CN-122014236-A - Adjacent well tubular column space position anti-collision recognition system while drilling based on multisource information fusion

CN122014236ACN 122014236 ACN122014236 ACN 122014236ACN-122014236-A

Abstract

The invention discloses an adjacent well pipe column space position while-drilling anti-collision recognition system based on multi-source information fusion, and particularly relates to the technical field of petroleum and natural gas drilling engineering, comprising the steps of acquiring measurement while-drilling data, adjacent well historical data and electromagnetic ranging data of an adjacent well pipe column in real time; the method comprises the steps of carrying out space-time synchronization and registration on data, constructing a space geometric model and a characterization measurement error model, calculating the relative distance and direction information of a current drill bit and an adjacent well string and anti-collision risk indexes through a nonlinear estimation algorithm, carrying out hierarchical early warning based on the anti-collision risk indexes, generating a three-dimensional visual picture of the current well track, the spatial position of the adjacent well string and the real-time relative position relation, and generating a collision prevention control instruction. The invention constructs the adjacent well string space position while-drilling anti-collision recognition system with multi-source information fusion through the data acquisition module, the data processing and fusion core module, the anti-collision early warning and visualization module and the closed loop control interface module.

Inventors

DIAO BINBIN
LIU ZHE
WU HUAPENG
Ding Guanxiang
GAO DELI
Kang Guangyan

Assignees

中国石油大学(北京)

Dates

Publication Date: 20260512
Application Date: 20260202

Claims (10)

