CN1657739A - Automatic tracking method and device for bottom depth of well and borehole trace - Google Patents
Automatic tracking method and device for bottom depth of well and borehole trace Download PDFInfo
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- CN1657739A CN1657739A CN2004100042744A CN200410004274A CN1657739A CN 1657739 A CN1657739 A CN 1657739A CN 2004100042744 A CN2004100042744 A CN 2004100042744A CN 200410004274 A CN200410004274 A CN 200410004274A CN 1657739 A CN1657739 A CN 1657739A
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Abstract
The invention relates to a method for automatic tracking the depth of well and trace of drill hole, comprising a group of sensors for measuring the load of rig hook and its height, a preprocessing box suppling electricity for the sensor and having signal isolation and filtering functions, a computer with collecting card with A/D function, a software for automatic tracking depth of well and trace of drill hole and its method. In accordance with the change of load of drill, whether the drill stem with drill head should be hang by it can be decided, and the change of heigh will decide the moving distance and direction, realizing the automatic tracking of the depth of drill head; besides, corporately with the direction parameter of drill hole measured by other equipment, the automatic tracking to the track of drill hole can be realized, and through comparison with the designed track of drill hole, alarming hint will be given if there is any aviation of the desiged track within the permitable range.
Description
Technical field
The present invention relates to a kind of be used for the drill bit of geological resource exploration and production drilling and the shaft bottom degree of depth is followed the tracks of and and the method and the device of a track following, especially can be from the method and the device of motion tracking.Be a kind of shaft bottom degree of depth and well track automatic tracking method and device concretely.
Background technology
At present, mostly the method for following the tracks of about the degree of depth and well track and measure are to finish by human metering and measuring and calculating, even if auxilliary a kind of degree of depth and well track automatic tracking method and device.
With computer measurement and calculating, also usually constantly need manual intervention just can finish, this artificial or half artificial working method, be easy to introduce artificial tracking error, for requiring the higher occasion of tracking accuracy, can't satisfy the demand, particularly carry out under the situation of accurate steerable drilling at needs, this contradiction is particularly outstanding.Utilize computer that drill bit and the shaft bottom degree of depth and well track are carried out in real time from motion tracking, can not only improve drillng operation efficient, also being one of necessary condition that improves the hole trajectory control quality, is one of important assurance that realizes steerable drilling technology such as geometry and geology.A lot of for the Research on Control of well track both at home and abroad, but for how to utilize computer realization to drill bit and the shaft bottom degree of depth carry out simple and effectively, accurately and in real time, economical and unattended research from motion tracking is also rare, therefore, just really do not realize as yet yet well track from motion tracking.
Summary of the invention
The object of the present invention is to provide a kind of shaft bottom degree of depth and well track automatic tracking method and device.Thereby: 1. set up the method that can utilize the automatic drill bit of realizing of computer and the shaft bottom degree of depth to follow the tracks of; 2. design relevant apparatus and software kit realize well track from motion tracking.
Technical scheme of the present invention is:
A kind of shaft bottom degree of depth automatic tracking method, it is divided into drill string state of living in drilling process:
Drill string has been hanged state by the rig hook and drill string is sat the slips state that is put in;
Drill string state of living in drilling process is judged:, then measure the variation of hook position height in real time if hanged state by the rig hook for described drill string; If for described drill string is sat the slips state, the variation that then stops to measure the hook position height of being put in;
Thereby, change displacement and the moving direction of determining drill string and drill bit according to the position height of hook, realize bit depth from motion tracking, and according to and the end degree of depth can not realize tracking less than this condition of bit depth to the shaft bottom degree of depth.
Described drill string state of living in drilling process is judged be meant: by measuring the variation that hook carries, judge the residing state of drill string.
Adopt position sensor that the variation of hook position height is measured.
Adopt the hook set sensor that the variation that hook carries is measured in real time.
