WO2016086794A1

WO2016086794A1 - System and method for determining position of drill rod

Info

Publication number: WO2016086794A1
Application number: PCT/CN2015/095653
Authority: WO
Inventors: 梅艳; 牛冉; 尚卫华; 叶菁; 袁龙涛; 程刚
Original assignee: 通用电气公司; 梅艳; 牛冉; 尚卫华; 叶菁; 袁龙涛; 程刚
Priority date: 2014-12-02
Filing date: 2015-11-26
Publication date: 2016-06-09
Also published as: CN105715254A

Abstract

Disclosed is a system for determining a position of a drill rod. The system comprises an ultrasonic sensor array, an ultrasonic transceiving apparatus and a signal processing apparatus. The ultrasonic sensor array is arranged on a pipeline, wherein the pipeline is used for accommodating a drill rod, and an annular space used for allowing the passing of a returned drilling fluid is formed between the pipeline and the drill rod. The ultrasonic transceiving apparatus is used for exciting the ultrasonic sensor array, and is used for transmitting a plurality of ultrasonic signals to the annular space via the ultrasonic sensor array and receiving the plurality of ultrasonic signals. The signal processing apparatus processes the plurality of received ultrasonic signals so as to estimate the position of the drill rod. Also disclosed is a method for using the system. The system and method for determining a position of a drill rod have relatively high practical value and reliability in drilling applications.

Description

System and method for determining the position of a drill pipe

Technical field

The present invention relates generally to the field of drilling, and more particularly to a system and method for determining the position of a drill pipe during a drilling process.

Background technique

During drilling, a rotatable drill bit is placed on the drill pipe, and the sea platform controls the drill bit through the drill pipe, which drives the drill bit to rotate, thereby drilling the wellbore from the seabed. During this time, drilling fluid from a fluid tank disposed in the surface platform passes through the drill pipe to the drill bit and then returns to the fluid tank through an annular space disposed between the drill pipe and the riser. The drilling fluid maintains a certain hydrostatic pressure to balance the pressure of the fluid from the wellbore and cool the drill bit. In addition, the drilling fluid mixes with the material produced during the formation of the wellbore to return and carry it to the surface for processing.

During the drilling process, when the pressure of the fluid entering the wellbore from the wellbore is greater than the pressure of the drilling fluid, the fluid in the wellbore wall enters the annular space along with the drilling fluid, thereby generating a return of greater pressure. Drilling fluid, if not properly controlled, can result in a blowout. Therefore, real-time monitoring measurements of the returned drilling fluid are required to determine if a blowout will occur. Typically, the occurrence of a blowout is monitored by measuring the flow of the returned drilling fluid. The position of the drill pipe plays a crucial role in measuring the flow of the returned drilling fluid. In addition, the diameter of the drill pipe can be determined by the position of the drill pipe so that the joint of the drill pipe can be avoided when the sealing device is to be closed. Therefore, determining the position of the drill pipe plays an important role in drilling.

Accordingly, it is desirable to provide a system and method to address at least one of the problems described above.

Summary of the invention

One aspect of the present invention is to provide a system for determining the position of a drill pipe that includes an ultrasonic sensor array, an ultrasonic transceiver, and a signal processing device. Wherein the ultrasonic sensor array is disposed on a pipe, wherein the pipe is for receiving a drill pipe, and an annular space for passing the returned drilling fluid is formed between the pipe and the drill pipe. The ultrasonic transceiving device is configured to excite the ultrasonic sensor array and for transmitting a plurality of ultrasonic signals to the annular space and receiving a plurality of ultrasonic signals through the ultrasonic sensor array. A signal processing device is operative to process the received plurality of ultrasonic signals to estimate a position of the drill rod.

Another aspect of the present invention is to provide a method for determining a position of a drill pipe, comprising:

Transmitting, by the ultrasonic sensor array, a plurality of ultrasonic signals to an annular space formed between the pipe and the drill pipe within the pipe;

Receiving a plurality of ultrasonic signals through the array of ultrasonic sensors; and

The received plurality of ultrasonic signals are processed to estimate the position of the drill rod.

