CN107918160B - Comprehensive scanning system and method for abandoned well - Google Patents
Comprehensive scanning system and method for abandoned well Download PDFInfo
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- CN107918160B CN107918160B CN201711107297.1A CN201711107297A CN107918160B CN 107918160 B CN107918160 B CN 107918160B CN 201711107297 A CN201711107297 A CN 201711107297A CN 107918160 B CN107918160 B CN 107918160B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 60
- 238000004891 communication Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 7
- 239000002699 waste material Substances 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 3
- 239000002184 metal Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000001052 transient effect Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/18—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging
- G01V3/26—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging operating with magnetic or electric fields produced or modified either by the surrounding earth formation or by the detecting device
- G01V3/28—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging operating with magnetic or electric fields produced or modified either by the surrounding earth formation or by the detecting device using induction coils
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention provides a comprehensive abandoned well scanning system and method, wherein a gesture measuring module, a vector data detecting module and a host are arranged on a back frame. Two high-precision GPS are installed on the top of the back frame in the horizontal direction. The vector sensor module is arranged at the bottom end of the supporting rod and is close to the ground as much as possible, the sensor supporting rod is connected with the back frame through a universal joint, and when the back frame moves, the sensor supporting rod is kept to be vertical downwards all the time. The data acquisition system uses a computer, is connected with the GPS and the vector sensor through a cable, controls and receives the data of the GPS and the vector sensor, and displays and analyzes the data in real time; compared with the prior art, the invention can realize the comprehensive detection of the whole plane of the measuring area, overcomes the defects of repeated work and omission in the prior art, greatly improves the detection efficiency and precision, and reduces the occurrence of false detection and missing detection.
Description
Technical Field
The invention relates to the field of abandoned well detection, in particular to a comprehensive abandoned well scanning system and method.
Background
The research of the GPS-based real-time positioning technology starts from the later 90 s of the 20 th century, and products of foreign part of companies have entered commercialization, such as an Ashtech 3DF system, a TANS VECTOR of Trimble company, a JNSG yro system of JAVA D company and the like, and factors for determining the carrier attitude accuracy are mainly GPS antenna configuration, receiver mode and multipath influence. The GPS attitude measurement technology of the scientific colleges such as the national university of southward, the national GPS engineering center, the university of Wuhan and the like also obtains some scientific research and application results. The related application is limited to real-time position capture (the successful case of driving a test vehicle in China), and the related application is not found in the detection field of a detection sensor and a positioning sensor.
The detection of abandoned wells of oil extraction plants in the winning oil field adopts various detection means such as metal detection, magnetic detection, transient electromagnetic detection, ground penetrating radar detection and the like in the work. Magnetic methods (natural magnetization detection) have been successfully applied to the detection of pipelines. The methods found in the literature are used for detecting horizontal metal bodies or massive metal bodies, and are less frequently used for detecting vertical cylinders (such as abandoned wells). The detection depth is related to the size of the object. The metal detection, transient electromagnetic detection and ground penetrating radar detection can be applied to the detection of abandoned wells in theory.
The current problems are:
1. the equipment of the method has no GPS positioning function, needs additional GPS equipment for auxiliary positioning, and has low working efficiency; the scanning is blind measurement in a larger area, the accuracy is related to the measuring point distance and the line distance, the method can only realize real-time display of the measuring line data at the top, has no function of plane display of the whole area, needs post-processing, and is easy to cause repeated work and omission. The spatial positions of the pipeline and the abandoned well are different, the abandoned well is simply detected by using the pipeline detection technology, the detection effect is poor, and the false detection and the missing detection are serious.
2. Methods such as metal detection, transient electromagnetic detection, ground penetrating radar detection and the like have common points with a magnetic method, and after detection components in different directions are acquired, anomalies of a wellhead of a 'abandoned well' are resolved through a synthetic vector or a total vector of a certain single component and two single components. The corresponding three coordinate-direction detectors are required to have sufficient accuracy.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the comprehensive abandoned well scanning system and method can realize more comprehensive abandoned well scanning work, solve the defects that the existing detection is easy to cause repeated work and omission, and improve the detection precision.
