CN105649612A - Fish positioner - Google Patents

Abstract

The invention discloses a fish positioner. The fish positioner comprises a plurality of ultrasonic probes arranged on a liner plate in a linear equally-spaced manner, a self-rotation step motor for driving the liner plate to rotate, and an electronic compass mounted on the liner plate, wherein each ultrasonic probe, the self-rotation step motor and the electronic compass are connected with an MCU main control board; and the MCU main control board is connected with an upper computer. A fish positioning method comprises the following steps: descending the fish positioner into a well along a drill hole; when the fish positioner is descended and reaches the rod breaking depth, controlling the linear plate to rotate by the self-rotation step motor to realize 360-degree detection, and performing detection and forward movement simultaneously; when an object similar to a straight line is detected, indicating that the object similar to the straight line is a fish; calculating a tilt angle of the fish by the upper computer according to data detected by the electronic compass and the ultrasonic probes; and according to characteristics of mud in an out-of-round oversized hole and fish materials, performing stress analysis on the fish, calculating a fish top position, and catching the fish according to the fish top position. According to the fish positioner, the blindness of fish catching can be overcome and the fish catching progress is greatly accelerated.

Description

A falling fish locator

technical field

The invention relates to a falling fish locator, which is used for locating the falling fish (broken drill bits and drilling tools) in the drilling process.

Background technique

In the process of oil drilling, due to the existence of wounds in the drilling tools, fatigue caused by long-term alternating stress, the drill string is stuck and cannot be found in time, the drilling tools will be lifted or twisted, and the H ₂ S gas contained in the formation will be destroyed. Lead to the strength damage such as "hydrogen embrittlement" of the drill collar. After investigating the drilling crews in Puyang Oilfield, Changqing Oilfield and other drilling teams, as well as searching relevant domestic and foreign literature, it was found that drilling breakages occurred from time to time during the drilling process, and the handling methods for such accidents at home and abroad are similar: 1) If If no pot-bellied wellbore is formed during the drilling process, or the fish top is not within the range of the pot-bellied well hole, the fish top will not deviate out of the borehole at this time. According to the location and fracture mode of the drill pipe, select the corresponding traditional fishing technology such as male cone , female cone, strong magnetism, sleeve, milling, and manipulator grabbing, etc., can quickly complete the fish salvage; 2) If the position of the top of the fish is just within the range of the belly hole, due to the viscosity of the mud, the fish will The top will not deviate soon, and the current solution is to salvage in the shortest time. If the delay exceeds a certain period of time, due to the influence of gravity, water flow and other factors, the top of the fish will deviate from the drilling hole, and the existing fishing technology can only realize fast fishing when the position of the top of the fish is known. It is predicted that at this time, we can only rely on experience to carry out exploratory salvage, which is blind, difficult to salvage, high in cost, and long in cycle, which will affect the overall construction schedule.

The downhole video TV card measuring instrument developed abroad in the research and development of fishing tools can see the whole bottom of the well but still cannot determine the specific location of the fish, and there is a limit to the depth, generally within 2000m, which is expensive and not practical .

When domestic oil and water wells are actually salvaged, because there are more and more types of oil wells and different types of fish, the difficulty of salvage is also increasing, the technology is backward, and the disadvantages are becoming more and more obvious. The salvage process and process cannot meet the actual needs. The current ultrasonic detection products are often not used in water and cannot be used for distance measurement in water; the detection in mud is limited to the application of the distance between the drill pipe and the well wall during the drilling process, and it is very easy to make some simple early warning schemes. There are few products. Although the electromagnetic induction technology is used to detect the position of the magnetic head in the process of detecting the fallen fish, it can only estimate the approximate position and only play an auxiliary role in the salvage process, which still cannot overcome the blindness of the fish salvage.

