CN116181311B - Magnetic dipole-based wellbore positioning method, device, equipment and medium - Google Patents
Magnetic dipole-based wellbore positioning method, device, equipment and medium Download PDFInfo
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- 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
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- 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
- E21B47/092—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 by detecting magnetic anomalies
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Abstract
The invention relates to a method, a device, equipment and a medium for positioning a borehole based on magnetic dipoles, wherein the well section to be communicated of a vertical well and a horizontal well comprises the magnetic dipoles, the magnetic dipoles are formed by upper and lower casings with opposite magnetic poles, and the method comprises the following steps: acquiring a magnetic field signal emitted by a magnetic dipole obtained by measuring a probe in a horizontal well; determining a second position of the probe in the horizontal well according to a first position of a well section to be communicated of the vertical well and a pre-established relative position relationship between a well bore of the vertical well and a well bore of the horizontal well at different well depths; determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and a preset theoretical position; and adjusting the advancing direction of the drill bit where the probe is positioned according to the theoretical magnetic field intensity and the measured magnetic field signal. The method solves the problem that the steel casing cannot be lowered in the accurate guiding process, and meanwhile, the accurate butt joint of the horizontal well and the vertical well can be realized.
Description
Technical Field
The invention relates to the technical field of underground detection, in particular to a borehole positioning method, device, equipment and medium based on magnetic dipoles.
Background
With the emphasis on the development of renewable energy sources such as solar energy, wind energy, geothermal energy and the like. In the geothermal process, the underground hot water is most commonly extracted through a vertical well to supply heat, and the method has low cost, but can cause water level to drop. With the enhancement of public environmental awareness, geothermal recharging wells are drilled in some areas, but groundwater level rising is still slow, and life quality of residents is affected. In order to thoroughly solve the technical requirement of 'getting heat without getting water' in geothermal development, the experience of coal bed gas is used for providing a pair of U-shaped wells for developing geothermal energy, low-temperature water is injected into the ground through an injection well after the extraction well gets heat, and the problem of water level drop caused by difficult recharging of the ground water is hopefully solved.
The key point of the U-shaped well drilling is that the horizontal well is in butt joint with a vertical well borehole, in the prior art, the horizontal well and the vertical well borehole are in butt joint based on a magnetic steering technology, and the relative positions of the two wells with the current depth are obtained through calculation by measuring an alternating magnetic field generated by a manual magnetic source rotating while drilling of the horizontal well in the drilled vertical well, so that the horizontal well borehole and the vertical well are gradually guided to be communicated underground. However, the steel casing cannot be put into the vertical well in the mode, well completion by digging holes is needed to be implemented, the implementation of digging holes in the middle-deep geothermal hard stratum is difficult, instruments are easy to collapse by naked eyes, and meanwhile later-stage heat loss can be caused.
Disclosure of Invention
The application aims to solve at least one technical problem by providing a magnetic dipole-based borehole positioning method, a magnetic dipole-based borehole positioning device, a magnetic dipole-based borehole positioning equipment and a magnetic dipole-based borehole positioning medium.
In a first aspect, the present application solves the above technical problems by providing the following technical solutions: a wellbore positioning method based on magnetic dipoles, wherein the wellbore section to be communicated of a vertical well and a horizontal well comprises the magnetic dipoles which are formed by upper and lower casings with opposite magnetic poles, and the method comprises the following steps:
acquiring a magnetic field signal emitted by a magnetic dipole obtained by measuring a probe in a horizontal well;
determining a second position of the probe in the horizontal well according to a first position of a well section to be communicated of the vertical well and a pre-established relative position relationship between a well bore of the vertical well and a well bore of the horizontal well at different well depths;
determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and a preset theoretical position;
and adjusting the advancing direction of the drill bit where the probe is positioned according to the theoretical magnetic field intensity and the measured magnetic field signal.
The beneficial effects of the application are as follows: by the method, casing completion can be carried out in the vertical well, upper and lower casings with opposite magnetic poles are arranged in the vertical well, the upper and lower casings with opposite magnetic poles form magnetic dipoles, the advancing direction of a drill bit where the probe is positioned can be adjusted based on a measurement magnetic field signal which can be sent by the magnetic dipoles and a second position of the probe in the horizontal well, and the problem that the steel casings cannot be arranged due to the implementation of an accurate guiding process is solved.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the method comprises the following steps:
magnetizing the first sleeve and the second sleeve to obtain a third sleeve and a fourth sleeve;
vertically downwards placing the third sleeve into a well section to be communicated of the vertical well;
vertically lowering the nonmagnetic sleeve over the third sleeve;
and vertically downwards placing the fourth sleeve above the nonmagnetic sleeve, wherein the magnetization directions of the third sleeve and the fourth sleeve are the same, and the upper sleeve, the nonmagnetic sleeve and the fourth sleeve form a magnetic dipole.
The magnetic dipole is composed of a plurality of sleeves of different types, has the characteristics of simple structure and strong operability, and the vertical well does not need additional operation.
Further, determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the second position and the preset theoretical position includes:
determining the distance between the probe and the well section to be communicated according to the second position and the preset theoretical position;
from the distance, the theoretical magnetic field strength of the magnetic dipole at the first location is determined.