The invention firstly provides a comprehensive abandoned well scanning system, which comprises an attitude measurement module, a vector data detection module and a host computer which are arranged on the same back frame, wherein:
the gesture measurement module is used for obtaining gesture information of the position of the scanning system in real time, the gesture information comprises GPS coordinates, heights and direction angles, the gesture information comprises two GPS antennas which are arranged at intervals on the horizontal direction of the top of the back frame, the two GPS antennas are respectively connected with the GPS data processing system, and the GPS data processing system is provided with a communication interface;
the vector data detection module is used for obtaining vector data of the position of the scanning system in real time and comprises a sensor support rod vertically arranged on a back frame through a universal joint and a vector sensor arranged at the bottom end of the sensor support rod, wherein the vector sensor is connected with a data acquisition chip, and a communication interface is arranged on the data acquisition chip;
the host is used for realizing task arrangement, navigation positioning, planning scanning paths and displaying travelling tracks, and can realize real-time processing and display of detection data, and comprises a communication interface and a man-machine interaction module;
the gesture measuring module and the vector data detecting module are respectively connected with the host computer through communication interfaces.
Further, the two GPS positioning coordinate errors are less than or equal to 1 cm.
Further, the horizontal distance between the two GPS antennas is greater than 0.6 meters.
Further, the vector sensor is a three-component fluxgate magnetometer.
Then, a scanning method using the comprehensive waste well scanning system is provided, and the method comprises the following steps:
(1) Leading the approximate coordinate position of the known abandoned well into a man-machine conversation module to form a work task;
(2) Navigating to a certain position by utilizing the navigation positioning function of the man-machine dialogue module;
(3) Displaying a region range and a scanning path by using a region planning function of the man-machine conversation module;
(4) Advancing according to the scanning path, and keeping the sensor support rod vertically downward all the time when the back frame moves; the man-machine dialogue module automatically stores and records three-component magnetic field values and gesture information; in the specified detection range, displaying the detected area through the obtained real-time coordinate position in the detection process, and marking the undetected area and the detected area by different marks to finally realize full coverage detection in the specified range;
(5) After the current area is scanned, the man-machine interaction module carries out angle correction on the three-component magnetic field values according to the gesture information of each measuring point, so that the directions of the three-component magnetic field values of each measuring point are consistent;
(6) And drawing a contour map by using the corrected magnetic field values, and judging the accurate position of the abandoned wellhead.
Preferably, the area is square, and the side length is more than 10 meters; the scanning path is shaped like a Chinese character 'ji', and the line spacing is less than 50 cm.
Preferably, the system adopts one of the coordinates output by the GPS to determine the detection position and time in real time, and the detection data between the two real-time coordinates is interpolated to obtain the coordinates and time of the detection point.
Preferably, the swing amplitude of the sensor strut in the vertical direction is less than or equal to 1 degree during traveling.
Preferably, the travelling speed is less than or equal to 1.5 m/s, and the sampling rate of the detected vector data is not less than 15 groups/s under the requirement that the distance between measuring points is not more than 0.1 m;
preferably, the obtained data of the horizontal component is subjected to course angle correction and recombined with the vertical component to obtain corrected vector data, and the horizontal position of the wellhead of the abandoned well is identified by using a single component, a synthesized vector of two single components or a total vector to analyze anomalies.
The attitude measurement module, the vector data detection module and the host are arranged on a back frame. Two high-precision GPS are installed on the top of the back frame in the horizontal direction. The vector sensor module is arranged at the bottom end of the supporting rod and is close to the ground as much as possible, the sensor supporting rod is connected with the back frame through a universal joint, and when the back frame moves, the sensor supporting rod is kept to be vertical downwards all the time. The data acquisition system uses a computer, is connected with the GPS and the vector sensor through a cable, controls and receives the data of the GPS and the vector sensor, and displays and analyzes the data in real time; compared with the prior art, the invention can realize the comprehensive detection of the whole plane of the measuring area, overcomes the defects of repeated work and omission in the prior art, greatly improves the detection efficiency and precision, and reduces the occurrence of false detection and missing detection.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic view of the installation of the GPS antenna and vector sensor of the present invention on a back frame;
fig. 3 is a schematic view of a range of areas and a scan path.