1. Adjacent well tubular column spatial position collision avoidance system while drilling based on multisource information fusion, its characterized in that includes: The data acquisition module is used for acquiring measurement while drilling data, adjacent well historical data and electromagnetic ranging data of an adjacent well pipe column in real time, wherein the measurement while drilling data comprises the well inclination angle, azimuth angle and depth information of a current well drilling hole; The data processing and fusion core module is in communication connection with the data acquisition module and is used for: B1, carrying out space-time synchronization and registration on the measurement while drilling data, the adjacent well historical data and the electromagnetic ranging data; b2, constructing a space geometric model comprising an actual drilling track and a tubular column track of the current adjacent well, and endowing the two tracks with a characterization measurement error model; b3, taking the electromagnetic ranging data as an observation value, carrying out fusion calculation with the space geometric model and the characterization measurement error model, carrying out real-time inversion on the relative distance and direction information between the current drill bit and the adjacent well string through a nonlinear estimation algorithm, and identifying and correcting the space position of the adjacent well string; the anti-collision early warning and visualization module is connected with the data processing and fusion core module in a communication way and is used for: c1, calculating an anti-collision risk index in real time according to the obtained relative distance and direction information of the current drill bit and the adjacent well tubular column after fusion calculation and the characterization measurement error model; Step C2, carrying out grading early warning based on the anti-collision risk index, and generating a three-dimensional visual picture comprising the current borehole track, the spatial position of the adjacent well tubular column and the real-time relative position relation; The closed-loop control interface module is connected to the anti-collision early warning and visualization module and the drilling guiding tool in a communication mode, and is used for generating an anti-collision control instruction and sending the anti-collision control instruction to the drilling guiding tool when the anti-collision risk index exceeds a preset threshold value, and adjusting the tubular column track and the real drilling track of the well.
2. The adjacent well string spatial position while-drilling anti-collision recognition system based on multi-source information fusion according to claim 1, wherein the data acquisition module comprises: The equipment deployment unit is used for installing an MWD sensor for measurement while drilling integrating a triaxial accelerometer and a triaxial magnetometer at a position of the drilling tool assembly close to a drill bit, arranging an electromagnetic range finder at the side of a wellhead of a drilling platform, and establishing hardware connection between the sensor and the electromagnetic range finder and a downhole data acquisition terminal; The parameter configuration unit is used for acquiring the calling authority to the adjacent well data management database, configuring the acquisition frequency of measurement while drilling data to be 1 time/second and the electromagnetic ranging data sampling interval to be 50 times/second, and setting the calling triggering condition of the history data of the adjacent well to be that the current drilling vertical depth is triggered for 1 time every 5 meters; The time-space calibration unit is used for carrying out time synchronization calibration on all the acquisition equipment, so that the time stamp synchronization error is less than or equal to +/-1 ms, a unified space rectangular coordinate system is established based on the current well drilling wellhead as an origin, and an X axis is defined as a north direction, a Y axis is defined as a east direction, and a Z axis is defined as a vertical downward direction.
3. The adjacent well string space position while-drilling anti-collision recognition system based on multi-source information fusion according to claim 2, wherein the data acquisition module further comprises a data preprocessing unit for uniformly converting three types of acquired data into a JSON format, and the method is characterized in that And removing abnormal data according to a criterion, and complementing the missing data by a linear interpolation method.
4. The adjacent well string spatial position while drilling collision avoidance system based on multi-source information fusion according to claim 1, wherein the space-time synchronization and registration in the data processing and fusion core module B1 comprises: Performing time synchronization registration, namely performing interpolation processing on the calling time stamp of the adjacent well historical data, matching to the time resolution of 1 time/second, complementing the missing value of the time dimension, and ensuring the alignment of time axes of three types of data; Space coordinate registration, namely converting the original coordinates of the adjacent well track into rectangular coordinate values under a unified space rectangular coordinate system, and mapping the relative distance and direction information of electromagnetic ranging data to a global coordinate system; and (3) data association matching, namely binding three types of data under the same depth node by taking the current drilling vertical depth as a key word to form a depth, time and space three-dimensional association data set.
5. The adjacent well string spatial position while drilling collision avoidance system based on multi-source information fusion according to claim 1, wherein the data processing and fusion core module B2 comprises: space geometric model of real drilling track Constructing by adopting a piecewise cubic B spline curve interpolation algorithm; The space geometric model of the pipe column track is constructed by adopting a cylinder geometric modeling method and comprises the space position, length and radius characteristic parameters of each section of the pipe column; In the characterization measurement error model, the real drilling track corresponds to a Gaussian error model Combined model of pipe column track corresponding to systematic error and random error 。
6. The adjacent well string spatial position while drilling collision avoidance system based on multi-source information fusion according to claim 1, wherein the data processing and fusion core module B3 comprises: The nonlinear estimation algorithm is Unscented Kalman Filtering (UKF) algorithm, and unscented transformation parameters are configured Proportional parameter Weight parameter Setting the state vector as the space coordinate of the adjacent well string Velocity vector The observation vector is the relative distance between the drill bit and the adjacent well string of the electromagnetic ranging data And direction angle The constructed state equation is The constructed observation equation is 。
7. The system for identifying the spatial position of the adjacent well string while drilling collision avoidance based on multi-source information fusion according to claim 1, wherein the calculation of the collision avoidance risk index in the collision avoidance early warning and visualization module C1 comprises: Presetting a two-stage safety distance threshold value, namely an early warning threshold value =Adjacent well string radius+0.5m, alarm threshold =Adjacent well string radius+0.2m, and calculating the error compensated relative distance Based on early warning threshold Alarm threshold Relative distance after compensation Constructing an anti-collision risk index 。
8. The adjacent well string spatial position while-drilling anti-collision recognition system based on multi-source information fusion according to claim 1, wherein the anti-collision early warning and visualization module C2 comprises: no risk rating: When the distance between the drill bit and the adjacent well string is in a safe range, the system has no early warning prompt; low risk early warning rating: When the drill bit approaches the early warning threshold value, the system triggers yellow early warning and outputs a text prompt that the drill bit approaches the adjacent well string, and the monitoring is required to be noted; high risk alert rating: When the drill bit reaches the alarm threshold, the system triggers red alarm, outputs an audible and visual alarm signal and sends an early warning trigger signal to the closed-loop control interface module.
9. The adjacent well string spatial position while drilling anti-collision recognition system based on multi-source information fusion according to claim 1, wherein the anti-collision early warning and visualization module, three-dimensional visualization picture: The three-dimensional visual picture is constructed based on an OpenGL engine, rendered according to a 1:100 scale, the current borehole track is represented by a red solid line, the adjacent well real drilling track is represented by a blue dotted line, the adjacent well tubular column is represented by a yellow cylinder, the relative position relation between the drill bit and the closest point of the tubular column is marked by a green arrow line segment, and the picture updating frequency is 1 time/second.
10. The adjacent well string spatial position while-drilling collision avoidance system based on multi-source information fusion of claim 1, wherein the closed loop control interface module comprises: the system is communicated with the anti-collision early warning and visualization module through an industrial Ethernet TCP/IP protocol and is communicated with the drilling guiding tool through a CAN bus protocol; The collision avoidance control command includes azimuth angle adjustment amount A graded slope parameter, the slope adjustment range is The azimuth angle adjustment step length is A/times; the closed loop control interface module is also configured with an instruction retransmission mechanism, an execution deviation checking mechanism and an exception handling mechanism, and generates an instruction termination data packet when the risk index R is reduced to 0.