Systems and methods for determining the position of a drill pipe in accordance with embodiments of the present invention do not require that ultrasound must reach the drill pipe, which can be analyzed and processed by a plurality of ultrasonic signals received by the ultrasonic sensor array, even in ultrasound When the strength of the drill pipe is small, the position of the drill pipe can also be estimated, and the movement track of the drill pipe with time can be estimated based on the position of the drill pipe, thereby further improving the accuracy of the flow rate measurement. The method of the present invention for determining the position of a drill pipe has high utility and reliability for drilling applications.

DRAWINGS

These and other features, aspects, and advantages of the present invention will become more apparent from the aspects of :

1 is a schematic block diagram of a system for determining a position of a drill pipe in accordance with an embodiment of the present invention;

Figure 2 is a cross-sectional view of the riser of Figure 1;

Figure 3 is a block diagram showing a schematic structure of the signal processing device of Figure 1;

Figure 4 is a schematic view of the use of spatial continuity to estimate the position of the drill pipe;

Figure 5 is a schematic view of estimating the position of the drill pipe using the average speed; and

6 is a flow chart of a method for determining the position of a drill pipe in accordance with an embodiment of the present invention.

detailed description

The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following detailed description of the specific embodiments, the invention is not described in detail,

Unless otherwise defined, technical terms or scientific terms used in the claims and the specification are to be understood as the ordinary meaning of the ordinary skill in the art. The words "first", "second" and similar terms used in the specification and claims are not intended to mean any order, quantity or importance, but only to distinguish different components. The words "a" or "an" and the like do not denote a quantity limitation, but mean that there is at least one. The word "comprising" or "having" or the like is intended to mean that an element or item that is "included" or "having" or "an" or "an" Other components or objects. The words "connected" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

1 shows a schematic block diagram of a system for determining the position of a drill pipe in accordance with an embodiment of the present invention. The system 100 of the present invention for determining the position of a drill pipe can be used to drill a wellbore to produce hydrocarbons, such as fossil fuels and the like. Among them, the wellbore includes an onshore wellbore and an offshore wellbore. Referring now to Figure 1, a system 100 for determining the position of a drill pipe in accordance with an embodiment of the present invention includes an

ultrasonic sensor array

21, 22, 23, 24 disposed on a conduit 11, ultrasonically received. The transmitting device 3 and the signal processing device 4. In one example of the present invention, the conduit 11 is shown to include a riser, which will be described below with the conduit 11 including a riser as an example. However, this is merely an illustrative example of the pipe 11 of the present invention, and the pipe 11 of the present invention is not limited thereto. In another example of the invention, the conduit 11 may also include a casing.

Figure 2 shows a cross-sectional view of the riser 11 of Figure 1, as shown in Figure 1 and in conjunction with Figure 2, the riser 11 can receive the drill pipe 12 and pass the returned drilling fluid 130, in the riser 11 and the drill pipe 12 An annular space 13 is formed therebetween. The drill pipe 12 is formed by a plurality of tubes having a certain length connected end to end. The drill pipe 12 is disposed in the riser 11 and extends in the riser 11 along the length of the riser 11. A drill bit (not shown) is rotatably mounted at the bottom end of the drill pipe 12, and the wellbore is drilled by the riser 11, the drill pipe 12, and the drill bit thereon. Drilling fluid 120 (also commonly referred to as drilling mud) from a platform (not shown) is delivered to the wellbore through the drill pipe 12. During the drilling process, the returning drilling fluid 130 from the wellbore can be returned to the platform through the annular space 13. The drilling fluid 120 maintains a certain hydrostatic pressure to balance the pressure of the returning drilling fluid 130 from the wellbore and cool the drill bit. At the same time, the drilling fluid 120 takes the material generated during the drilling of the wellbore, such as broken rock. To the surface of the water. In one embodiment, the drilling fluid 120 from the platform can include water or oil and a variety of additives. The returned drilling fluid 130 can include at least a mixture of the drilling fluid 120 and the materials produced during the drilling of the wellbore. On the platform, the returned drilling fluid 130 can be processed, such as by filtration, to remove the solid material therein and can be recirculated.

