CN108729896A - A kind of hot dry rock robot explosion waterpower composite fracturing brill completion system - Google Patents

A kind of hot dry rock robot explosion waterpower composite fracturing brill completion system Download PDF

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Publication number
CN108729896A
CN108729896A CN201810488532.2A CN201810488532A CN108729896A CN 108729896 A CN108729896 A CN 108729896A CN 201810488532 A CN201810488532 A CN 201810488532A CN 108729896 A CN108729896 A CN 108729896A
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China
Prior art keywords
fracturing
robot
sensor
explosive
ground
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CN201810488532.2A
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CN108729896B (en
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刘清友
赵建国
朱海燕
张铭海
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Southwest Petroleum University
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Southwest Petroleum University
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Priority to PCT/CN2018/103504 priority patent/WO2019223164A1/en
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/25Methods for stimulating production
    • E21B43/26Methods for stimulating production by forming crevices or fractures
    • E21B43/263Methods for stimulating production by forming crevices or fractures using explosives
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/16Enhanced recovery methods for obtaining hydrocarbons
    • E21B43/24Enhanced recovery methods for obtaining hydrocarbons using heat, e.g. steam injection
    • E21B43/2405Enhanced recovery methods for obtaining hydrocarbons using heat, e.g. steam injection in association with fracturing or crevice forming processes
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/25Methods for stimulating production
    • E21B43/26Methods for stimulating production by forming crevices or fractures
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00Special methods or apparatus for drilling
    • E21B7/04Directional drilling

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Abstract

A kind of hot dry rock robot explosion waterpower composite fracturing brill completion system, including ground control system, robot, drilling execution system, explosive fracturing execute system, hydraulic fracturing executes system, orientation execution system, reentry execution system;The ground mouthful control system includes data processing centre, ground data acquisition sensor, is drilled well control system device, ground signal R-T unit, preventer, coiled tubing wellhead assembly, coiled tubing work vehicle, input equipment, storage unit;The robot includes downhole data collection sensor, CPU element, drilling control module, shaft bottom signal receiving/transmission device, reentries tool control modules, directional orientation tool control module, directional orientation tool control module, explosive fracturing control module, hydraulic fracturing control module;It using robot technology, realizes Intelligent closed-loop drilling well, effectively reduces operating cost, add waterpower Technology of Compound Fracturing using firing, can significantly optimize hot dry rock fracture network, reduce " heat transmits short circuit " risk.

Description

A kind of hot dry rock robot explosion waterpower composite fracturing brill completion system
Technical field
The invention belongs to be drilled well technical field more particularly to a kind of hot dry rock robot explosion waterpower composite fracturing to be drilled Well system.
Background technology
According to the research and appraisal in 2015 of Chinese Ministry of Land and Resources and China Geological Survey Bureau as a result, national land-based area buried depth exists 3000-10000 meters of hot dry rock stock number converts into 856,000,000,000,000 tons of standard coals, and mining resources amount accounts for about up to 17,000,000,000,000 tons of standard coals The 1/6 of world's hot dry rock total resources.
Hot dry rock is no water or steam, fine and close impervious high heat rock mass, can be widely used for power generation, heating, strengthens Oil exploitation etc., is nearly free from the pollutants such as nitrogen oxysulfide in development process, and not by season, weather and system round the clock About, generally acknowledged in the world high-efficiency low-carbon clean energy resource has been it.Since the last century 70's, the whole world it is multiple country always into The utilization experimental study of row hot dry rock.Currently, many places, which have had been established, in the states such as the U.S., Britain, Australia develops and uses examination Test study base.China's Development of Geothermal Resources research work since 1987, China in 2013 is for the first time in Qinghai republicanism basin 2230 meters of depth, which are successfully bored, obtains the hot dry rock that temperature is up to 153 DEG C, the height that 236 DEG C are obtained in 3705 meters of basin depths brill in 2017 Warm dry-heat rock body, on the whole China to the utilization of underground heat still in the primary stage.Although hot dry rock exploitation in China's lags behind Foreign countries, but see that domestic and international hot dry rock exploitation does not enter the large scale mining stage on the whole, it finds, limits after further research Hot dry rock resource large scale mining is mainly following reason:
Hot dry rock drilling cost is high.Hot dry rock exploit early investment in, compared with the identical well depth of conventional gas and oil, hot dry rock drilling well at Originally it is 2-5 times of conventional gas and oil drilling cost, drilling well input accounts for hot dry rock input early period more than 80%, this is that current hot dry rock is opened Adopt an one of the major reasons for being difficult to large-scale promotion.
