse and launches ultrasound wave, the echo-signal that receives after band pass filter circuit filter and amplification, is transported to MCU controller again through after logarithmic amplifying circuit or timer capture/external interrupt mode circuit sampling by ultrasonic probe; Electronic compass 7, spin motor 2 are connected 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: the real-time accelerator (ARTAccelerator of self adaptationTM)
-multiple ahb bus matrix and multi-channel DMA: support program performs and data transmission parallel processing, and message transmission rate is very fast
-90nm technique
(2) high-performance
-210DMIPS168MHz
-owing to have employed the ART accelerator of ST (STMicw Electronics), program is run from FLASH and is equivalent to the 0 more memorizer of wait
-up to 1MBFLASH
-192KbSRAM:128KB is on bus matrix, and 64KB is aiming at advanced peripheral and STM32F2 compatibility on the CPU data/address bus used
-USBOTG high speed 480Mbit/s
-IEEE1588, ethernet mac 10/100
-PWM high speed timer: 168MHz peak frequency
-encryption/Hash hardware processor: 32 randomizers (RNG)
-with 32 RTC of calendar function: < real-time clock of 1 �� A, 1 second precision
(3) more promote
-low-voltage: 1.8V to 3.6VVDD, in some encapsulation, it is possible to decrease to 1.7V
-full duplex 12S
-12 ADC:0.41us conversion/2.4Msps (7.2Msps is at 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
-adopting 200K-75KHz ultrasonic transducer, additional pressure protective cover is suitable in industry mud and water
-model: DYW-75/200-E
-range: 200KHz0.6��120m, 75KHz1.8��300m
-blind area: 0.6 meter, 200KHz blind area, 1.5 meters, 75KHz blind area
-frequency: 200KHz �� 5KHz or 75KHZ �� 3KHz
-running voltage: crest voltage < 800VPP
-operating temperature :-20��+80 DEG C
-pressure: maximum 5000m liquid is deep
-angle: (beam angle) half-power angle-3dB:10.4 �� during 200KHz, tooth angle: 24.6 ��; (beam angle) half-power angle-3dB:28 �� during 75KHz, tooth angle: 69 ��
-corrosion resistance: can use under the environment of weak acid and weak base.
3, pulse amplifying circuit
Pulse amplifying circuit includes the reverse output circuit of pwm pulse ripple and the SSP pulse starting transformer booster circuit that are sequentially connected with. Pwm signal (the requirement according to the frequency of transducer and real work that MCU main control chip sends, produce the pulse signal in 5-20 cycle, the frequency of signal must be suitable with the frequency of transducer, signal amplitude is 5Vpp) after the reverse output circuit of pwm pulse ripple (74HCT04D is a clematis stem road phase inverter, referring to Fig. 8) being made up of 74HCT04D inverter element and auxiliary circuit, obtain the SSP signal contrary with pwm signal;SSP signal then through SSP pulse starting transformer booster circuit, whether (boosted by LU3410NMOS management and control transformator T1 by SSP pulse, when SSP has pulse time, then carry out boosting drive ultrasonic probe, then do not drive when no pulse, referring to Fig. 9) after obtain ultrasonic probe input signal TRANS, T1 in the starting transformer booster circuit of SSP pulse shown in Fig. 9 is transformator, and effect is voltage to be raised to ultrasonic probe launch required magnitude of voltage;
4, band pass filter circuit
Referring to Figure 10, band pass filter circuit adopt low cost, at a high speed, voltage feedback type amplifier AD8052, there is signal active power filtering effect, 9018 hyperfrequency silicon triode Q1 have signal amplification, and (first echo-signal amplifies faint echo-signal by 9018 audion Q1, utilize AD8052 to coordinate auxiliary RC filter circuit to carry out one-level filtering and secondary filter, make correlated noise and interference ripple be filtered out); The signal that band pass filter circuit has processed is by network C HULI output to logarithmic amplifying circuit or timer capture/external interrupt mode circuit.