Contents of the invention

The technical problem to be solved by the present invention is to provide a fish locator with good real-time performance, which can locate the fallen fish during the drilling process, improve the fishing efficiency of the fallen fish, so as to solve the problems existing in the prior art.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A falling fish locator, including a plurality of ultrasonic probes arranged in a straight line and equidistant on the liner, a spin stepper motor that drives the liner to rotate, and an electronic compass installed on the liner; each of the ultrasonic probes , spin stepper motor, and electronic compass are respectively connected to the MCU main control board, and the MCU main control board is connected to the host computer; use the following steps to locate the fish:

Step 1: Send the falling fish locator downhole along the borehole; install the first ultrasonic probe, the second ultrasonic probe, ..., the mth ultrasonic probe equidistantly on the liner from bottom to top, m is a positive integer;

Step 2: When the falling fish locator descends to the depth of the broken drill, the spin stepper motor controls the rotation of the liner to realize 360-degree detection, and travels while detecting; when an approximately linear object is detected, the approximately linear object is considered The type object is a falling fish;

Step 3: The upper computer calculates the inclination angle of the fish according to the data measured by the electronic compass and the ultrasonic probe;

Step 4: According to the characteristics of the mud in the belly hole and the material of the fish, analyze the force of the fish, calculate the position of the top of the fish, and salvage the fish according to the position of the top of the fish.

When the falling fish locator arrives at the broken drill point, the angle between it and the direction perpendicular to the ground is θ, that is, the pitch angle measured by the electronic compass is consistent with the build-up angle above the belly hole; The specific process of the fish is: when the fish locator descends to the depth of the drill break, first record the pitch angle θ of the electronic compass at this time, and then control the fish locator to continue to descend, and the upper computer controls the spin stepper motor to rotate 360 degrees, If no approximately linear object is detected, the falling fish locator will continue to descend, set each time to descend 10 meters, and rotate the liner 360 degrees after each downward stop to scan and detect the ultrasonic probe until an approximately linear object is detected. The approximately linear object is the falling fish, and the navigation angle α of the electronic compass at this time is recorded.

The process of calculating the inclination angle of the falling fish in the step 3 is as follows: Repeatedly control the falling fish locator to go down and detect until the distance between the ultrasonic probe and the detected approximately linear object reaches the detection blind zone, collect multiple sets of data, save them and upload them to the Host computer; let _d1m be the measurement distance from the mth ultrasonic probe to the falling fish in the direction perpendicular to the liner, m is a positive integer, and the distance between adjacent ultrasonic probes is δ; the position of the first ultrasonic probe is taken as the coordinate origin O , establish the XOY coordinate system with the direction pointing horizontally to the falling fish as the positive direction of the X axis, and the direction vertically upward as the positive direction of the Y axis; rotate the XOY coordinate system counterclockwise by an angle θ to form the X'OY' coordinate system, and then set the X The 'OY' coordinate system is translated by d ₁₁ along the positive direction of the X' axis to obtain the X"O'Y" coordinate system; calculate the inclination angle of the falling fish in the X'OY' coordinate system: right ..., Take the average value to get the average value of the inclination angle of the fish

The process of calculating the position of the top of the fish in the step 4 includes the following steps:

Step S1, coordinate transformation:

Rotate the X'OY' coordinate system clockwise by θ degrees to obtain the XOY coordinate system, and the calculation formula for coordinate conversion is:

Convert the coordinates in the X'OY' coordinate system to the coordinates in the XOY coordinate system according to formula ①;

Step S2, determine the function curve of the falling fish and the coordinates of the top of the fish in the XOY coordinate system:

When the falling fish is in a balanced state, the self-weight of the drill pipe in the mud is:

In formula ②:

G - is the self-weight of the drill pipe in the mud, in N/m;

q—the weight of the drill pipe in the air, unit N/m;

ρmud— _mud density, unit g/cm ³ ;

ρ _steel —the density of the drill pipe, unit g/cm ³ ;