Hot dry rock fracturing effect is poor.It is conventional to use hydraulic fracturing technology to dry to improve hot dry rock heat exchanger effectiveness Hot rock reservoir is transformed, and the crack that hydraulic fracturing generates is less, and heat exchange effect is bad, and is susceptible to " heat transmits short circuit " The phenomenon that, i.e. heat exchange medium entrance and the import temperature difference is very small, cannot be utilized to thermal energy." heat transmits short circuit " phenomenon There is i.e. beautiful wellbore without available value, such phenomenon substantially reduces the exploitation period of hot dry rock, causes xeothermic Such phenomenon of rock annoyings the suitable development of hot dry rock.
Hot dry rock comprehensive benefit is poor.Conventional gas and oil exploitation well head displacement size determines the benefit of oil-gas mining, hot dry rock Benefit it is then related with the calorific value exchanged in the unit interval, it is generally the case that hot dry rock exchange calorific value generate benefit it is much few The benefit caused by conventional gas and oil resource exploitation, and hot dry rock early investment is far longer than the input of conventional gas and oil resource, Therefore the comprehensive benefit of hot dry rock exploitation is not generally high.
The prior art mainly has following disadvantage:
(1), fuel, oxidant and water mixed proportion and quantity control it is difficult, or even the condition of burning is not achieved;
(2), fuel, oxidant mixed in proportion in advance with water, mixture may occur during ground and tripping in Burning has serious security risk;
(3), burn in existing crack, and former fracture length is extended, crack limited amount, is easy to happen that " heat passes Pass short circuit " phenomenon;
(4), existing robot using rapid curing liquid explosives, explosive conveying is difficult to realize, and safety is hidden in transmission process Suffer from very big;
(5), cannot achieve well operations are drilled to multiple-limb wellbore.
To improve China's energy resource structure, Air Pollution prevention and control, promoting economic society ecological environment scientific development, invention a kind of Drilling cost is low, the storage hot dry rock production technique that correctional effect is good, comprehensive benefit is high has great and real meaning.
Invention content
It is an object of the present invention to which in view of the above-mentioned problems, proposition is a kind of significantly to optimize hot dry rock fracture network, reduction The hot dry rock robot explosion waterpower composite fracturing of " heat transmits short circuit " risk bores completion system.
A kind of hot dry rock robot explosion waterpower composite fracturing brill completion system, including ground control system, robot, brill Into the system of execution, explosive fracturing execute system, hydraulic fracturing executes system, orientation execution system, reentry execution system;The machine Device people executes system with drilling execution system, explosive fracturing respectively, hydraulic fracturing executes system, orientation execution system, reentries and holds Row system be connected, the robot be used for creep into, explosive fracturing, hydraulic fracturing data collection and control.
The ground mouthful control system includes data processing centre, ground data acquisition sensor, be drilled well control system device, Face signal receiving/transmission device, preventer, coiled tubing wellhead assembly, coiled tubing work vehicle, input equipment, storage unit;It is described Ground data acquisition sensor, be drilled well control system device, ground signal R-T unit, input equipment, storage unit respectively with data Processing center is connected;The input equipment is for time break input, the input of explosive fracturing position data, hydraulic fracturing positional number According to input.