As shown in FIGS. 1 and 2, the

ultrasonic sensor arrays

21, 22, 23, 24 are disposed on the riser 11. In a specific embodiment of the invention, the

ultrasound sensor arrays

21, 22, 23, 24 are arranged around the riser 11 and spaced apart from each other. In the present embodiment, the

ultrasonic sensor arrays

21, 22, 23, 24 are disposed on the outer surface of the riser 11. However, the arrangement position of the ultrasonic sensor array is not limited thereto, and in other embodiments, the

ultrasonic sensor arrays

21, 22, 23, 24 may also be disposed on the inner surface of the riser 11 or in the riser 11 so as to be in contact The inductor contacts the returned drilling fluid 130 for monitoring. In a non-limiting embodiment, each of the

ultrasonic sensor arrays

21, 22, 23, 24 is a Doppler ultrasonic sensor having Higher sensing accuracy. Of course, the type of ultrasonic sensor is not limited thereto, and other suitable sensing devices can also be used. In a particular embodiment of the invention, the

ultrasonic sensor arrays

21, 22, 23, 24 comprise four

ultrasonic sensors

21, 22, 23, 24 disposed around the riser 11, however, the

ultrasonic sensor arrays

21, 22, 23, The number of ultrasonic sensors included in 24 is not limited to four, and it may be any number. Of course, in order to be able to more accurately estimate the position of the drill pipe 12, and taking into account the processing speed of the signal processing device 4, the

ultrasonic sensor arrays

21, 22, 23, 24 may include a suitable plurality of ultrasonic sensors.

The ultrasonic transceiving device 3 is electrically connected to the

ultrasonic sensor arrays

21, 22, 23, 24, and the ultrasonic transceiving device 3 is used to excite the

ultrasonic sensor arrays

21, 22, 23, 24. In a practical application, the ultrasonic transceiving device 3 transmits a plurality of ultrasonic signals to the annular space 13 between the riser 11 and the drill pipe 12 through the

ultrasonic sensor arrays

21, 22, 23, 24, and through the

ultrasonic sensor arrays

21, 22 , 23, 24 to receive multiple ultrasound signals. The plurality of ultrasonic signals received may include ultrasonic signals reflected from the drill pipe 12, ultrasonic signals scattered back from particulate matter in the returned drilling fluid 130, or a combination of both.

The signal processing device 4 can communicate with the ultrasonic transceiving device 3 to process the received plurality of ultrasonic signals so that the position of the drill pipe 12 can be estimated and, in turn, the drill pipe 12 can be estimated based on the position of the drill pipe 12. A trajectory of motion that changes over time.

As shown in FIG. 1, the system 100 for determining the position of the drill pipe further includes a control device 5 that transmits and receives ultrasonic signals through the

ultrasonic sensor arrays

21, 22, 23, 24 under the control of the control device 5. .

3 shows a schematic structural block diagram of the signal processing device 4. As shown in FIG. 3, the signal processing device 4 includes an analyzing unit 41, a calculating unit 42, and an estimating unit 43. In actual operation, the ultrasonic signal reflected from the drill pipe 12 may sometimes be relatively strong, in which case the ultrasonic signal reflected by the drill pipe 12 and the particulate matter from the returned drilling fluid 130 may be simultaneously received. The ultrasonic signal coming back. However, sometimes the ultrasonic signal reflected back by the drill pipe 12 may not be received at all, in which case only the particles from the returned drilling fluid 130 may be received to scatter back. Acoustic signal. Even sometimes, only a portion of the ultrasonic signal reflected back by the drill pipe 12 may be received, while an ultrasonic signal from the particulate matter in the returned drilling fluid 130 may also be received. The signal processing device 4 of the present invention can perform corresponding processing regardless of the strength of the ultrasonic signal reflected by the drill pipe 12.

The analyzing unit 41 analyzes the received plurality of ultrasonic signals to determine the strength of the ultrasonic signal reflected by the drill pipe 12.

When the reflected signal of the drill pipe 12 can be detected from the received at least one ultrasonic signal, it indicates that the at least one ultrasonic signal reflected by the drill pipe 12 is relatively strong, and at this time, it can be directly received by the estimating unit 43 based on The at least one ultrasonic signal is used to estimate the position of the drill pipe 12. In an alternative embodiment of the invention, after estimating the position of the drill pipe 12, the trajectory of the drill pipe 12 as a function of time may be estimated based on the position of the drill pipe 12.