The technical scheme has the beneficial effects that the theoretical magnetic field intensity is determined based on the theoretical position and the distance between the exploratory tube and the well section to be communicated, so that the exploratory tube is positioned according to the theoretical magnetic field intensity.
Further, determining the theoretical magnetic field strength of the magnetic dipole at the first location based on the distance comprises:
determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the distance by a first formula, wherein the first formula is:
wherein ,indicating the theoretical magnetic field strength, +.>Indicate distance (I)>Representing edge->Is used for the vector of the unit of (a),is the magnetic moment of a magnetic dipole.
The further scheme has the beneficial effect that the theoretical magnetic field strength can be determined more accurately based on the association relation among the parameters such as the magnetic field strength, the distance, the magnetic moment and the like in the first formula.
Further, the adjusting the advancing direction of the drill bit where the probe is located according to the theoretical magnetic field strength and the measured magnetic field signal includes:
determining a magnetic field error according to the theoretical magnetic field strength and the measured magnetic field signal;
determining a target position of the probe according to the magnetic field error;
and adjusting the advancing direction of the drill bit where the probe tube is positioned according to the target position.
The further scheme has the beneficial effects that the actual position (target position) of the probe can be determined based on the magnetic field error, so that the advancing direction of the drill bit where the probe tube is positioned can be adjusted more accurately.
Further, the determining the target position of the probe according to the magnetic field error includes:
And obtaining the target position of the probe through an LM algorithm according to the magnetic field error.
The further scheme has the beneficial effects that the convergence speed and the precision can be considered through the LM algorithm, so that the processing speed and the precision of the scheme can meet certain requirements.
Further, the relative positional relationship between the boreholes of the vertical well and the boreholes of the horizontal well at the different well depths is determined by:
acquiring magnetic field signal data and gravitational field data of a well section to be communicated, which are obtained by measuring a probe tube in a horizontal well at different well depths, based on magnetic dipoles;
and determining the relative position relationship between the wellbores of the vertical wells and the wellbores of the horizontal wells at different well depths according to the magnetic field signal data and the gravitational field data.
The further scheme has the beneficial effect that the relative position relation can be determined more accurately based on magnetic field signal data and gravitational field data sent by the magnetic dipoles on the basis of the well section to be communicated, which is measured at different well depths by the probe.
In a second aspect, in order to solve the above technical problem, the present application further provides a wellbore positioning device based on magnetic dipoles, where a section to be communicated between a vertical well and a horizontal well includes magnetic dipoles, where the magnetic dipoles are formed by upper and lower casings having opposite magnetic poles, the device includes:
The data acquisition module is used for acquiring a measurement magnetic field signal sent by a magnetic dipole obtained by measuring a probe in the horizontal well;
the second position determining module is used for determining a second position of the probe in the horizontal well according to the first position of the well section to be communicated of the vertical well and the pre-established relative position relationship between the well bore of the vertical well and the well bore of the horizontal well at different well depths;
the theoretical magnetic field intensity determining module is used for determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and a preset theoretical position;
and the adjusting module is used for adjusting the advancing direction of the drill bit where the probe tube is positioned according to the theoretical magnetic field intensity and the measured magnetic field signal.
In a third aspect, the present application further provides an electronic device for solving the above technical problem, where the electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the magnetic dipole-based wellbore positioning method of the present application.
In a fourth aspect, the present application further provides a computer readable storage medium, where a computer program is stored, the computer program, when executed by a processor, implementing the magnetic dipole based wellbore positioning method of the present application.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments of the present application will be briefly described below.
FIG. 1 is a schematic flow chart of a magnetic dipole-based borehole positioning method according to one embodiment of the present application;
FIG. 2 is a schematic diagram of an active magnetic measurement system for a U-well docking process according to one embodiment of the present application;
FIG. 3 is a schematic diagram of a magnetic dipole structure according to one embodiment of the present application;
FIG. 4 is a flow chart of yet another magnetic dipole based borehole positioning method according to one embodiment of the present application;
FIG. 5 is a schematic diagram of a magnetic dipole based wellbore positioning device according to one embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 7 is an algorithm flow chart of a magnetic dipole based borehole positioning method according to one embodiment of the present application.
In fig. 2, 1, a sleeve section with NS poles; 2. a nonmagnetic sleeve; 3. a drill bit; 4. a drill rod; 5. a probe tube;
In FIG. 3, 1, S pole sleeve; 2. magnetic induction lines; 3. a nonmagnetic sleeve section; 4. an N-pole casing section.
Detailed Description
The principles and features of the present invention are described below with examples given for the purpose of illustration only and are not intended to limit the scope of the invention.
The following describes the technical scheme of the present invention and how the technical scheme of the present invention solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
The scheme provided by the embodiment of the invention can be applied to any application scene requiring well hole positioning. The solution provided by the embodiment of the present invention may be executed by any electronic device, for example, may be a terminal device of a user, where the terminal device may be any terminal device that may install an application and may perform wellbore positioning through the application, and the terminal device includes at least one of the following: smart phone, tablet computer, notebook computer, desktop computer, intelligent audio amplifier, intelligent wrist-watch, smart television, intelligent vehicle equipment.