The drilling execution system is used for dual horizontal well drilling well, and transmitting fracture network for hot dry rock heat provides basis;It is described Explosive fracturing executes system and is used to carry out explosive fracturing to the dual horizontal well, forms cracky heat and transmits fracture network;Institute Hydraulic fracturing execution system is stated to be used to that the heat transmission fracture network that explosive fracturing is formed to be carried out extending to form hydraulically created fracture, To link up dual horizontal well.
The drilling execution system is connect safely by coiled tubing connected in sequence, coiled tubing crossover sub, coiled tubing Head, directional orientation tool, power drilling tool, reentries tool, drill bit composition at check valve, and the robot setting is in check valve and orientation work Between tool.
Robot controls reentry tool by well casing string in the entry position tripping in of cluster well eye, and well casing string is double to hot dry rock Horizontal well carries out drilling operation, and coiled tubing work vehicle acts well casing string after the completion;Robot controls reentry tool by ground Explosive fracturing completion tubular string is assembled in the entry position tripping in of cluster well eye, robot pulls explosive fracturing completion tubular string and successively Explosive fracturing is carried out to multiple pressure break points, completes explosive fracturing operation;The heat that hydraulic fracturing completion tubular string forms explosive fracturing It transmits fracture network to carry out extending to form hydraulically created fracture, to link up dual horizontal well.
The explosive fracturing executes system is pacified by coiled tubing connected in sequence, coiled tubing crossover sub, coiled tubing Full connector, hydraulic anchor, temporarily blocks up device A, priming device, explosive pipe nipple, temporarily blocks up device B, reentries tool, guide shoe composition check valve;It is described Robot is arranged between the check valve, hydraulic anchor.
The hydraulic fracturing executes system and is pacified by coiled tubing connected in sequence, coiled tubing crossover sub, coiled tubing Full connector, packer A, injection pipe nipple, packer B, reentries tool, guide shoe composition at hydraulic anchor;The robot is arranged described Between coiled tubing safety joint, hydraulic anchor.
Further, the ground data acquisition sensor includes displacement sensor, pump pressure sensor, running speed sensing Device, rotary depth sensor, robot go out best feed speed according to the data analysis that ground data acquisition sensor measures and lead Gravitation.
Further, the robot includes downhole data collection sensor, CPU element, drilling control module, shaft bottom letter Number R-T unit reentries tool control modules, directional orientation tool control module, directional orientation tool control module, explosive fracturing and controls mould Block, hydraulic fracturing control module;The reentry tool control modules, drilling control module, directional orientation tool control module, explosion pressure Split control module, hydraulic fracturing control module is connected with CPU element output end respectively;The downhole data collection sensor and well Bottom signal receiving/transmission device is connected with CPU element respectively;The shaft bottom signal receiving/transmission device and ground signal R-T unit network phase Even.
Further, the well control system device that is drilled includes displacement controller, pump pressure controller, coiled tubing drum speed control Device processed.
Further, the downhole data collection sensor include drilling speed sensor, bit weight sensor, torque sensor, Vibrating sensor, range sensor, displacement sensor, hydrostatic sensor, pit shaft identification sensor, aspect sensor, shaft bottom letter Number R-T unit;The aspect sensor is acquired for hole deviation data;The pit shaft identification sensor is used for real time scan pit shaft Form parameter identifies cluster well barrel shape and its direction parameter by CPU element, and the central processing unit of robot is according to clump formula The direction parameter control reentry tool of pit shaft enters corresponding cluster well cylinder.
Further, the explosive pipe nipple is modularization explosive pipe nipple, is adjusted for ground explosive consumption.
Further, the detonator signal that the priming device is inputted by the input equipment of ground control system passes through robot It ignites.
The beneficial effects of the present invention are:Solve that current hot dry rock drilling cost is high, fracturing effect is poor, comprehensive mining benefit Bad problem uses robot technology in drilling process, and stability, safety are enhanced using the conveying of explosive pipe nipple;It realizes Well operations are drilled to multiple-limb wellbore;It realizes Intelligent closed-loop drilling well, can effectively reduce hot dry rock drillng operation cost, completion mistake Using explosion and waterpower Technology of Compound Fracturing in journey, it can significantly optimize hot dry rock fracture network, extension has been split seam length, increased Crack quantity reduces " heat transmits short circuit " risk.