Adopt the hook set sensor that the variation that hook carries is measured in real time, and then judge the residing state of drill string; Adopt position sensor that the variation of hook position height is measured; Its concrete steps are:
Step 1, hook carry returns 0, and the hook position returns 0;
Step 2, when hook is unloaded, the reading of hook set sensor is counted G0, then true hook carries=hook carries reading-G0;
Step 3, when hook is in a certain basic point position (as well head etc.), meter is hook position sensor reading down
H0, then actual hook is with respect to height (the position)=hook position sensor reading-H0 of this basic point;
Step 4, the initial bit depth and the shaft bottom degree of depth and hook are set carry threshold value Gt;
Step 5, when hook carry＞when hook carries threshold value Gt, then be that described drill string has been hanged state by the rig hook, start
The degree of depth is followed the tracks of, that is: the enable position sensor is measured the variation of hook position height; If hook moves, hook position H1 before then the current hook of the distance D H=of Yi Donging position H2-moves, current bit depth Hb2=moves preceding bit depth Hb1+DH; As Hb2 during greater than shaft bottom depth H w1, current shaft bottom depth H w2=Hb2;
Step 6, when hook carry＜=when hook carries threshold value Gt, then sit and be put in the slips state for described drill string, stop the described degree of depth and follow the tracks of.
When bit depth during, stop the described automatic degree of depth and follow the tracks of less than minimum bit depth (to carry threshold value Gt relevant with hook).
The present invention also provides a kind of well track automatic tracking method, it is characterized in that, with drill string at drilling process
In state of living in be divided into: drill string has been hanged state and drill string by the rig hook sits the slips state that is put in;
Drill string state of living in drilling process is judged:
If be that described drill string has been hanged state by the rig hook, then measure the variation of hook position height in real time;
If for described drill string is sat the slips state, the variation that then stops to measure the hook position height of being put in;
Thereby, change displacement and the moving direction of determining drill string and drill bit according to the position height of hook, realize bit depth from motion tracking, and can not realize tracking less than this condition of bit depth to the shaft bottom degree of depth according to the shaft bottom degree of depth;
The well direction is measured in real time;
According to described to the shaft bottom degree of depth tracking and to the measurement of well direction, draw well track in real time.
The described well direction is measured in real time is meant: adopt mud pulse generator (MWD) to measure the well directioin parameter in real time.
If skew appears in described well track, then report to the police.
The present invention also provides a kind of shaft bottom degree of depth and well track autotracker, comprising: hook set sensor, hook position sensor, signal conditioner, data collecting card, computer, the degree of depth and well track automatic tracking module;
The hook set sensor is used to measure hook load;
The hook position sensor is used to measure the hook position height;
Signal conditioner is accepted the measuring-signal from described hook set sensor, hook position sensor to described hook set sensor, the power supply of hook position sensor, is sent to described data collecting card after the signal that receives is handled; Data collecting card will carry from the hook of signal pretreatment unit with hook position analog signal and carry out analog-to-digital conversion, be converted to data signal and use for the degree of depth in the computer and well track automatic tracking module;
Computer is used for preserving, moves the degree of depth and well track automatic tracking module and preserves tracking results and warning;
The described degree of depth and well track automatic tracking module are judged drill string state of living in drilling process:
If be that described drill string has been hanged state by the rig hook, then measure the variation of hook position height in real time;
If for described drill string is sat the slips state, the variation that then stops to measure the hook position height of being put in;
Thereby, change displacement and the moving direction of determining drill string and drill bit according to the position height of hook, realize bit depth from motion tracking, and according to and the end degree of depth can not realize tracking less than this condition of bit depth to the shaft bottom degree of depth;
The well direction is measured in real time;
According to described to the shaft bottom degree of depth tracking and to the measurement of well direction, draw well track in real time.
Described signal conditioner comprises: signal division board, Signal Pretreatment card, cabinet, power supply, panel, signal lamp; It is powered to described sensor, accepts the measuring-signal from sensor, and the signal of accepting is isolated, and measuring-signal is sent to after the filtering of Signal Pretreatment card is inserted in data collecting card in the computer; Described Signal Pretreatment card carries out LPF to measuring-signal, filters high-frequency noise.
Described data collecting card is a universal data collection card with AD function, it will carry from the hook of signal preliminary treatment case with hook position analog signal and carry out analog-to-digital conversion, be converted to data signal and use for the automatic degree of depth in the computer and well track automatic tracking module.
Beneficial effect of the present invention is: the computer of having realized the degree of depth and well track is from motion tracking, and its benefit has three:
The one, improved the tracking accuracy of the degree of depth and well track, avoided artificial and numerous artificial errors during half artificial the tracking.The 2nd, improved tracking efficient, its automatic orbit is followed the tracks of and is reported to the police to guaranteeing that wellbore quality provides more advantageous conditions.The 3rd, provide condition for realizing accurate steerable drilling.