An embodiment of the present invention provides a possible implementation manner, as shown in fig. 1, and provides a flowchart of a magnetic dipole-based wellbore positioning method, where the method may be performed by any electronic device, for example, may be a terminal device, or may be jointly performed by the terminal device and a server. For convenience of description, the method provided by the embodiment of the present invention will be described below by taking a terminal device as an execution body, where a well section to be connected between a vertical well and a horizontal well includes magnetic dipoles, where the magnetic dipoles are formed by upper and lower casings with opposite magnetic poles, as shown in a flowchart in fig. 1, and the method may include the following steps:
step S110, obtaining a magnetic field signal emitted by a magnetic dipole obtained by measuring a probe tube in a horizontal well;
step S120, determining a second position of a probe in the horizontal well according to a first position of a well section to be communicated of the vertical well and a pre-established relative position relationship between a well bore of the vertical well and a well bore of the horizontal well at different well depths;
step S130, determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and the preset theoretical position;
and step S140, adjusting the advancing direction of the drill bit where the probe is located according to the theoretical magnetic field intensity and the measured magnetic field signal.
The method can complete the well by casing in the vertical well, and the upper and lower casings with opposite magnetic poles are arranged in the vertical well, so that the upper and lower casings with opposite magnetic poles form a magnetic dipole, the advancing direction of the drill bit where the probe is positioned can be adjusted based on the measurement magnetic field signal which can be sent by the magnetic dipole and the second position of the probe in the horizontal well. In addition, in the drilling process, a new well (other wells except the vertical well and the horizontal well) is not needed, so that the problem of open hole collapse can be avoided.
The solution of the application is further described in connection with the following specific embodiment, in which the section of the vertical well and the horizontal well to be connected comprises magnetic dipoles formed by upper and lower casings with opposite poles, alternatively the magnetic dipoles can be determined by:
Magnetizing the first sleeve and the second sleeve to obtain a third sleeve and a fourth sleeve;
vertically downwards placing the third sleeve into a well section to be communicated of the vertical well;
vertically lowering the nonmagnetic sleeve over the third sleeve;
and vertically downwards placing the fourth sleeve above the nonmagnetic sleeve, wherein the magnetization directions of the third sleeve and the fourth sleeve are the same, and the upper sleeve, the nonmagnetic sleeve and the fourth sleeve form a magnetic dipole.
Referring to fig. 2 for a schematic diagram of an active magnetic measurement system in a U-well docking process and fig. 3 for a schematic diagram of a magnetic dipole structure, a vertical well magnetic dipole is composed of a plurality of different types of casing pipes, and includes: one to two non-magnetic sleeves and a plurality of common sleeves, such as magnetizable iron sleeves, wherein the common sleeves need to be uniformly magnetized before entering a well, the magnetization directions of each magnetized sleeve are the same, and the magnetized sleeves (a third sleeve and a fourth sleeve) are equivalent to a strip magnet with N poles and S poles. The magnetized sleeves are arranged into a vertical well according to the rule of magnetic poles, after the sleeves are lowered to a certain depth below a communicated destination layer, a non-magnetic sleeve is lowered into a destination layer section to be communicated (a well section to be communicated), and then the magnetized sleeves are lowered into the vertical well, so that a dipole magnetic field with controllable strength is formed on the non-magnetic sleeve, namely, the magnetic poles at the ends of the sleeves at the upper end and the lower end of the non-magnetic sleeve are respectively N pole and S pole, and a magnetic dipole is formed for detection of a probe tube. The vertical well magnetic dipole has the characteristics of simple structure and strong operability, and the vertical well does not need additional operation.
The horizontal well detection device consists of a probe tube and a ground controller. The probe tube comprises a triaxial fluxgate sensor, a triaxial acceleration sensor and a circuit board, wherein the triaxial fluxgate sensor is used for detecting triaxial magnetic field signals of X axis, Y axis and Z axis of a magnetic field at the probe tube; the triaxial acceleration sensor is used for detecting triaxial acceleration signals of X axis, Y axis and Z axis of a gravitational field at the probe tube, and the X axis, Y axis, Z axis and the triaxial fluxgate sensor of the triaxial acceleration sensor are respectively parallel and in the same direction; the circuit board is used for transmitting the magnetic field signals and the acceleration signals respectively acquired by the three-axis fluxgate sensor and the three-axis acceleration sensor upwards, and transmitting the magnetic field signals and the acceleration signals to the ground industrial personal computer through the cable for subsequent processing. The ground industrial personal computer is connected with the probe tube through a cable and used for collecting and processing data collected by the sensor.
Based on the above, the method for positioning a borehole based on a magnetic dipole according to the present embodiment may include the following steps:
step S110, a measuring magnetic field signal emitted by a magnetic dipole measured by a probe in the horizontal well is obtained.
The magnetic dipole signal can be detected by a triaxial fluxgate sensor in the horizontal well detection device, and the magnetic dipole signal can comprise an X-axis magnetic field signal, a Y-axis magnetic field signal and a Z-axis magnetic field signal.
And step S120, determining a second position of the exploratory tube in the horizontal well according to the first position of the section to be communicated of the vertical well and the pre-established relative position relationship between the well bore of the vertical well and the well bore of the horizontal well at different well depths.
The above relative positional relationship may be derived in advance, and specifically determined in the following manner: acquiring magnetic field signal data and gravitational field data of a well section to be communicated, which are obtained by measuring a probe tube in a horizontal well at different well depths, based on magnetic dipoles; and determining the relative position relationship between the wellbores of the vertical wells and the wellbores of the horizontal wells at different well depths according to the magnetic field signal data and the gravitational field data.