Description of the drawings
Fig. 1 be the present invention be drilled well system structure diagram;
Fig. 2 is well casing string close-up schematic view in Fig. 1;
Fig. 3 is the explosive fracturing structural schematic diagram of the present invention;
Fig. 4 is explosive fracturing completion tubular string close-up schematic view in Fig. 3;
Fig. 5 is the hydraulic fracturing structural schematic diagram of the present invention;
Fig. 6 is hydraulic fracturing completion tubular string close-up schematic view in Fig. 5;
Fig. 7 is the system diagram of the ground control system and robot of the present invention;
Fig. 8 is the work flow diagram of the present invention;
Fig. 9 is that the cluster well of the present invention reentries control flow chart;
Figure 10 is the Drilling Control flow chart of the present invention;
Figure 11 is the dual horizontal well directed flowgraph of the present invention;
Figure 12 is the explosive fracturing control flow chart of the present invention;
Figure 13 is the hydraulic fracturing control flow chart of the present invention.
Figure label indicates:The stratum 1-;2- coiled tubing wellhead assemblies;3- preventers;4- ground signal receiving/transmitting devices; 5- signal wires;6- coiled tubing reels;7- drum speed controllers;8- data processing centres;9- coiled tubing work vehicles;10- Slush pump;11- mud pumpage/pump pressure controller;12- main boreholes;13- coiled tubings;14- coiled tubing crossover subs;15- Coiled tubing safety joint;16- check valves;17- robots;18- directional orientation tools;19- power drilling tools;20- reentries tool;21- Drill bit;22- hydraulic anchors;23- temporarily blocks up device A;24- priming devices;25- explosive pipe nipples;26- temporarily blocks up device B;27- guide shoes;28- is insulated Device A;29- nozzles;30- packers B;31- dual horizontal wells;32- well casing strings;33- explosive fracturing completion tubular strings;34- waterpower pressures Split completion tubular string;35- explosive fracturings crack;36- hydraulically created fractures;37- ground control systems.
Specific implementation mode
The present embodiment provides a kind of hot dry rock robot explosion waterpower composite fracturings to bore completion system, including ground control system System, robot 17, drilling execution system, explosive fracturing execute system, hydraulic fracturing executes system, orientation execution system, reentry Execution system;The robot 17 executes system with drilling execution system, explosive fracturing respectively, hydraulic fracturing executes system, fixed To execute system, reentry execution system be connected, the robot be used for creep into, explosive fracturing, hydraulic fracturing data acquisition and Control.
The ground mouthful control system includes data processing centre, ground data acquisition sensor, be drilled well control system device, Face signal receiving/transmission device 4, preventer 3, coiled tubing wellhead assembly 2, coiled tubing work vehicle 9, input equipment, storage unit; The ground data acquisition sensor, be drilled well control system device, ground signal R-T unit, input equipment, storage unit respectively with Data processing centre is connected.
As shown in fig. 7, the robot 17 includes downhole data collection sensor, CPU element, drilling control module, well Bottom signal receiving/transmission device reentries tool control modules, directional orientation tool control module, directional orientation tool control module, explosive fracturing control Molding block, hydraulic fracturing control module;It is the reentry tool control modules, drilling control module, directional orientation tool control module, quick-fried Fried fracturing control module, hydraulic fracturing control module are connected with CPU element output end respectively;The downhole data collection sensor It is connected respectively with CPU element with shaft bottom signal receiving/transmission device;The shaft bottom signal receiving/transmission device and 4 net of ground signal R-T unit Network is connected.