Description of drawings
Fig. 1 is apparatus of the present invention schematic diagrames.
The specific embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention:
1. set up the simple effective ways that can utilize the automatic drill bit of realizing of computer and the shaft bottom degree of depth to follow the tracks of: the degree of depth is followed the tracks of and will be followed the tracks of the position (bit depth) and the shaft bottom degree of depth of drill bit in pit shaft exactly.The process that well forms is to creep into → make up a joint (or column) → creep into constantly repeatedly process.When normally creeping into, bit depth equals the shaft bottom degree of depth, and along with the increase of drilling depth, bit depth constantly increases, and the shaft bottom degree of depth also constantly increases.As shown in Figure 1, under the normal condition, the position of drill bit in pit shaft is relevant with the length of drill string in pit shaft, owing to the length of drill string is determined, therefore promptly knows bit depth by the position at drill string top.And in drilling process, for the degree of depth was followed the tracks of, drill string state of living in had two states nothing but, the one, hanged by the rig hook, and the one, sit and be put in slips.When hook had hanged drill string, the change in location of drill bit in pit shaft, the i.e. variation of bit depth had also just been reacted in the variation of hook position height; And when the drill string seat was put on the rotary slips, bit depth was constant.Therefore, when hook has hanged drill string, just can follow the tracks of bit depth by tracking to the hook position height; And drill string is sat when being put on the slips, then needn't follow the tracks of.Therefore for bit depth was followed the tracks of, key issue was how to judge whether drill string is hanged by hook, and the variation of hook position height.
How to differentiate drill string and whether hanged by hook, when key is that hook has hanged drill string, the variation that hook carries.When drill string string weight much larger than the weight of (promptly obviously being different from) one single (or column) time, the variation of carrying according to hook is easy to judge whether drill string is hanged by hook.Problem be when the drill string string more in short-term, the weight of drill string string and single (or column) weight ratio are more approaching, at this moment, the only variation of carrying with hook is difficult to judge that hook hanged is single or the drill string string.But this situation only can occur in very short top well section, be generally less than 50m, this is for hundreds of meters easily, and even thousands of meters well, and all too has been lacked, therefore for this well section, can be easy to finish by artificial tracking, then with tracking results as initial value, the input computer, start the automatic degree of depth of the designed computer of the present invention and follow the tracks of software, realize to the drill bit and the shaft bottom degree of depth from motion tracking.
As for the variation of measuring the hook position height, can finish by the sensor of any energy measurement height change (hook position).Hook carries then to be measured by the hook set sensor.
In view of the above, can realize that tracing process is as follows to the tracking of the drill bit and the shaft bottom degree of depth:
1) hook carries and returns 0, and the hook position returns 0:
When hook was unloaded, the reading of hook set sensor was counted G0, and then true hook carries=and hook carries reading-G0.
When hook was in a certain basic point position (as well head etc.), meter is hook position sensor reading H0 down, and then actual hook is with respect to height (the position)=hook position sensor reading-H0 of this basic point.
2) the initial bit depth and the shaft bottom degree of depth are set, and hook carries threshold value Gt:
Hook carries choosing of threshold value Gt should be able to be with obviously difference of drill string string and single (or column), that is to say when bit depth during greater than certain depth (guaranteeing enough drill string string weights), can start from motion tracking.This bit depth Hbt counts that to start the minimum drill bit that the automatic degree of depth follows the tracks of dark, and therefore, actual initial bit depth (having reacted initial drill string string length) must not be less than this bit depth, otherwise stops from motion tracking.
3) degree of depth is followed the tracks of automatically:
When hook carry＞when hook carried threshold value Gt, hook had hanged drill string, start the degree of depth and follow the tracks of.If this moment, hook moved, hook position H1 before then the current hook of the distance D H=of Yi Donging position H2-moves is bit depth Hb1+DH before so current bit depth Hb2=moves.Simultaneously, as Hb2 during, current shaft bottom depth H w2=Hb2 is arranged greater than shaft bottom depth H w1.
When hook carry＜=when hook carried threshold value Gt, drill string was sat and to be put and slips, stop the degree of depth and follow the tracks of.
When bit depth during, stop the automatic degree of depth and follow the tracks of less than minimum bit depth (to carry threshold value Gt relevant with hook).