5, logarithmic amplifying circuit and timer capture/external interrupt mode circuit
Logarithmic amplifying circuit, timer capture/external interrupt mode circuit has been respectively adopted working method two kinds different, logarithmic amplifying circuit can be acquired by AD conversion pattern, timer capture/external interrupt mode circuit can adopt timer capture mode to gather, here to use timer capture/external interrupt mode circuit to illustrate:
1) logarithmic amplifying circuit:
Bandwidth-limited circuit is connected to logarithmic amplifying circuit through network C HULI. Logarithmic amplifying circuit, referring to Figure 11, the main chip of employing has AD8310 and LM358. AD8310 is a kind of high speed voltage output type logafier that AD company produces. The frequency range of DC to 440MHz can be demodulated by it. LM358 is dual operational amplifier, inside includes dual operational amplifier that two independent, that high-gain, internal frequency compensate, it is suitable for the very wide single supply of supply voltage scope to use, it is also applied for dual power supply mode of operation, under the working condition recommended, source current unrelated with supply voltage (use in this circuit is simplex power mode); The SING_AD signal obtained after logarithmic amplifying circuit processes is sent to main control chip, by routine processes.
2) timer capture/external interrupt mode circuit:
Timer capture/external interrupt mode circuit, referring to Figure 12, the main chip adopted is LMC7211, it it is the Small-sized C MOS comparator with rail-to-rail input, set a reference voltage to be regulated by potentiometer R39, when pulse amplitude is more than reference voltage, then LMC7211 pin 1 (OUT pin) exports high level, main control chip STM32F4 gathers the output time point of this level to calculate echo time point, so-called timer capture/external interrupt mode is through being loaded into the programme-control main control chip STM32F4 pulse to receiving and carries out the determination of echo time point. bandwidth-limited circuit connects timer capture/external interrupt mode circuit through network C HULI, timed device catches/external interrupt mode processing of circuit after obtain INT_AD signal, send into main control chip STM32F4, main control chip STM32F4 is to echo signal processing analysis.
To sum up, the overall circuit running of ultrasonic probe receiving and transmitting signal is: produce a PWM waveform by the timer 2 of main control chip STM32F4, number (number and the measurement distance dependent of pulse is controlled by intervalometer 3, distance is remote, and then number is many) excitation ultrasonic probe transmitting ultrasound wave, run into after back echo signal TRANS returns and process through bandwidth-limited circuit shown in Figure 10, deliver to timer capture/external interrupt mode circuit as shown in figure 12, final INT_AD signal is sent into the main control chip STM32F4 record carrying out the interval of time.The two ways that above-mentioned logarithmic amplifying circuit and timer capture/external interrupt mode circuit adopts can be found range, but it is more accurate and easy to also tend to be that timer capture/external interrupt mode carries out sampling, so selecting this mode.
6, electronic compass
Selecting pour angle compensation formula three-dimensional electronic compass, model HCM365 is mainly used in industry petroleum geology well logging. Its characteristic is as follows:
-measure scope: 360 �� of full attitudes
-band Hard Magnetic, soft magnetism and pour angle compensation
-precision: 0.3 �㡫0.5 ��
Output interface: RS232, RS485, TTL (optional)
-running voltage: DC+5V
-wide temperature works :-40��+85 DEG C
-operating current: 40mA
-volume: 55*37*24mm, customizable.
Referring to Fig. 4, the data that electronic compass 7 gathers upload to host computer by the serial ports (communication module) being connected with MCU controller. MCU master control borad circuit and host computer are placed on ground; only fish position finder frame for movement (is included four probes and a motor; also has electronic compass; well logging circuit protection and motor waterproof aspect are very ripe at present; can directly use) it is sent directly into down-hole; circulation of drilling fluid can be utilized to carry out cooling process; and owing to the process of detection is not related to the actions such as broken rock; so too high temperature can't be produced, basic circulation of drilling fluid just can reach the purpose of radiating and cooling.