It creeps into execution system and is used for 32 drilling well of dual horizontal well, transmitting fracture network for hot dry rock heat provides basis;It is described quick-fried Fried pressure break executes system and is used to carry out explosive fracturing to the dual horizontal well, forms cracky heat and transmits fracture network;It is described Hydraulic fracturing executes system and is used to carry out extending to form hydraulically created fracture 36 to the heat transmission fracture network that explosive fracturing is formed, To link up dual horizontal well.
As shown in Figure 1 and Figure 2, drilling execution system by coiled tubing 13 connected in sequence, coiled tubing crossover sub 14, Coiled tubing safety joint 15, directional orientation tool 18, power drilling tool 19, reentries tool 20, the composition of drill bit 21 at check valve 16, described Robot 17 is arranged between check valve 16 and directional orientation tool 18.
As shown in Figure 3, Figure 4, explosive fracturing executes system by coiled tubing 13 connected in sequence, coiled tubing crossover sub 14, coiled tubing safety joint 15, check valve 16, hydraulic anchor 22, temporarily stifled device A23, priming device 24, explosive pipe nipple 25, temporarily stifled Device B26, tool 20, the composition of guide shoe 27 are reentried;The robot 17 is arranged between the check valve 16, hydraulic anchor 22.
As shown in Figure 5, Figure 6, hydraulic fracturing executes system by coiled tubing 13 connected in sequence, coiled tubing crossover sub 14, coiled tubing safety joint 15, hydraulic anchor 22, packer A28, injection pipe nipple 29, packer B30, reentry tool 20, guide shoe 27 compositions;The robot 17 is arranged between the coiled tubing safety joint 15, hydraulic anchor 22.
A kind of hot dry rock robot explosion waterpower composite fracturing brill completion system, the course of work include the following steps:S1: According to hot dry rock buried depth, reservoir thickness, stratigraphic dip, thermal energy parameter, heat transfer parameter, hot dry rock clump formula dual horizontal well is set Well track, hot dry rock clump formula dual horizontal well wellbore spacing, hot dry rock clump formula dual horizontal well casing programme parameter, well casing string 13 Parameter, 33 parameter of explosive fracturing completion tubular string, 34 parameter of hydraulic fracturing completion tubular string;It can be bored according to rock stratum physical parameter, rock Property setting hydraulic parameters, mechanical parameter;And explosive fracturing crack 35 and the expansion of hydraulically created fracture 36 are obtained according to hot dry rock lithology Open up rule, setting explosion spacing, explosive quantity and hydraulic fracturing discharge capacity and pressure parameter;S2:Ground assembles well casing string 32, Robot 17 controls reentry tool 20 by well casing string 32 in the entry position tripping in of cluster well eye, and well casing string 32 is double to hot dry rock Horizontal well 31 carries out drilling operation, and coiled tubing work vehicle acts well casing string 32 after the completion;S3:Work is reentried in the control of robot 17 Ground is assembled explosive fracturing completion tubular string 33 in the entry position tripping in of cluster well eye, by explosive fracturing completion tubular string 33 by tool 20 It tows at setting well depth, sets hydraulic anchor 22, temporarily blocks up device A23, priming device 24 carries out detonation operation to explosive pipe nipple 25, fries Medicine pipe nipple 25 is completed to the single-point explosive fracturing of hot dry rock, ground mouthful control system towing explosive fracturing completion tubular string 33 and successively Explosive fracturing is carried out to multiple pressure break points, completes explosive fracturing operation;S4:Robot 17 controls reentry tool 20 will be in ground group The hydraulic fracturing completion tubular string 34 installed drags hydraulic fracturing completion tubular string 34 in the entry position tripping in of cluster well eye, robot 17 It drags to setting well depth, sets hydraulic anchor 22, set packer 30, ground is pumped into fracturing fluid, and fracturing fluid extends quick-fried under high pressure 35 length of fried fracturing fracture, until dual horizontal well 31, by crack unicom, coiled tubing work vehicle 9 plays out hydraulic fracturing completion tubular String completes hydraulic fracturing job.