In the figure: 1. the back frame comprises a back frame body, a positioning GPS antenna, a directional GPS antenna, a universal joint, a vector sensor support rod, a vector sensor and a vector sensor.
Detailed Description
The present invention will be described in detail by way of specific examples, but the purpose and purpose of these exemplary embodiments are merely to illustrate the present invention, and are not intended to limit the actual scope of the present invention in any way.
Example 1
Referring to fig. 1-2, a comprehensive cleanout system includes an attitude measurement module, a vector data detection module, and a host mounted on the same back frame, wherein:
the gesture measurement module is used for obtaining gesture information of the position of the scanning system in real time, the gesture information comprises GPS coordinates, heights and direction angles, the gesture measurement module comprises two GPS antennas (namely a positioning GPS antenna 2 and a directional GPS antenna 3) which are arranged at intervals in the horizontal direction at the top of the back frame 1, the two GPS antennas are respectively connected with a GPS data processing system, and a communication interface is arranged on the GPS data processing system; the attitude measurement module uses the existing GPS systems such as Beidou and the like, and the precision reaches the centimeter level.
The vector data detection module is used for obtaining vector data of the position of the scanning system in real time and comprises a sensor support rod 5 vertically installed on the back frame 1 through a universal joint 4 and a vector sensor 6 installed at the bottom end of the sensor support rod 5, wherein the vector sensor 6 is connected with a data acquisition chip, and a communication interface is arranged on the data acquisition chip.
The host computer is used for realizing task arrangement, navigation positioning, planning scanning paths and displaying travelling tracks, and can realize real-time processing and display of detection data, and comprises a communication interface and a man-machine interaction module.
The gesture measuring module and the vector data detecting module are respectively connected with the host computer through communication interfaces.
Example 2
Referring to fig. 1-2, a comprehensive cleanup system is further preferred on the basis of example 1: the two GPS positioning coordinate errors are less than or equal to 1 cm, and in order to achieve the accuracy of course angle less than or equal to 1 degree, the two GPS positioning coordinate errors are calculated according to the formula:requirements are thatThe length of the two GPS in the horizontal direction is more than or equal to 0.6 meter; the vector sensor is selected as a three-component fluxgate magnetometer, and the data precision of the vector sensor is required to be determined according to the theoretical abnormality of the selected physical quantity on the abandoned well.
Example 3
A scanning method for applying the comprehensive scanning system for abandoned wells in the embodiment 1-2 comprises the following steps:
(1) Leading the approximate coordinate position of the known abandoned well into a man-machine conversation module to form a work task;
(2) Navigating to a certain position by utilizing the navigation positioning function of the man-machine dialogue module;
(3) Displaying a region range and a scanning path by using a region planning function of the man-machine conversation module;
(4) Advancing according to a scanning path, and keeping the sensor support rod vertically downward all the time when the back frame moves, wherein the swing amplitude of the sensor support rod in the vertical direction is less than or equal to 1 degree; the advancing speed is less than or equal to 1.5 m/s, the sampling rate of the detected vector data is not less than 15 groups/s under the condition that the distance between measuring points is not more than 0.1 m, and the man-machine interaction module automatically stores and records the three-component magnetic field value and the gesture information; in the specified detection range, displaying the detected area through the obtained real-time coordinate position in the detection process, and marking the undetected area and the detected area by different marks to finally realize full coverage detection in the specified range;
(5) After the current area is scanned, the man-machine interaction module carries out angle correction on the three-component magnetic field values according to the gesture information of each measuring point, so that the directions of the three-component magnetic field values of each measuring point are consistent;
(6) And drawing a contour map by using the corrected magnetic field values, and judging the accurate position of the abandoned wellhead.
Example 4
The method for scanning the abandoned well comprehensive scanning system in the embodiment 1-2 is further preferable to be based on the embodiment 3: referring to fig. 3, the area is square, and the side length is greater than 10 meters; the scanning path is shaped like a Chinese character 'ji', and the line spacing is less than 50 cm. The obtained data of the horizontal component is corrected by the course angle and recombined with the vertical component to be corrected vector data, and the horizontal position of the wellhead of the abandoned well is identified by using the composite vector or the total vector analysis abnormality of one single component and two single components.