When the reflected signal of the drill pipe 12 cannot be detected from the received at least one ultrasonic signal, it indicates that the at least one ultrasonic signal reflected by the drill pipe 12 is relatively weak, and at this time, it cannot be directly based on the received at least one. An ultrasonic signal is used to estimate the position of the drill pipe 12. In this case, the computing unit 42 in the signal processing device 4 will be enabled. When the reflected signal of the drill pipe 12 cannot be detected from the received at least one ultrasonic signal, the returning drilling fluid 130 is first calculated by the calculating unit 42 along at least one of the

ultrasonic sensor arrays

21, 22, 23, 24. The velocity profile of the ultrasonic beam path of the ultrasonic sensor. The estimating unit 43 then estimates the position of the drill pipe 12 based on the calculated flow velocity profile. In an alternative embodiment of the invention, after estimating the position of the drill pipe 12, the trajectory of the drill pipe 12 as a function of time may be estimated based on the position of the drill pipe 12.

The present invention provides two specific embodiments for estimating the position of the drill pipe 12 by the flow velocity profile. The two specific embodiments will be described in detail below.

In a first embodiment of the invention, the estimating unit 43 calculates the spatial continuity of the flow velocity profile of the returned drilling fluid 130 along the ultrasonic beam path of the at least one ultrasonic sensor. Among them, spatial continuity can be calculated by a variety of different methods and formulas known, such as based on variance and the like.

The estimating unit 43 estimates the position of the drill pipe 12 based on the spatial continuity of the calculated flow velocity profile. Specifically, as shown in FIG. 4, the estimating unit 43 identifies the position of the drill pipe wall corresponding to the at least one ultrasonic sensor based on the spatial continuity of the calculated flow velocity profile, for example, corresponding to at least one

ultrasonic sensor

21, 22, 23, Drill pipe wall positions 121, 122, 123, 124, and based on the identified drill pipe wall position (eg, drill pipe wall positions 121, 122, 123 corresponding to at least one

ultrasonic sensor

21, 22, 23, 24, 124) to estimate the position of the drill pipe 12 and its diameter.

For example, after the spatial continuity of the velocity profile corresponding to each position in the annular space 13 is calculated, a specific optimization scheme can be set to find out where the spatial continuity has been abrupt, so that at least the corresponding The position of the drill rod wall of an ultrasonic sensor.

In a second embodiment of the invention, the estimating unit 43 calculates based on the calculated flow velocity profile of the returned drilling fluid 130 along the ultrasonic beam path of at least one of the

ultrasonic sensor arrays

21, 22, 23, 24. Average speed corresponding to at least one ultrasonic sensor

The estimating unit 43 is based on the calculated average speed

To estimate the position of the drill pipe 12.

As shown in FIG. 5, the annular space 13 is divided into a plurality of

regions

131, 132, 133, 134 based on the position of the

ultrasonic sensor arrays

21, 22, 23, 24. Then, the area between two adjacent ultrasonic sensors of the

ultrasonic sensor arrays

21, 22, 23, 24 is divided into at least two sub-areas, in this embodiment, to be placed between adjacent two ultrasonic sensors The area is divided into two sub-areas as an example for explanation. For example, the area 131 between two adjacent

ultrasonic sensors

21, 22 is divided into two sub-areas 1311, 1312. Similarly, the region 132 between the adjacent two

ultrasonic sensors

22, 23, the region 133 between the adjacent two

ultrasonic sensors

23, 24, and the region 134 between the adjacent two

ultrasonic sensors

24, 21 are also respectively Divided into two sub-areas. Then, the average velocity of at least two sub-regions is calculated based on the average velocity of the corresponding two adjacent ultrasonic sensors. In a specific embodiment, the average velocity of at least two sub-regions can be calculated based on the average velocity of the corresponding two adjacent ultrasonic sensors and applying different weights. For example, two adjacent

ultrasonic sensors

21, 22 are used, and the area 131 between adjacent two

ultrasonic sensors

21, 22 is divided into two

sub-regions

1311, 1312, and by corresponding two ultrasonic sensors 21 The average speeds V ₁ and V _{2 of} 22 are used to calculate the average speeds V ₁₂ and V _{21 of the} two

sub-regions

1311 and 1312 as shown in the following formula:

V ₁₂ = w × V ₁ + V ₂ (1)

V ₂₁ = w × V ₂ + V ₁ (2)

Wherein V ₁₂ and V ₂₁ are the average speeds of the

sub-regions

1311, 1312, respectively, and V ₁ and V ₂ are the average velocities of the adjacent two

ultrasonic sensors

21, 22, respectively, and w is the applied weight.