The gravity field data can be obtained through a triaxial acceleration sensor, and the gravity field data comprises X-axis gravity field data, Y-axis gravity field data and Z-axis gravity field data. The above-mentioned relative positional relationship may be determined based on the implementation manner in the prior art, and will not be described herein.
After knowing the relative position relation between the well bore of the vertical well and the well bore of the horizontal well at different well depths, if the first position of the well section to be communicated is known, the second position of the probe in the horizontal well at the moment can be obtained by determining based on the relative position relation, namely, the position of the probe is determined in real time, and because the gravitational field data can be three-dimensional data, the second position can be a spatial position.
Step S130, determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and the preset theoretical position.
The theoretical position refers to a theoretical value determined in advance before drilling, namely, the drill bit drills according to the theoretical position, so that the vertical well and the horizontal well can be accurately butted.
Optionally, determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the second position and the preset theoretical position includes:
determining the distance between the probe and the well section to be communicated according to the second position and the preset theoretical position;
from the distance, the theoretical magnetic field strength of the magnetic dipole at the first location is determined.
Wherein the magnitude of the distance reflects the magnitude of the magnetic field strength, and the theoretical magnetic field strength of the magnetic dipole at the first location is determined based on the distance.
Optionally, determining the theoretical magnetic field strength of the magnetic dipole at the first location based on the distance includes:
determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the distance by a first formula, wherein the first formula is:
wherein ,indicating the theoretical magnetic field strength, +.>Indicate distance (I)>Representing edge->Is used for the vector of the unit of (a), Is the magnetic moment of a magnetic dipole.
The magnitude of the theoretical magnetic field intensity changes along with the change of the distance between the probe pipe and the well section to be communicated.
Alternatively, the calculation error of the theoretical magnetic field strength can be reduced by adopting a gradient tensor form, and the vector formula (first formula) of the magnetic dipole is expressed as a gradient tensor:
in the formula ,(i may be the direction of any axis of X, Y, Z and j may be the direction of any axis of X, Y, Z). ri and rj represent the components of the distance in the i or j direction, respectively. The times i=j represent the same direction, and the times i+.j represent different directions.
wherein ,Gij Is thatGradient tensor of->Is the magnetic moment in the i direction; />A unit vector along ri for the i direction; />Is i-direction magnetic moment, ">Is the unit vector along rj in the j direction. i=j, when δ is the same direction ij =1, i+.j, expressed in different directions, delta ij ＝0。
According to the integral of the gradient tensor equation, the magnetic field theoretical value M generated by the magnetic dipole can be solved T I.e. the theoretical magnetic field strength.
And step S140, adjusting the advancing direction of the drill bit where the probe is located according to the theoretical magnetic field intensity and the measured magnetic field signal.
The adjustment of the advancing direction of the drill bit means that if the deviation between the current position of the drill bit and the theoretical position is too large, the current position of the drill bit can be adjusted so that the position of the drill bit is close to the theoretical position. If the current position of the drill bit does not deviate greatly from the theoretical position, the advancing direction of the drill bit may not be adjusted within the allowable error range.
Optionally, the adjusting the advancing direction of the drill bit where the probe is located according to the theoretical magnetic field strength and the measured magnetic field signal includes:
determining a magnetic field error according to the theoretical magnetic field strength and the measured magnetic field signal;
determining a target position of the probe according to the magnetic field error;
and adjusting the advancing direction of the drill bit where the probe tube is positioned according to the target position.
Wherein the magnetic field error can be represented by the following error function:
wherein e represents the magnetic field error, M Ti Generating a theoretical value of magnetic field, i.e. theoretical magnetic field strength, M, for a magnetic dipole Mi A measured value of the magnetic field, i.e. a measured magnetic field signal, is generated for the magnetic dipole, N being the number of measurements.
Based on the error function, on the premise that the theoretical value and the measured value of the magnetic field generated by the wire coil are known, the most suitable position coordinates (x, y and z) (the position of the drill bit after adjustment) can be solved through a proper optimization algorithm, so that the magnetic field error e is minimum.
Optionally, determining the target position of the probe according to the magnetic field error includes:
and obtaining the target position of the probe through an LM algorithm according to the magnetic field error.
For the error function, the LM algorithm is adopted to carry out iterative solution (target position), when the distance from the correct solution (theoretical position) is far, the method is more similar to a gradient descent method, the calculation speed is low, global convergence is guaranteed, when the distance from the correct solution is near, the method is more similar to a Gaussian-Newton method, the calculation speed is high, and the local convergence is realized.
The process of solving equation (3) using LM algorithm is as follows:
let m= (M M1 ,M M2 ,M M3 ) The three-axis component of the magnetic field, i.e. the measured magnetic field signal,to optimize the estimated value in the calculation process, i.e. the theoretical magnetic field strength, p= (x, y, z) is the position target parameter, i.e. the target position, error +.>Initial P 0 Can be obtained from prior art inclinometry data.