MCU master control borad also includes that 24V turns 5V circuit, 5V turns 3.3V circuit, LED indicating module, drive circuit board power supply circuits, JLINK download interface; Wherein:
1,24V turns 5V circuit, referring to Fig. 5, adopt LM2596T5.0 (5) switching power supply regulator, connect external power source 24V power supply, transfer 24V voltage to 5.0V voltage, J1 Wiring port is the port of the input of power supply, and J1.1 meets 24V, J1.2 and meets GND, turns, through 24V shown in Fig. 5,24V and the 5V power supply that can obtain needing after 5V processing of circuit;
2,5V turns 3.3V circuit, referring to Fig. 6, adopts LM1117-3.3 voltage-regulation chip, after voltage-regulation chip processes, 5V (VCC) voltage is obtained 3.3V voltage (VDD), powers for main control chip STM32F407VG;
3, LED indicating module, referring to Figure 13, including red LED lamp and green LED lamp, red LED lamp positive pole is powered by 5V power supply, minus earth, effect is that display 5V powers normally, and green LED lamp positive pole is powered by 3.3V power supply, negative pole is connected with 95 pins of main control chip, and effect is to cooperate with software programming display program normal operation;
4, drive circuit board power supply circuits, referring to Figure 14, for driving plate circuit to power and providing ground, power supply is divided into 24V and 5V;
5, JLINK download interface, referring to Figure 15, with the 72 of main control chip, 76 pins are connected.
The present invention also provides for a kind of method adopting above-mentioned fish position finder to carry out fish location, and Fig. 1 is drilling well fish schematic diagram, and cavity is boring, cause out-of-round oversized hole for a certain reason, breaking of rod point is positioned at C point, and the position after top of fish skew is A, and the bottom of out-of-round oversized hole is B.
Mentality of designing is as follows: multiple ultrasound probes 1 are aligned on liner plate 5, spin motor 2 control liner plate 5 and rotate to realize 360 degree of detections. Along boring, fish position finder is sent into down-hole, (breaking of rod vertical depth S is for it is known that detection submerged depth T is also known), traveling limit, limit rotated detection after exceeding breaking of rod point C point, when detecting near linear type object, it is believed that this linear type object is fish.By the drilling rod incline direction recorded, and every characteristic of mud, drilling rod material etc. in out-of-round oversized hole, drilling rod is carried out force analysis, calculates top of fish location A, then use tradition salvaging mode to salvage.
Following steps (such as Figure 21) are specifically included for the first Model of Horizontal Well:
If fish position finder arrives the breaking of rod location point C, it is �� (namely electronic compass 7 measures the angle of pitch arrived) with the angle being perpendicular to direction, ground, consistent with the deflecting angle above out-of-round oversized hole.
Step one: fish position finder is arranged on drilling rod front end, sends into down-hole along boring; Liner plate is placed equidistant the 1st ultrasonic probe, the 2nd ultrasonic probe ..., m ultrasonic probe from bottom to top successively, and m is positive integer; It is specifically configured to four, respectively the 1st ultrasonic probe, the 2nd ultrasonic probe, the 3rd ultrasonic probe and the 4th ultrasonic probe;
Step 2: when drop to reach the breaking of rod degree of depth time (breaking of rod vertical depth S is known, detection submerged depth T is also known), first the pitching angle theta of now electronic compass is recorded, then fish position finder is made to continue to decline, PC control spin motor 360 degree rotation, if not detecting near linear type object, then fish position finder continues descending (setting each Bottom Runby Q as 10 meters), and after stopping, 360 degree of rotary lining plates make ultrasonic probe scanning probe again. Repeat the above steps, if detecting near linear type object, then it is believed that this near linear type object is the drilling rod (fish) breaking, records the navigation angle �� of now electronic compass 7. By the slope �� that the detection range of four probes is calculated1, ��2, ��3Whether it is that approximately equalised value carries out determining whether near linear type object.
Step 3: calculate fish inclination angle.
Referring to Figure 18, Repetitive controller fish position finder is descending and detects, until coming downwards to probe 1 when reaching detection blind area distance with the near linear type object detected, gathering multi-group data and preserves and be uploaded to host computer. 1st probe detection is d to the distance of fish11, as shown in figure 20, with the position at the 1st ultrasonic probe place for zero O, it is that Y-axis positive direction sets up coordinate system XOY with the direction (navigation �� direction, angle) being horizontally directed to fish for X-axis positive direction, straight up direction. By XOY coordinate system rotated counterclockwise by angle ��, form X'OY' coordinate system, then X'OY' coordinate system is translated d along X' axle positive direction11Obtain X " O'Y " coordinate system, so far establishment of coordinate system is complete. Calculate the fish 8 inclination angle in X'OY' coordinate system in conjunction with Figure 17 to be respectively as follows: Wherein: d11,d12,d13,d14Respectively on fish position finder 9, the 1st ultrasonic probe, the 2nd ultrasonic probe, the 3rd ultrasonic probe, the 4th ultrasonic probe are being perpendicular to the measurement distance of the drilling rod of the inclination that liner plate direction falls (fish 8) to breaking, right Average and obtain fish dip meanIn Figure 18, the data d that four probes are measured when entering detection blind area01��d02��d03��d04For invalid data.