2. design relevant apparatus and software kit realize well track from motion tracking
There has been the automatic degree of depth to follow the tracks of,, just can have designed a covering device and software well track is carried out from motion tracking in conjunction with the well directioin parameter that instruments such as MWD are measured in real time.
According to real-time well depth and corresponding well directioin parameter (hole deviation, orientation), well track can be depicted in real time by the method for mathematics and geometry.If well track has departed from the design track, and departure degree surpasses tolerance band on the engineering, then automatic orbit tracking system warning.
(Fig. 1 is the autotracker that the present invention designs as shown in Figure 1, wherein the included part of frame of broken lines is the designed device of the present invention), it mainly is made up of following several sections: sensor (comprising hook set sensor, hook position sensor), the Signal Pretreatment case, data collecting card, computer and from motion tracking software.
The hook set sensor is used to measure hook load, and the hook position sensor is used to measure the hook position height.
The Signal Pretreatment case mainly comprises signal division board, Signal Pretreatment card, cabinet, power supply, panel, signal lamp etc., its major function is to power to sensor, acceptance is from the measuring-signal of sensor, and relevant signal isolated, measuring-signal is sent to after the filtering of Signal Pretreatment card and is inserted in data collecting card in the computer.The Signal Pretreatment card carries out LPF to measuring-signal, filters high-frequency noise.
Data collecting card is a universal data collection card with AD function, its major function is the hook from signal preliminary treatment case to be carried with hook position analog signal carry out analog-to-digital conversion, is converted to data signal and follows the tracks of the software use for the automatic degree of depth in the computer and well track.
Computer is used for preserving, the operation degree of depth and well track are from motion tracking software and preserve tracking results and warning.
From motion tracking software be the degree of depth worked out according to the method that set forth the front and well track from motion tracking software, be important component part of the present invention.
The present invention has realized the computer of the degree of depth and well track from motion tracking, and its benefit has three: one, has improved the tracking accuracy of the degree of depth and well track, numerous artificial errors when having avoided artificial and partly artificial the tracking.The 2nd, improved tracking efficient, its automatic orbit is followed the tracks of and is reported to the police to guaranteeing that wellbore quality provides more advantageous conditions.The 3rd, provide condition for realizing accurate steerable drilling.
The above specific embodiment only is used to illustrate the present invention, but not is used to limit the present invention.
Claims (11)
1. a degree of depth automatic tracking method is characterized in that, drill string state of living in drilling process is divided into: drill string has been hanged state by the rig hook and drill string is sat the slips state that is put in;
Drill string state of living in drilling process is judged:, then measure the variation of hook position height in real time if hanged state by the rig hook for described drill string; If for described drill string is sat the slips state, the variation that then stops to measure the hook position height of being put in;
Thereby, position height according to hook changes displacement and the moving direction of determining drill string and drill bit, adopt recursive algorithm, be current bit depth=bit depth+displacement before moving, realize bit depth from motion tracking, and can not realize tracking less than this condition of bit depth to the shaft bottom degree of depth according to the shaft bottom degree of depth; Realize tracking according to the measuring point of measurement while-drilling instrument to the distance of drill bit to the measuring point degree of depth.
2. method according to claim 1 is characterized in that, described drill string state of living in drilling process is judged be meant: by measuring the variation that hook carries, judge the residing state of drill string.
3. method according to claim 1 is characterized in that, adopts position sensor that the variation of hook position height is measured.
4. method according to claim 2 is characterized in that, adopts the hook set sensor that the variation that hook carries is measured in real time.
5. method according to claim 1 is characterized in that, adopts the hook set sensor that the variation that hook carries is measured in real time, and then judges the residing state of drill string; Adopt position sensor that the variation of hook position height is measured; Its concrete steps are:
Step 1, hook carry returns 0, and the hook position returns 0;
Step 2, when hook is unloaded, the reading of hook set sensor is counted G0, then true hook carries=hook carries reading-G0;
Step 3, when hook is in a certain basic point position, meter is hook position sensor reading H0 down, then actual hook is with respect to the height=hook position sensor reading-H0 of this basic point;
Step 4, the initial bit depth and the shaft bottom degree of depth and hook are set carry threshold value Gt; And the distance, delta Hmb of steering tool measuring point apart from drill bit be set;
Step 5, when hook carry＞when hook carries threshold value Gt, then be that described drill string has been hanged state by the rig hook, start the degree of depth and follow the tracks of, that is: the enable position sensor is measured the variation of hook position height; If hook moves, hook position H1 before then the current hook of the distance D H=of Yi Donging position H2-moves, current bit depth Hb2=moves preceding bit depth Hb1+DH; The current degree of depth of steering tool measuring point=Hb2-Δ Hmb; As Hb2 during greater than shaft bottom depth H w1, current shaft bottom depth H w2=Hb2;
Step 6, when hook carry＜=when hook carries threshold value Gt, then sit and be put in the slips state for described drill string, stop the described degree of depth and follow the tracks of.