Is known to beThe linear approximation of f in the neighborhood of P can be obtained:
wherein: j is a Jacobian matrix, and the expression is:
when LM starts to iterate, it is looking for the optimal P + (target position), so that epsilon T Minimum, so each iteration is to find delta p So thatMinimum. The equation is transformed by linear approximation to solve the problem of linear least squares, i.e. when ε -Jdelta p When orthogonal with J columns, the optimal solution can be obtained. This requires solving the equation:
J T ε＝J T Jδ p (6)
in the formula ：JT J is an approximate Hessian matrix, in the LM algorithm, hessian is deformed, and a damping factor mu is added to adjust the iterative speed of the algorithm, wherein the specific expression is as follows:
J T ε＝(J T J+μI)δ p (7)
wherein: i is an identity matrix, and the damping factor mu can eliminate the singularity of the matrix besides adjusting the iterative speed of the algorithm.
In the iterative process, if the updated value (new current position) causes the error epsilon (magnetic field error) to decrease, the current updated value is taken (corresponding to the output of fig. 7 at the time of the target position), and the damping factor mu is decreased to further improve the calculation accuracy, and if the current updated value causes epsilon to increase, the damping factor mu is increased until a new updated value is generated to cause the error epsilon to decrease. If the error epsilon is smaller than the set valueStopping iteration when the fixed threshold value is set, and outputting the current optimal value P + . Therefore, in the iterative process, the LM algorithm continuously adjusts the damping factor μ to ensure algorithm convergence and increase the iterative speed (corresponding to LM iteration in the vicinity of the target position parameter shown in fig. 7), and decreases the descent speed of the algorithm when the distance from the correct solution is far, but ensures global convergence, and increases the descent speed when the distance from the correct solution is near, so as to quickly converge to the correct value, which can be specifically referred to as the algorithm flowchart shown in fig. 7 for assisting understanding.
For a better description and understanding of the principles of the method provided by the present invention, the following description of the present invention is provided in connection with an alternative embodiment. It should be noted that, the specific implementation manner of each step in this specific embodiment should not be construed as limiting the solution of the present invention, and other implementation manners that can be considered by those skilled in the art based on the principle of the solution provided by the present invention should also be considered as being within the protection scope of the present invention.
Referring to fig. 4, a magnetic dipole-based wellbore positioning method is disclosed, which is implemented by a magnetic dipole-based wellbore positioning system, the magnetic dipole-based wellbore positioning system comprising: a vertical well magnetic dipole system and a horizontal well detection system. Before the method is executed, firstly, a magnetic dipole is put into a straight well section, when the casing is put into the well, the casing magnetization is carried out at the well mouth, the magnetization direction of each casing is the same, firstly, the magnetized casing is put into the well, a non-magnetic casing is required to be put into the well until the well is under a communication destination layer (the well section to be communicated), and then, the magnetized casing is put into the well, so that a dipole magnetic field with controllable intensity is formed on the upper side and the lower side of the non-magnetic casing, and a horizontal well detection system is used for receiving a magnetic field signal of the dipole magnetic field; then the method is executed, and the overall thought of the method is as follows: in the horizontal well drilling process, a probe tube positioned in the drill bit receives a magnetic field of a vertical well section, namely a measured magnetic field signal, and the advancing direction of the drill bit is judged in real time according to the calculation of an error (magnetic field error) between a measured value (measured magnetic field signal) and a theoretical value (theoretical magnetic field intensity) received based on the real-time spatial position (second position) of the probe tube.
Wherein, the vertical well magnetic dipole system comprises: sleeve section 1 with NS pole; a nonmagnetic sleeve section 2. The magnetic dipole can be formed up and down by the non-magnetic sleeve section 2 through the NS magnetic pole sleeve section 1, a magnetic field with controllable intensity is generated and is used for being captured by the detection device, so that the position of a target layer of the vertical well, which is to pass through the vertical well, of the horizontal well can be accurately positioned when the U-shaped well is in butt joint, and the interference of the geomagnetic field to the horizontal well detection system is avoided.
The horizontal well detection system comprises: a drill 3; a drill rod 4; the probe 5, the cables and the industrial personal computer are not shown in the figures. The triaxial fluxgate sensor in the probe 5 collects magnetic field signals generated by the vertical well magnetic dipoles, and the coordinates (theoretical positions) of the magnetic dipoles are solved by combining the inclinometry data.
Referring to fig. 3, the magnetic dipole system of the vertical well uses the position of the non-magnetic sleeve 3 as a target point, the magnetized N-pole sleeve and the magnetized S-pole sleeve above and below the non-magnetic sleeve 3 mutually generate a magnetic field which can be received by the probe, and the magnetic field is a measured value, namely a measured magnetic field signal, and the measured magnetic field signal is compared with a theoretical value (theoretical magnetic field intensity), so that the drilling direction can be corrected according to an error value.
The embodiment of the invention also discloses a borehole positioning method based on the magnetic dipole, which is shown in FIG. 4, and the flow comprises the following steps:
s1: and (5) drilling a straight well.
S2: and (3) magnetizing the sleeve to be placed in the target layer (the well section to be communicated) of the straight well section, wherein one section of the sleeve is magnetized to be an N pole, and the other section of the sleeve is magnetized to be an S pole.
S3: and (3) lowering the sleeve, firstly lowering the sleeve which is magnetized into an N-pole sleeve, lowering the non-magnetic sleeve, and finally lowering the S-pole sleeve to form a magnetic dipole.