The above description is only exemplary embodiments of the invention, and it is possible for those skilled in the art to make modifications to the invention or to make modifications to the invention equivalent using the technical solutions described above. Therefore, any simple modification or equivalent made according to the technical solution of the present invention falls within the scope of the protection claimed by the present invention.
Claims (6)
1. The scanning method of the comprehensive waste well scanning system is characterized in that the comprehensive waste well scanning system comprises an attitude measurement module, a vector data detection module and a host computer which are arranged on the same back frame, wherein:
the gesture measurement module is used for obtaining gesture information of the position of the scanning system in real time, the gesture information comprises GPS coordinates, heights and direction angles, the gesture information comprises two GPS antennas which are arranged at intervals on the horizontal direction of the top of the back frame, the two GPS antennas are respectively connected with the GPS data processing system, and the GPS data processing system is provided with a communication interface; the error of the two GPS positioning coordinates is less than or equal to 1 cm;
the vector data detection module is used for obtaining vector data of the position of the scanning system in real time and comprises a sensor support rod vertically arranged on a back frame through a universal joint and a vector sensor arranged at the bottom end of the sensor support rod, wherein the vector sensor is connected with a data acquisition chip, and a communication interface is arranged on the data acquisition chip;
the host is used for realizing task arrangement, navigation positioning, planning scanning paths and displaying travelling tracks, and can realize real-time processing and display of detection data, and comprises a communication interface and a man-machine interaction module;
the gesture measurement module and the vector data detection module are respectively connected with the host computer through communication interfaces;
the scanning method comprises the following steps:
(1) Leading the approximate coordinate position of the known abandoned well into a man-machine conversation module to form a work task;
(2) Navigating to a certain position by utilizing the navigation positioning function of the man-machine dialogue module;
(3) Displaying a region range and a scanning path by using a region planning function of the man-machine conversation module;
(4) Advancing according to a scanning path, keeping the sensor support rod vertically downward all the time when the back frame moves, wherein the swing amplitude of the sensor support rod in the vertical direction is less than or equal to 1 degree, the advancing speed is less than or equal to 1.5 m/s, and the detected vector data sampling rate is not less than 15 groups/s under the condition that the distance between measuring points is not more than 0.1 m; the man-machine dialogue module automatically stores and records three-component magnetic field values and gesture information; in the specified detection range, displaying the detected area through the obtained real-time coordinate position in the detection process, and marking the undetected area and the detected area by different marks to finally realize full coverage detection in the specified range;
(5) After the current area is scanned, the man-machine interaction module carries out angle correction on the three-component magnetic field values according to the gesture information of each measuring point, so that the directions of the three-component magnetic field values of each measuring point are consistent;
(6) And drawing a contour map by using the corrected magnetic field values, and judging the accurate position of the abandoned wellhead.
2. The method of claim 1, wherein the horizontal distance between the two GPS antennas is greater than 0.6 meters.
3. The method for scanning the comprehensive waste well scanning system according to any one of claims 1-2, wherein the vector sensor is a three-component fluxgate magnetometer.
4. The method for scanning the comprehensive waste well scanning system according to claim 1, wherein the area is square, and the side length is more than 10 meters; the scanning path is shaped like a Chinese character 'ji', and the line spacing is less than 50 cm.
5. The method for scanning the comprehensive waste well scanning system according to claim 1, wherein the system adopts coordinates output by one of the GPS to determine the detection position and time in real time, and the detection data between the two real-time coordinates is interpolated to obtain the coordinates and time of the detection point.
6. The method according to claim 1, wherein the obtained horizontal component data is subjected to course angle correction, recombined with the vertical component to be corrected vector data, and the horizontal position of the "abandoned well" wellhead is identified by using a single component, a composite vector of two single components or a total vector analysis anomaly.
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| CN110900310A (en) * | 2019-12-11 | 2020-03-24 | 山东省煤田地质规划勘察研究院 | Method for identifying drilling hole left casing based on high-precision magnetic measurement |
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