According to the above method, the average speed of other sub-areas is calculated separately. The closer the drill pipe 12 is to the ultrasonic sensor, the lower the speed. Therefore, in the average speed of all sub-areas, the area in which the drill pipe 12 is located can be determined with the minimum average speed, thereby determining the position of the drill pipe 12.

In a practical application, the first embodiment of calculating the position and diameter of the drill pipe 12 according to the spatial continuity may be combined with the second embodiment of determining the region where the drill pipe 12 is located according to the average speed. It is used up, so that the accuracy of the calculation can be further improved, and the position of the drill pipe 12 can be determined more accurately.

Furthermore, in the case where the reflected signal of the drill pipe 12 can be detected from the received at least one ultrasonic signal, in a specific embodiment of the present invention, the signal processing device 4 of the present invention can also be estimated based on the flow velocity profile. The method of extracting the position of the drill pipe. In another embodiment of the present invention, the signal processing device 4 of the present invention can also combine the method of estimating the position of the drill pipe according to the reflected signal with the method for estimating the position of the drill pipe according to the flow velocity profile, thereby Together, the position of the drill pipe 12 is determined to improve the accuracy of the calculation. Of course, in the case where the reflected signal of the drill pipe 12 cannot be detected from all the received ultrasonic signals, the signal processing device 4 of the present invention can only adopt a method of estimating the position of the drill pipe based on the flow velocity profile. The signal processing device 4 of the present invention can perform corresponding processing according to actual conditions, and has better flexibility.

The signal processing device 4 of the present invention is not limited to any particular processing device that can be used to perform the processing tasks of the present invention. In a particular embodiment of the invention, signal processing device 4 may represent any device capable of performing an operation or calculation that is necessary to perform the tasks of the present invention. As will be appreciated by those skilled in the art, signal processing device 4 may also represent any device capable of receiving input and processing the input in accordance with predetermined rules to produce an output.

The system 100 of the present invention for determining the position of the drill pipe does not require that the ultrasound must reach the drill pipe 12, and the system 100 of the present invention for determining the position of the drill pipe can be measured by the

ultrasonic sensor array

21, 22, 23, 24 by analysis. The relationship between the flow velocity profiles, even in the case where the intensity of the ultrasonic waves reaching the drill pipe 12 is small, the position of the drill pipe 12 can be estimated, and thus the drill pipe 12 can be estimated to vary with time based on the position of the drill pipe 12. The trajectory of the motion further improves the accuracy of the flow rate measurement. The system 100 of the present invention for determining the position of a drill pipe has high utility and reliability for drilling applications.

The present invention also provides a method of determining the position of a drill pipe using the system 100 as above. Figure 6 shows a flow chart of a method for determining the position of a drill pipe in accordance with an embodiment of the present invention. As shown in FIG. 6, a method for determining the position of a drill pipe according to an embodiment of the present invention includes the following steps:

In step S1, the

ultrasonic sensor arrays

21, 22, 23, 24 are arranged to be placed on the duct 11, for example around the riser 11, through the

ultrasonic sensor arrays

21, 22, 23, 24 to form the riser 11 and The annular space 13 between the drill rods 12 in the riser 11 emits a plurality of ultrasonic signals. In a specific embodiment, each of the

ultrasonic sensor arrays

21, 22, 23, 24 operates in a Doppler mode.

In step S2, a plurality of ultrasound signals are received by the

ultrasound sensor arrays

21, 22, 23, 24.

In step S3, the received plurality of ultrasonic signals are processed to estimate the position of the drill pipe 12. In an alternative embodiment of the invention, the method of the present invention for determining the position of the drill pipe may further include estimating a trajectory of movement of the drill pipe 12 over time based on the position of the drill pipe 12.

As shown in FIG. 6, step S3 further includes the following steps:

In step S31, the received plurality of ultrasonic signals are analyzed.

In step S32, it is determined whether a reflected signal of the drill pipe 12 can be detected from the received at least one ultrasonic signal. The drill pipe 12 can be detected from the received at least one ultrasonic signal When the signal is reflected, in one embodiment, the process may proceed to step S33; in another embodiment, the process may also proceed to step S34; in yet another embodiment, the process may also be simultaneous Go to step S33 and proceed to step S34. When the reflected signal of the drill pipe 12 cannot be detected from the received at least one ultrasonic signal, the process proceeds to step S34.