Step 4: coordinate transform.
Setting up functional image as shown in figure 18 in detection process, X'OY' coordinate system in step 3 as shown in Figure 18, is rotated in a clockwise direction �� and obtains XOY coordinate system by each fish location point, and Coordinate Conversion computing formula is:
1. can be just the coordinate in XOY coordinate system by the Coordinate Conversion in X'OY' coordinate system according to formula.
Step 5: determine function curve and the top of fish coordinate of fish.
Referring to Figure 16, when fish is in poised state, drilling rod is subject to deadweight G, buoyancy fsAnd support force F?Effect, drilling rod is bending.Due to the effect of mud buoyancy, drilling rod deadweight in mud is:
Formula 2. in:
G is drilling rod deadweight in mud, unit N/m;
The aerial deadweight of q drilling rod, unit N/m;
��MudMud density (is decided by temperature and the viscosity property of mud), unit g/cm3;
��SteelThe density of drilling rod, unit g/cm3��
From the fish strong point (being generally bottom out-of-round oversized hole) upwards 30m, drilling rod maximum flexion is 2.2 degree, the linear type fish of nearly about 30m can be approximately, this fish can be similar to and see one end as be fixing end, the other end is the cantilever beam of free end, as shown in figure 19, gravity, buoyancy effect under, be approximately biquadratic curve.
As shown in figure 19, fish is subject to the effect of distributed load G straight down. In figure, G represents drilling rod deadweight in mud, this deadweight is that fish is conducted oneself with dignity in atmosphere and the angle of inclination of making a concerted effort of fish buoyancy is pitching angle theta, length of cantilever L is the length of the part fish intercepted, the route that creeps into during drilling well is undertaken by design drawing, creep into distance and survey meter dive distance for it is known that event L is known; The bending stiffness E of cantilever beam and cantilever beam are determined by fish material relative to the inertia I of neutral axis. It is subject to the line of deflection approximate differential equation after G effect by cantilever beam:Y " " for y " second dervative, at coordinate system X " O'Y " solve such as following formula unary biquadratic equation:
Each power coefficient is turned to A ", B ", C " and, obtain: y "=A " x "4+B��x��3+C��x��2, according to Figure 20 (L' represents that top of fish 10 is at Y " axle decline distance), take arbitrary micro-section, it is possible to knowY " ' for y " first derivative, to y " ' by series expansion soWhole section of curve of bending is integrated,
Y " '=4A " x "3+3B��x��2+ 2C " x " ... ... ... ... ... ... ... 5.,
5. formula is substituted into 4. formula obtain:
Solution 6. formula and available top of fish are at X " O'Y " abscissa point Wx in coordinate system ", by Wx " and it is brought into 6. formula, obtain top of fish 10 at X " O'Y " vertical coordinate point Wy in coordinate system ", obtain Wx'=Wx according to Figure 20 "+d11, Wy'=Wy ", obtaining the top of fish 10 coordinate in XOY coordinate system according to 1. formula is: (��, Wx=Wx'*cos ��-Wy'*sin ��, Wy=Wx'*sin ��+Wy'*cos ��), �� is the navigation angle of electronic compass, Wx, WyShown in Figure 20.
3. formula represents the fish curvilinear equation obtained with the bottom of fish intercepted for zero, according to Figure 20, this equations turned can be obtained in coordinate system X'OY':
After merging abbreviation, each power coefficient is turned to A', B', C', D', E', obtains the fish curvilinear equation in X'OY' coordinate system: y'=A'x'4+B'x'3+C'x'2+ D'x'+E', obtains y' derivation simultaneously:
Y "=4A'x'3+3B'x'2+2C'x'+D'����������������������������������
Step 6: to fish curvilinear equation y'=A'x'4+B'x'3+C'x'2+ D'x'+E' is verified.