As shown in figure 9, a kind of Multilateral Wells that hot dry rock robot explosion waterpower composite fracturing bores completion method reentry tool 20 operation principles are inputted when robot 17 is lowered into 5-10 meters from cluster well cylinder by the input equipment in the control system of ground Cluster well cylinder is numbered, and data processing centre encodes cluster well cylinder, ground signal R-T unit by coded excitation extremely Underground, the shaft bottom signal receiving/transmission device received encoded signal of robot 17, central processing unit are decoded, while pit shaft identification passes Sensor carries out real-time detection to wellbore shape, and detection data is judged by central processing unit, if it is not branch well cylinder to judge Then continue to detect, when detecting branch well cylinder compare well depth whether be design pit shaft, if not design branch well cylinder then after Continuous detection then will control signal according to the branch well cylinder orientation detected and emit to reentry tool controller if branch well cylinder, Reentry 20 guided drilling pipe string 32 of tool controller control reentry tool, explosive fracturing completion tubular string 33 or hydraulic fracturing completion tubular String 34 enters corresponding pit shaft.
As shown in Fig. 1 and Figure 10, a kind of hot dry rock robot explosion waterpower composite fracturing bores the drilling process of completion system Operation principle:Well casing string 32 is assembled on the ground, and tripping in creeps into pipe string 32,20 normal work of tool is reentried during tripping in Make, when well casing string 32 is lowered into from shaft bottom 5-10 meters, starts drill mode, the input equipment input in ground control system Bit pressure, drilling speed, data processing centre carry out coding and by data by the transmitting of ground signal R-T unit 4 to well to drilling speed, bit pressure Bottom, shaft bottom signal receiving/transmission device receive ground signal, and control signal is simultaneously passed to drilling execution system by central processing unit decoding Proportional control valve controller and throttle valve controller, proportional control valve controller and throttle valve controller control feeding speed respectively Degree and feeding bit pressure, the drilling speed sensor of robot 17 while drilling, bit weight sensor, torque sensor, vibrating sensor, Displacement sensor, hydrostatic sensor detect drilling speed, bit pressure, torque, vibration, discharge capacity and hydraulic parameter in real time, and central processing unit is logical It crosses big data analysis and judges whether drilling process is optimal, if not then optimal control signal is re-entered by robot 17 Drilling executes controller and carries out corresponding feed speed, feeding bit pressure adjustment, if optimal drilling process, then shaft bottom controls 32 movement speed of well casing string is sent to ground, the ground signal of ground control system by system by shaft bottom signal receiving/transmission device R-T unit 4 receives signal and is concurrently incident upon data processing centre, and well casing string movement speed is converted into connecting by data processing centre Continuous oil pipe rotating speed, and tach signal is emitted to drum speed controller, drum speed controller adjusts 6 turns of coiled tubing reel Speed.
As shown in figure 11, while the feed speed and feeding bit pressure for controlling drilling well, ground control system passes through input Equipment inputs dual horizontal well distance, and data processing centre's data of adjusting the distance are encoded, and ground signal R-T unit 4 sends out signal It is incident upon shaft bottom, shaft bottom signal receiving/transmission device receives signal, central processing unit decoding, and central processing unit compares range sensor detection Distance and the distance of ground launch, while the hole deviation and orientation that central processing unit is measured according to hole deviation/aspect sensor are obtained, is tied It closes the comparing result of central processing unit and according to comparing result, calculates the adjustment angle of directional orientation tool, robot 17 will adjust Angle emits to directional orientation tool controller, and directional orientation tool controller controls the directional angle of directional orientation tool 18, drilling process middle-range It is monitored in real time from sensor, and gives data feedback to orientation tool controller, directional orientation tool controller real-time control directional orientation tool Directional angle.