S4: and (3) drilling a horizontal well.
S5: the inner probe of the drill bit in the horizontal well receives the magnetic dipole field (measuring magnetic field signal).
S6: comparing the measured value with the predicted value, namely determining a magnetic field error according to the theoretical magnetic field strength and the measured magnetic field signal;
s7: correcting the bit track, namely determining the target position of the probe according to the magnetic field error;
and adjusting the advancing direction of the drill bit where the probe tube is positioned according to the target position.
Compared with the prior art, the scheme of the invention has the following beneficial effects:
(1) The invention provides a magnetic dipole-based borehole positioning method, which solves the problem that the guiding process cannot be used for setting a steel casing pipe to cause complexity, and improves the applicability of a magnetic guiding technology in drilling a U-shaped geothermal well;
(2) The intelligent closed-loop control system can realize real-time positioning, and can realize intelligent closed-loop control of drilling a U-shaped well after being connected with the directional controller, so that the drilling efficiency is improved;
(3) The iterative solving method provided by the invention is concise, and the magnetic field calculation accuracy is high, so that reverse deduction becomes convenient;
(4) The invention provides a magnetic dipole-based borehole positioning method and a magnetic dipole-based borehole positioning system, which can give out simplified analytic expressions of magnetic fields formed by magnetic dipoles at two ends of a demagnetizing sleeve and the position of a drill bit, simulate the change of an active magnetic measurement calculation result under different parameters (current, distance and azimuth), and provide model parameters and experimental data for measurement algorithm improvement and horizontal well borehole trajectory control;
(5) The invention is not interfered by external magnetic fields, and truly reflects the excitation and collection process of the underground electromagnetic field;
(6) The mathematical analysis formula provided by the invention is concise, the magnetic field calculation accuracy is high, reverse deduction is convenient, and the method is the first choice for magnetic target positioning.
Based on the same principle as the method shown in fig. 1, the embodiment of the present invention further provides a wellbore positioning device 20 based on magnetic dipoles, wherein the wellbore section to be communicated of the vertical well and the horizontal well comprises magnetic dipoles, the magnetic dipoles are formed by upper and lower casings with opposite magnetic poles, as shown in fig. 5, the wellbore positioning device 20 based on magnetic dipoles can comprise a data acquisition module 210, a second position determination module 220, a theoretical magnetic field strength determination module 230 and an adjustment module 240, wherein:
the data acquisition module 210 is configured to acquire a measurement magnetic field signal sent by a magnetic dipole measured by a probe in the horizontal well;
a second position determining module 220, configured to determine a second position of the probe in the horizontal well according to a first position of the well section to be communicated of the vertical well and a pre-established relative positional relationship between the well bore of the vertical well and the well bore of the horizontal well at different well depths;
a theoretical magnetic field strength determining module 230, configured to determine a theoretical magnetic field strength of the magnetic dipole at the first location according to the second location and a preset theoretical location;
The adjusting module 240 is configured to adjust the advancing direction of the drill bit in which the probe is located according to the theoretical magnetic field strength and the measured magnetic field signal.
Optionally, the apparatus further comprises:
the magnetic dipole generation module is used for magnetizing the first sleeve and the second sleeve to obtain a third sleeve and a fourth sleeve; vertically downwards placing the third sleeve into a well section to be communicated of the vertical well; vertically lowering the nonmagnetic sleeve over the third sleeve; and vertically downwards placing the fourth sleeve above the nonmagnetic sleeve, wherein the magnetization directions of the third sleeve and the fourth sleeve are the same, and the upper sleeve, the nonmagnetic sleeve and the fourth sleeve form a magnetic dipole.
Optionally, the theoretical magnetic field strength determining module 230 is specifically configured to, when determining the theoretical magnetic field strength of the magnetic dipole at the first location according to the second location and the preset theoretical location:
determining the distance between the probe and the well section to be communicated according to the second position and the preset theoretical position;
from the distance, the theoretical magnetic field strength of the magnetic dipole at the first location is determined.
Optionally, the theoretical magnetic field strength determining module 230 is specifically configured to, when determining the theoretical magnetic field strength of the magnetic dipole at the first location according to the distance:
Determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the distance by a first formula, wherein the first formula is:
wherein ,indicating the theoretical magnetic field strength, +.>Indicate distance (I)>Representing edge->Is used for the vector of the unit of (a),is the magnetic moment of a magnetic dipole.
Optionally, the adjusting module 240 is specifically configured to, when adjusting the advancing direction of the drill bit where the probe is located according to the theoretical magnetic field strength and the measured magnetic field signal:
determining a magnetic field error according to the theoretical magnetic field strength and the measured magnetic field signal;
determining a target position of the probe according to the magnetic field error;
and adjusting the advancing direction of the drill bit where the probe tube is positioned according to the target position.
Optionally, the adjusting module 240 is specifically configured to, when determining the target position of the probe according to the magnetic field error:
and obtaining the target position of the probe through an LM algorithm according to the magnetic field error.
Optionally, the relative positional relationship between the boreholes of the vertical well and the boreholes of the horizontal well at different well depths is determined by:
acquiring magnetic field signal data and gravitational field data of a well section to be communicated, which are obtained by measuring a probe tube in a horizontal well at different well depths, based on magnetic dipoles;
And determining the relative position relationship between the wellbores of the vertical wells and the wellbores of the horizontal wells at different well depths according to the magnetic field signal data and the gravitational field data.