Being lifted up by probe 1, each Top Runby is set as 10 meters, continues detection, and with step 3 computational methods, detection n time altogether, calculating the fish inclination angle every time obtained is(n is positive integer). TanWith x 'n(M is the number of ultrasonic probe) substitute into formula 7., whether fish curvilinear equation coefficient A', B', C', D', E' that checking is tried to achieve be accurate. If coefficient is accurate, carry out step 7. If equation coefficient is inaccurate, then returns to step 3, and will pop one's head in X'OY' coordinate system, continue descendingRice, makes probe 1 as close possible to fish.
Step 7: calculate top of fish 10 at XGroundOGroundYGroundCoordinate in coordinate system.
Track in drilling process is according to desired trajectory operation, the process of fish position finder test simultaneously is also carry out according to predetermined wellbore trace, distance and deflecting angle that fish position finder is horizontally and vertically walked are known quantity, whether utilize the angle of pitch that electronic compass is measured to check directly uses deflecting angle accurate, if inaccurate, directly the meansigma methods of the angle of pitch that use electronic compass is repeatedly measured is as deflecting angle, in figure 21, set up with the Y-axis in XOY coordinate system for YGroundAxle, level ground is XGroundThe coordinate system X of axleGroundOGroundYGround, utilize the W in step 5x, Wy, obtain top of fish at coordinate system XGroundOGroundYGroundIn coordinate points be: (��, Wx, Wy-T), azimuth is ��, T is the distance of fish position finder distance ground institute dive, i.e. the 1st ultrasonic probe place coordinate system O point vertical depth apart from ground.
Above step be for a series of force analysis of carrying out of first kind horizontal well and mathematical calculation, it it is more complicated situation, when ��=0, it is in peupendicular hole to carry out the situation (such as Figure 22) of fish location, compared with horizontal well, it is made without the conversion of coordinate, calculates fish curvilinear function equation and actually pertain only to mechanical analysis and the coordinate system translation of functional equation.
The fish positioning flow of the present invention is as shown in figure 23.
The present invention chooses the components and parts of army grade and circuit design and protection, can under the complex environments such as the mud of down-hole High Temperature High Pressure normal operation, drilling fluid can be utilized to reach the purpose of heat radiation in detecting devices circulation simultaneously.
Claims (10)
1. a fish position finder, it is characterised in that: include multiple linearly equidistant arrangement ultrasonic probe on liner plate, drive the spin motor that liner plate rotates, and be installed on the electronic compass on liner plate; Described each ultrasonic probe, spin motor, electronic compass are connected with MCU master control borad respectively, and MCU master control borad connects host computer; Following steps are adopted to carry out fish location:
Step one: fish position finder is sent into down-hole along boring; Liner plate is placed equidistant the 1st ultrasonic probe, the 2nd ultrasonic probe ..., m ultrasonic probe from bottom to top, and m is positive integer;
Step 2: when fish position finder declines and arrives the breaking of rod degree of depth, spin step motor control liner plate rotating to realize 360 degree of detections, advances in detection limit, limit; When detecting near linear type object, then it is assumed that described near linear type object is fish;
Step 3: the data that host computer records according to electronic compass and ultrasonic probe calculate fish inclination angle;
Step 4: according to the characteristic of mud in out-of-round oversized hole and fish material, carries out force analysis to fish, calculates Position on the top of the fish, salvages fish according to described Position on the top of the fish.
2. fish position finder according to claim 1, it is characterised in that: when setting fish position finder arrival breaking of rod location point, it is �� with the angle being perpendicular to direction, ground, the angle of pitch that namely electronic compass measurement is arrived, consistent with the deflecting angle above out-of-round oversized hole, described step 2 detects the process of fish particularly as follows: when fish position finder decline arrive the breaking of rod degree of depth time, first the pitching angle theta of now electronic compass is recorded, then control fish position finder to continue to decline, PC control spin motor 360 degree rotation, if not detecting near linear type object, then fish position finder continues descending, set descending 10 meters every time, carry out 360 degree of rotary lining plates after each descending stopping and making ultrasonic probe scanning probe, until detecting near linear type object, this near linear type object is fish, record the navigation angle �� of now electronic compass.