As shown in Fig. 3 and Figure 12, a kind of hot dry rock robot explosion waterpower composite fracturing bores the explosive fracturing of completion system Operation principle, ground assemble explosive fracturing completion tubular string 33, and tripping in explosive fracturing completion tubular string 33 reentries work during tripping in 20 work of tool, the input equipment of ground control system input explosive fracturing position data, data processing centre to position data into Row coding, ground signal R-T unit emit position signal, and the shaft bottom signal receiving/transmission device of robot 17 receives position signal simultaneously Transmitting to central processing unit decodes, the well of ground control system while ground control system draws explosive fracturing completion tubular string 33 Deep sensor real-time detection well depth data, if robot 17 does not reach design well depth, continuous traction, if the arrival of robot 17 is set Counting well depth, then robot 17 emits explosive fracturing control signal to explosive fracturing execution system, and hydraulic anchor 22 sets controller, is temporary Stifled tool controller and initiation control device work successively, and control hydraulic anchor, temporarily stifled device A, temporarily stifled device B, priming device 24 respectively, 24 ignition charge pipe nipple 25 of priming device, completes single-point explosive fracturing, and robot 17 is complete according to design data towing explosive fracturing Well casing string 33 completes hot dry rock Microdrilling explosive fracturing operation according to above-mentioned flow.
As shown in Fig. 5 and Figure 13, a kind of hot dry rock robot explosion waterpower composite fracturing bores the hydraulic fracturing of completion system Operation principle, ground assemble hydraulic fracturing completion tubular string 34, and tripping in hydraulic fracturing completion tubular string 34 reentries work during tripping in 20 work of tool, the input equipment of ground control system input hydraulic fracturing position data, data processing centre to position data into Row coding, ground signal R-T unit emit position signal, the shaft bottom signal receiving/transmission device received bit confidence of shaft bottom control system It number is concurrently incident upon central processing unit decoding, the well depth of ground control system while robot draws hydraulic fracturing completion tubular string 34 Sensor real-time detection well depth data, if robot does not reach design well depth, continuous traction, if robot reaches design well depth Slush pump is suppressed, and robot 17 emits hydraulic fracturing and controls signal to hydraulic fracturing execution system, and hydraulic fracturing executes system Hydraulic anchor sets controller, packer setting controller works successively, and controls hydraulic anchor 22, packer A28 and packing respectively Device B30, slush pump increasing pump pressure carry out pressure break, complete single-point hydraulic fracturing job.
The present invention is applicable not only to hot dry rock exploitation, applies also for unconventionaloil pool(Gas hydrates, coal bed gas, cause Close oil gas, shale gas)With the exploitation of conventional gas and oil resource.

Claims (7)

1. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system, which is characterized in that including ground control system, Robot(17), drilling execution system, explosive fracturing executes system, hydraulic fracturing executes system, orientation execution system, reentries and holds Row system;The robot(17)System is executed with drilling execution system, explosive fracturing, hydraulic fracturing executes system, fixed respectively To execute system, reentry execution system be connected, the robot be used for creep into, explosive fracturing, hydraulic fracturing data acquisition and Control;
The ground mouthful control system includes data processing centre, ground data acquisition sensor, is drilled well control system device, ground letter Number R-T unit(4), preventer(3), coiled tubing wellhead assembly(2), coiled tubing work vehicle(9), input equipment, storage it is single Member;The ground data acquisition sensor is drilled well control system device, ground signal R-T unit(4), input equipment, storage unit It is connected respectively with data processing centre;The input equipment is for time break input, the input of explosive fracturing position data, waterpower Pressure break position data inputs;
The drilling execution system is used for dual horizontal well(31)Drilling well transmits fracture network for hot dry rock heat and provides basis;It is described Explosive fracturing executes system and is used for the dual horizontal well(31)Explosive fracturing is carried out, cracky heat is formed and transmits fracture network Network;The hydraulic fracturing executes system and is used to carry out extending to form hydraulic fracturing to the heat transmission fracture network that explosive fracturing is formed Crack(36), to link up dual horizontal well;