The magnetic dipole-based wellbore positioning device according to the embodiments of the present invention may perform the magnetic dipole-based wellbore positioning method according to the embodiments of the present invention, and the implementation principle is similar, and actions performed by each module and unit in the magnetic dipole-based wellbore positioning device according to each embodiment of the present invention correspond to steps in the magnetic dipole-based wellbore positioning method according to each embodiment of the present invention, and detailed functional descriptions of each module of the magnetic dipole-based wellbore positioning device may be referred to the descriptions in the corresponding magnetic dipole-based wellbore positioning method shown in the foregoing, which are not repeated herein.
Wherein the magnetic dipole based wellbore positioning device may be a computer program (including program code) running in a computer apparatus, for example the magnetic dipole based wellbore positioning device is an application software; the device can be used for executing corresponding steps in the method provided by the embodiment of the invention.
In some embodiments, the magnetic dipole-based wellbore positioning device provided by the embodiments of the present invention may be implemented in a combination of hardware and software, and by way of example, the magnetic dipole-based wellbore positioning device provided by the embodiments of the present invention may be a processor in the form of a hardware decoding processor programmed to perform the magnetic dipole-based wellbore positioning method provided by the embodiments of the present invention, e.g., the processor in the form of a hardware decoding processor may employ one or more application specific integrated circuits (ASIC, application Specific Integrated Circuit), DSP, programmable logic device (PLD, programmable Logic Device), complex programmable logic device (CPLD, complex Programmable Logic Device), field programmable gate array (FPGA, field-Programmable Gate Array), or other electronic component.
In other embodiments, the magnetic dipole based wellbore positioning device according to the present invention may be implemented in software, and fig. 5 illustrates the magnetic dipole based wellbore positioning device stored in a memory, which may be software in the form of a program, a plug-in unit, etc., and includes a series of modules including a data acquisition module 210, a second location determination module 220, a theoretical magnetic field strength determination module 230, and an adjustment module 240 for implementing the magnetic dipole based wellbore positioning method according to the present invention.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The name of a module does not in some cases define the module itself.
Based on the same principles as the methods shown in the embodiments of the present invention, there is also provided in the embodiments of the present invention an electronic device, which may include, but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing the method according to any of the embodiments of the invention by invoking a computer program.
In an alternative embodiment, an electronic device is provided, as shown in fig. 6, the electronic device 4000 shown in fig. 6 includes: a processor 4001 and a memory 4003. Wherein the processor 4001 is coupled to the memory 4003, such as via a bus 4002. Optionally, the electronic device 4000 may further comprise a transceiver 4004, the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data, etc. It should be noted that, in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 is not limited to the embodiment of the present invention.
The processor 4001 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 4001 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
Bus 4002 may include a path to transfer information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The bus 4002 can be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
Memory 4003 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 4003 is used for storing application program codes (computer programs) for executing the present invention and is controlled to be executed by the processor 4001. The processor 4001 is configured to execute application program codes stored in the memory 4003 to realize what is shown in the foregoing method embodiment.
The electronic device shown in fig. 6 is only an example, and should not impose any limitation on the functions and application scope of the embodiment of the present invention.
Embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above.
According to another aspect of the present invention, there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the methods provided in the implementation of the various embodiments described above.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It should be appreciated that the flow charts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The computer readable storage medium according to embodiments of the present invention may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer-readable storage medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above-described embodiments.
The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present invention is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (8)
1. A method for locating a borehole based on magnetic dipoles, wherein the section to be communicated of a vertical well and a horizontal well comprises magnetic dipoles, the magnetic dipoles are formed by upper and lower casings with opposite magnetic poles, and the method comprises the following steps:
acquiring a measurement magnetic field signal emitted by the magnetic dipole obtained by measuring the probe tube in the horizontal well;
Determining a second position of a probe in the horizontal well according to a first position of a well section to be communicated of the vertical well and a pre-established relative position relationship between a borehole of the vertical well and a borehole of the horizontal well at different well depths;
determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and a preset theoretical position;
according to the theoretical magnetic field intensity and the measured magnetic field signal, adjusting the advancing direction of the drill bit where the probe tube is located;
wherein, the relative position relation is: acquiring magnetic field signal data and gravitational field data of a well section to be communicated, which are obtained by measuring a probe tube in a horizontal well at different well depths, based on magnetic dipoles; determining the relative position relationship between the wellbores of the vertical wells and the wellbores of the horizontal wells at different well depths according to the magnetic field signal data and the gravitational field data;
the gravity field data are acquired through a triaxial acceleration sensor and comprise X-axis gravity field data, Y-axis gravity field data and Z-axis gravity field data;
the determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and the preset theoretical position comprises the following steps:
Determining the distance between the exploratory tube and the well section to be communicated according to the second position and a preset theoretical position;
determining a theoretical magnetic field strength of the magnetic dipole at the first location based on the distance;
said determining a theoretical magnetic field strength of said magnetic dipole at said first location based on said distance, comprising:
determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the distance through a first formula, wherein the first formula is as follows:
wherein ,indicating the theoretical magnetic field strength, +.>Representing the distance>Representing edge->Is used for the vector of the unit of (a),a magnetic moment that is a magnetic dipole;
according to the theoretical magnetic field intensity and the measured magnetic field signal, the advancing direction of the drill bit where the probe tube is located is adjusted, and the method comprises the following steps:
determining a magnetic field error according to the theoretical magnetic field strength and the measured magnetic field signal;
determining a target position of the probe according to the magnetic field error;
adjusting the advancing direction of a drill bit in which the probe tube is positioned according to the target position;
wherein the magnetic field error can be represented by the following error function:
wherein e represents the magnetic field error, M Ti Generating a theoretical value of magnetic field, i.e. theoretical magnetic field strength, M, for a magnetic dipole Mi A measured value of the magnetic field, i.e. a measured magnetic field signal, is generated for the magnetic dipole, N being the number of measurements.