Description

Adjacent well tubular column space position anti-collision recognition system while drilling based on multisource information fusion Technical Field The invention relates to the technical field of petroleum and natural gas drilling engineering, in particular to an adjacent well tubular column space position while-drilling anti-collision recognition system based on multi-source information fusion. Background In the field of petroleum and natural gas drilling engineering, especially in offshore platforms, urban surrounding dense well patterns and cluster well development scenes, the collision risk of adjacent well pipe columns and current drilling is a core problem for restricting the safety of drilling operation and the development efficiency of the well patterns. Along with the extension of oil and gas resource exploration and development to deep and tight reservoirs, the well track is more complex, the distance between adjacent wells is continuously reduced, and extremely high requirements on real-time monitoring, accurate early warning and rapid collision prevention of the relative positions of a drill bit and an adjacent well string in the drilling process are provided. The anti-collision recognition technology while drilling is used as a key technology for guaranteeing the safety of drilling operation and improving the space utilization rate of a well pattern, and the key objective is to acquire the space relative position information of a drill bit and an adjacent well string in real time, recognize collision risks in time and trigger effective intervention, so that serious safety accidents such as well hole scrapping, oil gas leakage and the like caused by the collision of the string are avoided. The existing anti-collision recognition system while drilling can meet the use requirement, but the existing anti-collision recognition system still has some defects when in actual use: The prior art adopts simple superposition or shallow layer correlation to measurement while drilling data, adjacent well historical data and electromagnetic ranging data, and space-time registration and depth fusion cannot be carried out through advanced filtering and estimation algorithms, so that various measurement errors cannot be effectively restrained, and inversion accuracy and reliability of the true relative distance and direction between a drill bit and an adjacent well tubular column are not high; The risk assessment model is single, the early warning reliability is low, the anti-collision judgment is mostly dependent on a fixed safety distance threshold value, errors of measurement while drilling, electromagnetic ranging and adjacent well track data are not fully considered and quantized, a dynamic and quantized comprehensive risk index is constructed, and false alarm or missing alarm is easy to generate; The visual effect is not visual, the situation perception is poor, the monitoring interface is mainly a two-dimensional curve or a digital list, the real-time position relationship of the current well, the adjacent well real drilling track and the tubular column entity in the three-dimensional space cannot be truly and three-dimensionally presented, and the rapid understanding of operators and the handling of complex inter-well situations are not facilitated; The system has the advantages of lacking closed-loop capability and lagging collision prevention response, namely the existing system generally lacks an automatic instruction interface with a drilling guiding tool, cannot automatically generate and issue a track adjustment instruction after risk early warning, depends on manual operation, has low response speed, and is easy to exacerbate risks due to misoperation in emergency. Therefore, there is an urgent need for a while-drilling anti-collision recognition system that can deeply fuse multi-source information, recognize spatial positions of adjacent well strings with high accuracy, implement dynamic risk assessment and three-dimensional visual monitoring, and form closed-loop control with a drilling guiding tool. Disclosure of Invention In order to overcome the defects in the prior art, the invention provides an adjacent well string space position while drilling anti-collision recognition system based on multi-source information fusion, and solves the problems in the background art through the following scheme. In order to achieve the purpose, the invention provides the following technical scheme that the adjacent well string space position while-drilling anti-collision recognition system based on multi-source information fusion comprises: The data acquisition module is used for acquiring measurement while drilling data, adjacent well historical data and electromagnetic ranging data of an adjacent well pipe column in real time, wherein the measurement while drilling data comprises the well inclination angle, azimuth angle and depth information of a current well drilling hole; The data processing and fusion c