In step S33, the position of the drill pipe 12 can be estimated directly based on the received at least one ultrasonic signal. In an optional embodiment of the present invention, step S33 may further include estimating a movement trajectory of the drill pipe 12 as a function of time based on the position of the drill pipe 12.

In step S34, the flow velocity profile of the returned drilling fluid 130 flowing through the annular space 13 along the ultrasonic beam path of at least one of the

ultrasonic sensor arrays

21, 22, 23, 24 is calculated.

In step S35, the position of the drill pipe 12 is estimated based on the calculated flow velocity profile. In an optional embodiment of the present invention, step S35 may further include estimating a trajectory of movement of the drill pipe 12 as a function of time based on the position of the drill pipe 12.

In a first embodiment of the present invention, step S35 includes:

Calculating spatial continuity of the flow velocity profile of the returned drilling fluid 130 along the ultrasonic beam path of the at least one ultrasonic sensor;

The position of the drill pipe 12 is estimated based on the calculated spatial continuity of the flow velocity profile. Specifically, the drill stem wall position corresponding to the at least one ultrasonic sensor is identified based on the spatial continuity of the returned drilling fluid 130 along the flow velocity profile of the ultrasonic beam path of the at least one ultrasonic sensor, such as the corresponding at least one ultrasound shown in FIG.

Drill wall locations

121, 122, 123, 124 of

sensors

21, 22, 23, 24. After the spatial continuity of the velocity profile corresponding to each position in the annular space 13 is calculated, a specific optimization scheme can be set to find out where the spatial continuity has been abrupt, so that at least one ultrasound can be identified. The position of the drill rod wall of the sensor. Then, based on the identified drill pipe wall position, such as the drill pipe wall positions 121, 122, 123, 124 corresponding to the at least one

ultrasonic sensor

21, 22, 23, 24 shown in FIG. 4, the position of the drill pipe 12 is estimated and Its diameter.

In a second embodiment of the present invention, step S35 includes:

Calculating an average speed corresponding to at least one ultrasonic sensor based on the calculated flow velocity profile

and

Based on the calculated average speed

The circumferential angle θ of the drill pipe 12 in the annular space 13 is estimated. Specifically, the annular space 13 is divided into a plurality of

regions

131, 132, 133, 134 based on the position at which the

ultrasonic sensor arrays

21, 22, 23, 24 are located. Then, the area between two adjacent ultrasonic sensors of the

ultrasonic sensor arrays

21, 22, 23, 24 is divided into at least two sub-areas (for example, the area 131 between two adjacent

ultrasonic sensors

21, 22 is divided into two The sub-regions 1311, 1312) calculate the average velocity of at least two sub-regions based on the average speeds V ₁ , V _{2 of the} adjacent two

ultrasonic sensors

21, 22, for example, the average velocity V _{12 of the} two

sub-regions

1311, 1312, V ₂₁ . In a specific embodiment, the average speed of at least two sub-regions may be calculated based on the average speeds V ₁ , V _{2 of the} adjacent two

ultrasonic sensors

21, 22 and different weights w, for example two sub-regions 1311 The average speeds V ₁₂ and V _{21 of} 1312 can be referred to the detailed description of the above system. Finally, the minimum average speed can be used to determine the area in which the drill pipe 12 is located.

The method of the present invention for determining the position of the drill pipe does not require that the ultrasonic waves must reach the drill pipe 12, and the method for determining the position of the drill pipe of the present invention analyzes the flow velocity profile measured by the

ultrasonic sensor arrays

21, 22, 23, 24. The relationship between the drill pipe 12 can be estimated even if the intensity of the ultrasonic wave reaching the drill pipe 12 is small, and the trajectory of the drill pipe 12 as a function of time can be estimated based on the position of the drill pipe 12. To further improve the accuracy of flow rate measurement. The method of the present invention for determining the position of a drill pipe has high utility and reliability for drilling applications.