The drilling execution system is by coiled tubing connected in sequence(13), coiled tubing crossover sub(14), coiled tubing peace Full connector(15), check valve(16), directional orientation tool(18), power drilling tool(19), reentry tool(20), drill bit(21)Composition, institute State robot(17)It is arranged in check valve(16)With directional orientation tool(18)Between;
The explosive fracturing executes system by coiled tubing connected in sequence(13), coiled tubing crossover sub(14), continuous oil Pipe safety joint(15), check valve(16), hydraulic anchor(22), temporary stifled device A(23), priming device(24), explosive pipe nipple(25), temporarily Stifled device B(26), reentry tool(20), guide shoe(27)Composition;The robot(17)It is arranged in the check valve(16), hydraulic anchor (22)Between;
The hydraulic fracturing executes system by coiled tubing connected in sequence(13), coiled tubing crossover sub(14), continuous oil Pipe safety joint(15), hydraulic anchor(22), packer A(28), injection pipe nipple(29), packer B(30), reentry tool(20), Guide shoe(27)Composition;The robot(17)It is arranged in the coiled tubing safety joint(15), hydraulic anchor(22)Between;
Robot(7)Control reentry tool(20)By well casing string(32)In the entry position tripping in of cluster well eye, well casing string (32)To hot dry rock dual horizontal well(31)Drilling operation is carried out, after the completion coiled tubing work vehicle(9)Act well casing string;Machine People(17)Control reentry tool(20)Ground is assembled into explosive fracturing completion tubular string(33)In the entry position tripping in of cluster well eye, Robot(17)Pull explosive fracturing completion tubular string(33)And explosive fracturing is carried out to multiple pressure break points successively, complete explosive fracturing Operation;Hydraulic fracturing completion tubular string(34)Is transmitted by fracture network and carries out extending to form hydraulic fracturing for the heat that explosive fracturing is formed and is split Seam(36), to link up dual horizontal well(31).
2. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system according to claim 1, which is characterized in that The robot(17)Including downhole data collection sensor, CPU element, drilling control module, shaft bottom signal receiving/transmission device, again Enter tool control modules, directional orientation tool control module, directional orientation tool control module, explosive fracturing control module, hydraulic fracturing control Molding block;The reentry tool control modules, drilling control module, directional orientation tool control module, explosive fracturing control module, water It forces and splits control module and be connected respectively with CPU element output end;The downhole data collection sensor is filled with shaft bottom signal transmitting and receiving It sets and is connected respectively with CPU element;The shaft bottom signal receiving/transmission device and ground signal R-T unit(4)Network is connected.
3. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system according to claim 1, which is characterized in that The ground data acquisition sensor includes displacement sensor, pump pressure sensor, running speed sensor, rotary depth sensor, machine Device people 17 goes out best feed speed and tractive force according to the data analysis that ground data acquisition sensor measures.
4. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system according to claim 1, which is characterized in that The well control system device that is drilled includes displacement controller, pump pressure controller, coiled tubing drum speed controller.
5. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system according to claim 1, which is characterized in that The downhole data collection sensor includes drilling speed sensor, bit weight sensor, torque sensor, vibrating sensor, distance biography Sensor, displacement sensor, hydrostatic sensor, pit shaft identification sensor, aspect sensor, shaft bottom signal receiving/transmission device;The side Level sensor is acquired for hole deviation data;The pit shaft identification sensor is used for real time scan wellbore shape parameter, mono- by CPU Member identifies cluster well barrel shape and its direction parameter, robot(17)Central processing unit according to the direction parameter of cluster well cylinder Control reentry tool(20)Into corresponding cluster well cylinder.
6. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system according to claim 1, which is characterized in that The explosive pipe nipple(25)For modularization explosive pipe nipple(25), adjusted for ground explosive consumption.
7. a kind of hot dry rock robot explosion waterpower composite fracturing bores completion system according to claim 1, which is characterized in that The priming device(24)By ground control system(36)Input equipment input detonator signal pass through robot(17)It ignites.
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