6. method according to claim 5 is characterized in that, when bit depth during less than minimum bit depth, stops the described automatic degree of depth and follows the tracks of.
7. a well track automatic tracking method is characterized in that, drill string state of living in drilling process is divided into:
Drill string has been hanged state by the rig hook and drill string is sat the slips state that is put in;
Drill string state of living in drilling process is judged:
If be that described drill string has been hanged state by the rig hook, then measure the variation of hook position height in real time;
If for described drill string is sat the slips state, the variation that then stops to measure the hook position height of being put in;
Thereby, position height according to hook changes displacement and the moving direction of determining drill string and drill bit, adopt recursive algorithm, be current bit depth=bit depth+displacement before moving, realize bit depth from motion tracking, and can not realize tracking less than this condition of bit depth to the shaft bottom degree of depth according to the shaft bottom degree of depth; Realize tracking according to the measuring point of measurement while-drilling instrument to the distance of drill bit to the measuring point degree of depth;
According to the measuring point degree of depth from motion tracking, in conjunction with the well directioin parameter that the MWD measurement while-drilling instrument is measured in real time, promptly actual well track is calculated and depicts in hole deviation, orientation in real time, and and design well track contrast, realize to well track from motion tracking and monitoring.
8. method according to claim 7 is characterized in that, if the skew of permission appears exceeding in described well track, then reports to the police.
9. the degree of depth and well track autotracker, comprising: hook set sensor, hook position sensor, signal conditioner, data collecting card, computer, the degree of depth and well track automatic tracking module;
The hook set sensor is used to measure hook load;
The hook position sensor is used to measure the hook position height;
Signal conditioner is powered to described hook set sensor, hook position sensor, and accepts the measuring-signal from described hook set sensor, hook position sensor, is sent to described data collecting card after the signal that receives is handled; Data collecting card will carry from the hook of signal pretreatment unit with hook position analog signal and carry out analog-to-digital conversion, be converted to data signal and use for the degree of depth in the computer and well track automatic tracking module;
Computer is used for preserving, moves the degree of depth and well track automatic tracking module and preserves tracking results and warning;
The described degree of depth and well track automatic tracking module are judged drill string state of living in drilling process:
If be that described drill string has been hanged state by the rig hook, then measure the variation of hook position height in real time;
If for described drill string is sat the slips state, the variation that then stops to measure the hook position height of being put in;
Thereby, change displacement and the moving direction of determining drill string and drill bit according to the position height of hook, realize bit depth from motion tracking, and can not realize tracking less than this condition of bit depth to the shaft bottom degree of depth according to the shaft bottom degree of depth; According to the steering tool measuring point apart from the distance of drill bit realize the measuring point degree of depth from motion tracking.
Utilize measurement while-drilling instruments such as MWD that the well direction is measured in real time;
According to described to the shaft bottom degree of depth tracking and to the measurement of well direction, draw well track in real time.
10. method according to claim 9 is characterized in that, described signal conditioner comprises: signal division board, Signal Pretreatment card, cabinet, power supply, panel, signal lamp; It is powered to described sensor, accepts the measuring-signal from sensor, and the signal of accepting is isolated, and measuring-signal is sent to after the filtering of Signal Pretreatment card is inserted in data collecting card in the computer; Described Signal Pretreatment card carries out LPF to measuring-signal, filters high-frequency noise.