While the invention has been described in detail with reference to the specific embodiments the embodiments Therefore, it is intended that the appended claims be interpreted as covering all such modifications and modifications

Claims

A system for determining the position of a drill pipe, comprising:

An ultrasonic sensor array disposed on the pipe, wherein the pipe is for receiving a drill pipe, and an annular space for passing the returned drilling fluid is formed between the pipe and the drill pipe;

An ultrasonic transceiving device for exciting the ultrasonic sensor array and for transmitting a plurality of ultrasonic signals to the annular space and receiving a plurality of ultrasonic signals through the ultrasonic sensor array; and

A signal processing device for processing the received plurality of ultrasonic signals to estimate a position of the drill pipe.
The system of claim 1 wherein said signal processing means is operative to calculate a flow velocity profile of said returned drilling fluid along an ultrasonic beam path of at least one of said ultrasonic sensor arrays, and based on The calculated flow velocity profile is used to estimate the position of the drill pipe.
The system according to claim 1 or 2, wherein said signal processing means is adapted to detect a reflected signal of said drill pipe from said received at least one ultrasonic signal based on said receiving At least one ultrasonic signal is used to estimate the position of the drill rod.
The system of claim 2 wherein said signal processing means is operative to calculate a spatial continuity of a velocity profile of said returned drilling fluid along said ultrasonic beam path of said at least one ultrasonic sensor, and based on said The spatial continuity of the calculated flow velocity profile is used to estimate the position of the drill pipe.
The system of claim 4 wherein said signal processing means is operative to identify a drill stem wall position corresponding to said at least one ultrasonic sensor based on said calculated spatial continuity of said flow velocity profile, and based on The identified drill pipe wall position is used to estimate the position of the drill pipe and its diameter.
The system of claim 2, wherein said signal processing means is operative to calculate an average speed corresponding to said at least one ultrasonic sensor based on said calculated flow velocity profile, and The position of the drill rod is estimated based on the calculated average speed.
The system of claim 1 wherein said array of ultrasonic sensors is disposed about said conduit.
The system of claim 1 wherein said array of ultrasonic sensors is a Doppler ultrasound sensor array.
A method for determining a position of a drill pipe, comprising:

A1) transmitting, by the ultrasonic sensor array, a plurality of ultrasonic signals to an annular space formed between the pipe and the drill pipe within the pipe;

A2) receiving a plurality of ultrasound signals through the ultrasound sensor array; and

A3) processing the received plurality of ultrasonic signals to estimate the position of the drill rod.
The method of claim 9 wherein said step a3) comprises:

A31) calculating a flow velocity profile of the returned drilling fluid flowing through the annular space along an ultrasonic beam path of at least one ultrasonic sensor in the array of ultrasonic sensors;

A32) Estimating the position of the drill pipe based on the calculated flow velocity profile.
The method of claim 9 or 10, wherein said step a3) comprises:

When the reflected signal of the drill pipe can be detected from the received at least one ultrasonic signal, the position of the drill pipe is estimated based on the received at least one ultrasonic signal.
The method of claim 10 wherein said step a32) comprises:

Calculating a spatial continuity of a flow velocity profile of the returned drilling fluid along an ultrasonic beam path of the at least one ultrasonic sensor; and

The position of the drill rod is estimated based on the spatial continuity of the calculated flow velocity profile.
The method of claim 12 wherein said step a32) further comprises:

Identifying a drill rod wall position corresponding to the at least one ultrasonic sensor based on the calculated spatial continuity of the flow velocity profile; and

The position of the drill pipe and its diameter are estimated based on the identified drill pipe wall position.
The method of claim 10 wherein said step a32) comprises:

Calculating an average speed corresponding to the at least one ultrasonic sensor based on the calculated flow velocity profile; and

A circumferential angle of the drill rod in the annular space is estimated based on the calculated average speed.
The method of claim 14 wherein said step a32) further comprises:

Dividing the annular space into a plurality of regions based on a location of the ultrasonic sensor array;

Dividing an area between adjacent two ultrasonic sensors in the ultrasonic sensor array into at least two sub-areas; and

An average velocity of the at least two sub-regions is calculated based on an average velocity corresponding to the adjacent two ultrasonic sensors.
The method according to claim 15, wherein an average speed of said at least two sub-regions is calculated based on said average speed corresponding to said adjacent two ultrasonic sensors and different weights are applied, with a minimum average speed To determine the area where the drill pipe is located.