3. fish position finder according to claim 2, it is characterized in that: the process calculating fish inclination angle in described step 3 is as follows: Repetitive controller fish position finder is descending and detects, until when coming downwards to ultrasonic probe and reach detection blind area distance with the near linear type object detected, gathering multi-group data and preserve and be uploaded to host computer; If d1mBeing that m ultrasonic probe is being perpendicular to the liner plate direction measurement distance to fish, m is positive integer, and the distance of adjacent ultrasonic probe is ��; With the position at the 1st ultrasonic probe place for zero O, be X-axis positive direction with the direction being horizontally directed to fish, direction straight up set up XOY coordinate system for Y-axis positive direction; By XOY coordinate system rotated counterclockwise by angle ��, form X ' OY ' coordinate system, then X ' OY ' coordinate system is translated d along X ' axle positive direction11Obtain X " O ' Y " coordinate system; Calculate fish inclination angle in X ' OY ' coordinate system:RightAverage and obtain fish dip mean
4. fish position finder according to claim 3, it is characterised in that: the process calculating Position on the top of the fish in described step 4 comprises the steps:
Step S1, coordinate transform:
X ' OY ' coordinate system being rotated in a clockwise direction �� degree and obtains XOY coordinate system, obtaining Coordinate Conversion computing formula is:
According to formula 1. by coordinate that the Coordinate Conversion in X ' OY ' coordinate system is in XOY coordinate system;
Step S2, it is determined that the function curve of fish and top of fish coordinate in XOY coordinate system:
When fish is in poised state, drilling rod deadweight in mud is:
Formula 2. in:
G is drilling rod deadweight in mud, unit N/m;
The aerial deadweight of q drilling rod, unit N/m;
��MudMud density, unit g/cm3;
��SteelThe density of drilling rod, unit g/cm3;
From the fish strong point upwards 30m, drilling rod maximum flexion is 2.2 degree, can be approximately the linear type fish of nearly about 30m, and this fish can be similar to and see one end as be fixing end, the other end is the beam of free end, gravity, buoyancy effect under, be approximately biquadratic curve; Fish is subject to the effect of distributed load straight down, if G represents drilling rod deadweight in mud, this deadweight be fish conduct oneself with dignity in atmosphere and fish buoyancy make a concerted effort, angle of inclination is the pitching angle theta that electronic compass measurement is arrived, length of cantilever L is the length of the part fish intercepted, the route that creeps into during drilling well is undertaken by design drawing, creeps into distance and fish position finder dive distance for it is known that event length of cantilever L is known; The bending stiffness E of cantilever beam and cantilever beam are determined by fish material relative to the inertia I of neutral axis, cantilever beam be subject to the line of deflection approximate differential equation after G effect and be:Y " " is y " second dervative, solve such as following formula unary biquadratic equation at coordinate system X " O ' Y ":
Each power coefficient is turned to A ", B ", C " and, obtain: y "=A " x��4+B��x��3+C��x��2, take arbitrary micro-section, it is possible to knowThe first derivative of y " ' for y ", to y " ' by series expansion soWhole section of curve of bending is integrated, has:
Y " '=4A " x��3+3B��x��2+ 2C " x " ... ... ... ... ... ... ... ... ... ... ... 5.,
5. formula is substituted into 4. formula obtain:
Solution 6. formula can obtain top of fish abscissa point Wx in X " O ' Y " coordinate system ", Wx " is brought into 6. formula, obtain top of fish vertical coordinate point Wy in X " O ' Y " coordinate system ", thus Wx '=Wx "+d11, Wy '=Wy ", obtaining top of fish coordinate in XOY coordinate system according to 1. formula is: (��, Wx=Wx ' * cos ��-Wy ' * sin ��, Wy=Wx ' * sin ��+Wy ' * cos ��), �� is the navigation angle of electronic compass;
3. formula represents the fish equation obtained with the bottom of fish intercepted for zero, this equations turned can be obtained in coordinate system X ' OY ':
After merging abbreviation, each power coefficient is turned to A ', B ', C ', D ', E ', obtains: the fish curvilinear equation y '=A ' x in X ' OY ' coordinate system��4+B��x��3+C��x��2+ D ' x '+E ', obtains y ' derivation simultaneously:
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:
Being lifted up by ultrasonic probe, each Top Runby is set as 10 meters, continues detection, and with step 3 computational methods, detection n time altogether, calculating the fish inclination angle every time obtained isN is positive integer; ?With x 'nSubstitute into formula 7., whereinM is the number of ultrasonic probe, and whether fish curvilinear equation coefficient A ', B ', C ', D ', E ' that checking is tried to achieve be accurate; If coefficient is accurate, carries out step S4, if equation coefficient is inaccurate, then return to step 3, and by ultrasonic probe in X ' OY ' coordinate system, continue descendingRice, makes ultrasonic probe as close possible to fish;
Step S4, calculates top of fish at XGroundOGroundYGroundCoordinate position in coordinate system:
Track in drilling process is according to desired trajectory operation, the process of fish position finder test simultaneously is also carry out according to predetermined wellbore trace, distance and deflecting angle that fish position finder is horizontally and vertically walked are known quantity, whether utilize the angle of pitch that electronic compass is measured to check directly uses deflecting angle accurate, if inaccurate, directly the meansigma methods of the angle of pitch that use electronic compass is repeatedly measured is as deflecting angle, sets up with the Y-axis in XOY coordinate system for YGroundAxle, level ground is XGroundThe coordinate system X of axleGroundOGroundYGround, utilize the W in step S2x, Wy, obtain top of fish at coordinate system XGroundOGroundYGroundIn coordinate points be: (��, Wx, Wy-T), the distance of wherein to be ��, T be at azimuth fish position finder distance ground institute dive, i.e. the 1st ultrasonic probe place coordinate system O point vertical depth apart from ground.
5. fish position finder according to claim 1, it is characterised in that: spin motor is connected with liner plate by optical axis.
6. fish position finder according to claim 5, it is characterised in that: also including a cylinder type shell, spin motor is fixed on cylinder type cover top portion; Optical axis one end connects spin motor, and the optical axis other end stretches out from cylinder type outer casing bottom and is connected with liner plate.
7. fish position finder according to claim 6, it is characterised in that: it is additionally provided with a bearing platform preventing optical axis eccentric rotary in cylinder type enclosure.
8. fish position finder according to claim 7, it is characterised in that: described bearing platform is fixed on the internal edge of cylinder type shell; Bearing platform is provided with the bearing being arranged on optical axis.
9. fish position finder according to claim 1, it is characterized in that: MCU master control borad includes MCU controller, the pwm pulse signal of generation is exported pulse amplifying circuit by MCU controller, pulse amplifying circuit receives pwm pulse signal and exports high-voltage pulse signal to ultrasonic probe, and ultrasonic probe receives described high-voltage pulse signal and launches ultrasound wave; The echo-signal that receives after band pass filter circuit filter and amplification, is transported to MCU controller again through after logarithmic amplifying circuit or timer capture/external interrupt mode circuit sampling by ultrasonic probe;Electronic compass, spin motor are connected with MCU controller respectively; MCU controller is also connected with the communication module for communicating with host computer.
10. fish position finder according to claim 1, it is characterised in that: described each ultrasonic probe adopts the ultrasonic transducer of additional pressure protective cover.
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| CN109869109A (en) * | 2019-03-26 | 2019-06-11 | 中铁大桥局集团有限公司 | A kind of method and drill bit fishing device for salvaging drill bit |
| 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 |
| CN112049594A (en) * | 2020-09-03 | 2020-12-08 | 吉林师范大学 | Slurry internal environment detection and salvage platform |
| CN112647931A (en) * | 2020-12-29 | 2021-04-13 | 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 |
| CN115182695A (en) * | 2022-08-01 | 2022-10-14 | 成都安蒂瑞斯能源科技有限公司 | Fishing tool and fishing method for drilling fallen fish |
| 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 |
| CN116717240A (en) * | 2023-04-13 | 2023-09-08 | 中国石油天然气集团有限公司 | Underground fish head detection system and 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 |
| CN118167196A (en) * | 2024-05-14 | 2024-06-11 | 邹城市宇光煤矿机械有限公司 | Drilling equipment and drilling method |
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