11. method according to claim 9, it is characterized in that, described data collecting card is a universal data collection card with AD function, it will carry from the hook of signal preliminary treatment case with hook position analog signal and carry out analog-to-digital conversion, be converted to data signal and use for the degree of depth in the computer and well track automatic tracking module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100042744A CN100513741C (en) | 2004-02-16 | 2004-02-16 | Automatic tracking method and device for bottom depth of well and borehole trace |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100042744A CN100513741C (en) | 2004-02-16 | 2004-02-16 | Automatic tracking method and device for bottom depth of well and borehole trace |
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| CN100513741C CN100513741C (en) | 2009-07-15 |
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Cited By (16)
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| CN101100939B (en) * | 2007-08-03 | 2010-06-02 | 中国海洋石油总公司 | Depth tracking device for logging while drilling |
| CN101949286A (en) * | 2010-08-26 | 2011-01-19 | 中国石油集团川庆钻探工程有限公司 | Remote real-time tracking method for well path |
| CN101220741B (en) * | 2007-01-04 | 2012-11-28 | 普拉德研究及开发股份有限公司 | Hole depth sensing |
| CN101421483B (en) * | 2006-06-05 | 2012-12-05 | 哈里伯顿能源服务公司 | Electromagnetically determining the relative location of a drill bit using a solenoid source installed on a steel casing |
| CN103174410A (en) * | 2013-03-08 | 2013-06-26 | 吉艾科技（北京）股份公司 | Method for achieving time and depth conversion through weight change of downhole instrument tool |
| CN104453713A (en) * | 2014-11-02 | 2015-03-25 | 中国石油集团钻井工程技术研究院 | Method for controlling well track by rotary steering tool |
| CN104500036A (en) * | 2014-11-02 | 2015-04-08 | 中国石油集团钻井工程技术研究院 | Method and device for dynamically measuring hole deviation and toolface angle in condition of small hole deviation |
| CN104636712A (en) * | 2013-11-13 | 2015-05-20 | 中国石油化工股份有限公司 | Automatic drilling slip state image identification system |
| CN104632193A (en) * | 2013-11-13 | 2015-05-20 | 中国石油化工股份有限公司 | Drilling hook height image measurement system |
| CN104879122A (en) * | 2014-08-05 | 2015-09-02 | 中国石油集团渤海钻探工程有限公司 | Simulation and test device for sensors of depth tracking system |
| CN105735972A (en) * | 2016-03-11 | 2016-07-06 | 中国石油天然气集团公司 | System for measuring, recording and processing depth of downhole tool for resource exploration and development |
| CN107558986A (en) * | 2016-06-30 | 2018-01-09 | 维布络有限公司 | A kind of method and system for being used to determine the slips state of drill string |
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| CN108571287A (en) * | 2017-03-07 | 2018-09-25 | 中国石油化工股份有限公司 | The hole trajectory control system of Kernel-based methods control |
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| CN101421483B (en) * | 2006-06-05 | 2012-12-05 | 哈里伯顿能源服务公司 | Electromagnetically determining the relative location of a drill bit using a solenoid source installed on a steel casing |
| CN101220741B (en) * | 2007-01-04 | 2012-11-28 | 普拉德研究及开发股份有限公司 | Hole depth sensing |
| CN101100939B (en) * | 2007-08-03 | 2010-06-02 | 中国海洋石油总公司 | Depth tracking device for logging while drilling |
| CN101949286A (en) * | 2010-08-26 | 2011-01-19 | 中国石油集团川庆钻探工程有限公司 | Remote real-time tracking method for well path |
| CN103174410B (en) * | 2013-03-08 | 2016-12-28 | 吉艾科技（北京）股份公司 | Method for achieving time and depth conversion through weight change of downhole instrument tool |
| CN103174410A (en) * | 2013-03-08 | 2013-06-26 | 吉艾科技（北京）股份公司 | Method for achieving time and depth conversion through weight change of downhole instrument tool |
| CN104636712B (en) * | 2013-11-13 | 2019-07-02 | 中国石油化工股份有限公司 | Drilling slip status image automatic recognition system |
| CN104632193B (en) * | 2013-11-13 | 2019-01-15 | 中国石油化工股份有限公司 | drilling hook height image measuring system |
| CN104636712A (en) * | 2013-11-13 | 2015-05-20 | 中国石油化工股份有限公司 | Automatic drilling slip state image identification system |
| CN104632193A (en) * | 2013-11-13 | 2015-05-20 | 中国石油化工股份有限公司 | Drilling hook height image measurement system |
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| CN104453713B (en) * | 2014-11-02 | 2016-05-11 | 中国石油集团钻井工程技术研究院 | A kind of method of utilizing rotary steerable tool control well track |
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| CN109296360A (en) * | 2018-08-23 | 2019-02-01 | 中石化重庆涪陵页岩气勘探开发有限公司 | A kind of multistage method for early warning based on hole deviation |
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