2. The method according to claim 1, wherein the method further comprises:
magnetizing the first sleeve and the second sleeve to obtain a third sleeve and a fourth sleeve;
vertically downwards placing the third sleeve to a well section to be communicated of the vertical well;
vertically lowering a nonmagnetic sleeve over the third sleeve;
and vertically downwards placing the fourth sleeve above the nonmagnetic sleeve, wherein the magnetization directions of the third sleeve and the fourth sleeve are the same, and the upper sleeve, the nonmagnetic sleeve and the fourth sleeve form the magnetic dipole.
3. The method according to claim 1 or 2, wherein said adjusting the direction of advance of the drill bit in which the probe is located based on the theoretical magnetic field strength and the measured magnetic field signal comprises:
determining a magnetic field error based on the theoretical magnetic field strength and the measured magnetic field signal;
determining a target position of the probe according to the magnetic field error;
and adjusting the advancing direction of the drill bit where the probe tube is positioned according to the target position.
4. A method according to claim 3, wherein said determining the target position of the probe from the magnetic field error comprises:
and obtaining the target position of the probe through an LM algorithm according to the magnetic field error.
5. The method of claim 1 or 2, wherein the relative positional relationship between the well bore of the vertical well and the well bore of the horizontal well at the different well depths is determined by:
acquiring magnetic field signal data and gravitational field data which are based on the magnetic dipoles and are obtained by measuring the exploratory tube in the horizontal well at different well depths;
and determining the relative position relationship between the wellbores of the vertical wells and the wellbores of the horizontal wells at different well depths according to the magnetic field signal data and the gravitational field data.
6. A wellbore positioning device based on magnetic dipoles, wherein the well section to be communicated of a vertical well and a horizontal well comprises magnetic dipoles, the magnetic dipoles are formed by upper and lower casings with opposite magnetic poles, and the device comprises:
the data acquisition module is used for acquiring a measurement magnetic field signal sent by the magnetic dipole and obtained by measuring the probe tube in the horizontal well;
The second position determining module is used for determining a second position of the exploratory tube in the horizontal well according to the first position of the well section to be communicated of the vertical well and the pre-established relative position relationship between the well bore of the vertical well and the well bore of the horizontal well at different well depths;
the theoretical magnetic field intensity determining module is used for determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and a preset theoretical position;
the adjusting module is used for adjusting the advancing direction of the drill bit where the probe tube is located according to the theoretical magnetic field intensity and the measured magnetic field signal;
wherein, the relative position relation is: acquiring magnetic field signal data and gravitational field data of a well section to be communicated, which are obtained by measuring a probe tube in a horizontal well at different well depths, based on magnetic dipoles; determining the relative position relationship between the wellbores of the vertical wells and the wellbores of the horizontal wells at different well depths according to the magnetic field signal data and the gravitational field data;
the gravity field data are acquired through a triaxial acceleration sensor and comprise X-axis gravity field data, Y-axis gravity field data and Z-axis gravity field data;
the determining the theoretical magnetic field intensity of the magnetic dipole at the first position according to the second position and the preset theoretical position comprises the following steps:
Determining the distance between the exploratory tube and the well section to be communicated according to the second position and a preset theoretical position;
determining a theoretical magnetic field strength of the magnetic dipole at the first location based on the distance;
said determining a theoretical magnetic field strength of said magnetic dipole at said first location based on said distance, comprising:
determining the theoretical magnetic field strength of the magnetic dipole at the first position according to the distance through a first formula, wherein the first formula is as follows:
wherein ,indicating the theoretical magnetic field strength, +.>Representing the distance>Representing edge->Is used for the vector of the unit of (a),a magnetic moment that is a magnetic dipole;
according to the theoretical magnetic field intensity and the measured magnetic field signal, the advancing direction of the drill bit where the probe tube is located is adjusted, and the method comprises the following steps:
determining a magnetic field error according to the theoretical magnetic field strength and the measured magnetic field signal;
determining a target position of the probe according to the magnetic field error;
adjusting the advancing direction of a drill bit in which the probe tube is positioned according to the target position;
wherein the magnetic field error can be represented by the following error function:
wherein e represents the magnetic field error, M Ti Generating a theoretical value of magnetic field, i.e. theoretical magnetic field strength, M, for a magnetic dipole Mi A measured value of the magnetic field, i.e. a measured magnetic field signal, is generated for the magnetic dipole, N being the number of measurements.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1-5 when the computer program is executed.
8. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1-5.
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