30m upward from the supporting point of the falling fish, the maximum bending degree of the drill pipe is 2.2 degrees, which can be approximated as a linear falling fish of about 30m. The falling fish can be approximately regarded as a beam with one end as a fixed end and the other end as a free end. , under the action of buoyancy, it is approximately a quartic curve; the fish is affected by the vertically downward distributed load, let G represent the self-weight of the drill pipe in the mud, and the self-weight is the weight of the fish in the air and the buoyancy of the fish The resulting force, the inclination angle is the pitch angle θ measured by the electronic compass, the length L of the cantilever beam is the length of the intercepted part of the fish, the drilling route during drilling is carried out according to the design drawing, the drilling distance and the diving distance of the fish locator are Known, so the length L of the cantilever beam is known; the bending stiffness E of the cantilever beam and the inertia I of the cantilever beam relative to the neutral axis are determined by the material of the falling fish, and the approximate differential equation of the deflection line of the cantilever beam after being subjected to G is: y"" is the second-order derivative of y", and in the coordinate system X"O'Y", the following equation can be solved:

Transform each power coefficient into A", B", C", and get: y"=A"x" ⁴ +B"x" ³ +C"x" ² , taking any micro-segment, we can know y"' is the first derivative of y", expand y"' by series, so Integrate the whole curved curve, we have:

y”'=4A”x” ³ +3B”x” ² +2C”x”………………………………⑤,

Substitute Equation ⑤ into Equation ④ to get:

Solve the formula ⑥ to get the abscissa point Wx" of the fish top in the X"O'Y" coordinate system, and bring Wx" into the formula ⑥ to get the vertical coordinate of the fish top in the X"O'Y" coordinate system Point Wy", thus Wx'=Wx"+d ₁₁ , Wy'=Wy", according to formula ①, the coordinates of the fish top in the XOY coordinate system are: (α, W _x = Wx'*cosθ-Wy'*sinθ , W _y =Wx'*sinθ+Wy'*cosθ), α is the navigation angle of the electronic compass;

The formula ③ represents the fish equation obtained by taking the intercepted bottom of the fish as the coordinate origin, and transforming this equation into the coordinate system X'OY' can be obtained:

${\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}{\mathrm{<span\; class="notranslate">\; twenty\; four</span>}\mathrm{<span\; class="notranslate">\; E.</span>}\mathrm{<span\; class="notranslate">\; I</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}{\mathrm{<span\; class="notranslate">\; 6</span>}\mathrm{<span\; class="notranslate">\; E.</span>}\mathrm{<span\; class="notranslate">\; I</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; GL</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}{\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; E.</span>}\mathrm{<span\; class="notranslate">\; I</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ,</span>$

After combining and simplifying, convert the coefficients of each power into A', B', C', D', E', and get: the fish falling curve equation y'=A'x' in the X'OY' coordinate system ⁴ +B'x' ³ +C'x' ² +D'x'+E', while deriving y':

y"＝4A'x' ³ +3B'x' ² +2C'x'+D'………………………⑦;

Step S3, verify the falling fish curve equation y'=A'x' ⁴ +B'x' ³ +C'x' ² +D'x'+E':

Lift the ultrasonic probe upwards, set the uplink distance to 10 meters each time, and continue to detect, with the calculation method in step 3, detect n times in total, and calculate the inclination angle of the falling fish each time as n is a positive integer; and x' _n are substituted into the formula ⑦, where m is the number of ultrasonic probes, verify whether the coefficients A', B', C', D', E' of the fish falling curve obtained are accurate; if the coefficients are accurate, go to step S4, if the equation coefficients are not accurate, return to Go to step 3, place the ultrasound probe in the X'OY' coordinate system, and continue down meters, so that the ultrasonic probe is as close as possible to the fish;

Step S4, calculate the coordinate position of the top of the fish in the X _ground O _ground Y _ground coordinate system:

The trajectory during the drilling process is operated according to the predetermined trajectory. At the same time, the descending process of the fish locator is also carried out according to the predetermined drilling trajectory. The distance traveled by the fish locator in the horizontal and vertical directions and the deflection angle are known quantities. Use the pitch angle measured by the electronic compass to check whether the direct use of the deflection angle is accurate. If it is not accurate, directly use the average value of the pitch angles measured by the electronic compass multiple times as the deflection angle, and establish the Y axis in the XOY coordinate system. is the Y _ground axis, and the horizontal ground is the coordinate system X _ground O _ground Y _ground of the X _ground axis. Using W _x and W _y in step S2, the coordinate points of the fish top in the coordinate system X _ground O _ground Y _ground are: (α, Wx, Wy-T), where the azimuth is α, and T is the distance between the fish locator and the ground when it dives, that is, the vertical depth from point O of the coordinate system where the first ultrasonic probe is located to the ground.

The spin stepping motor is connected with the liner through the optical shaft.

The falling fish locator also includes a cylindrical shell, and the spin stepping motor is fixed on the top of the cylindrical shell; one end of the optical axis is connected to the spin stepping motor, and the other end of the optical axis protrudes from the bottom of the cylindrical shell and the lining plate connect.

A receiving platform to prevent the eccentric rotation of the optical axis is also arranged inside the cylindrical housing.

The receiving platform is fixed on the inner edge of the cylindrical shell; the receiving platform is provided with a bearing installed on the optical axis.

The MCU main control board includes an MCU controller, the MCU controller outputs the generated PWM pulse signal to the pulse amplifier circuit, the pulse amplifier circuit receives the PWM pulse signal and outputs the high-voltage pulse signal to the ultrasonic probe, and the ultrasonic probe receives the high-voltage pulse signal and transmits Ultrasonic; the ultrasonic probe will filter and amplify the received echo signal through the band-pass filter circuit, and then send it to the MCU controller through the logarithmic amplification circuit or timer capture/external interrupt circuit sampling; electronic compass, spin step The motors are respectively connected with the MCU controller; the MCU controller is also connected with a communication module for communicating with the upper computer.

Each ultrasonic probe adopts an ultrasonic transducer with an external pressure shield.

In the present invention, the detection device is sent into the well along the borehole, and after the fish top is detected by ultrasonic waves, the orientation information of the fish top is calculated according to the inclination direction and inclination of the drill pipe and the force model of the drill pipe in the mud. , making the original groping fishing into a traditional fishing with a clear goal, which can greatly improve the progress of fish fishing; it is suitable for the fishing of fish in oil and water wells in China; the selected components and circuit design are suitable for high temperature and high pressure underground It can work normally in complex environments such as mud.

Description of drawings

Figure 1 is a schematic diagram of fish falling in drilling.

Fig. 2 is a front view of the falling fish locator of the present invention.

Fig. 3 is a side view of the falling fish locator of the present invention.

Fig. 4 is a schematic circuit diagram of the falling fish locator of the present invention.

5 is a schematic diagram of the 24V to 5V circuit of the MCU main control board of the present invention.

6 is a schematic diagram of the 5V to 3.3V circuit of the MCU main control board of the present invention.

FIG. 7 is a schematic circuit diagram of the STM32F407VG main control chip of the present invention.

Fig. 8 is the schematic diagram of the PWM pulse wave reverse output circuit of the MCU main control board of the present invention

FIG. 9 is a schematic diagram of the SSP pulse-starting transformer step-up circuit of the MCU main control board of the present invention.

FIG. 10 is a schematic diagram of a band-pass filter circuit of the MCU main control board of the present invention.

Fig. 11 is a schematic diagram of the logarithmic amplification circuit of the MCU main control board of the present invention.

Fig. 12 is a circuit schematic diagram of the timer capture/external interrupt mode of the MCU main control board of the present invention.

Fig. 13 is a circuit schematic diagram of the LED indicator module of the MCU main control board of the present invention; wherein, Fig. 13(a) is a circuit schematic diagram of a red LED indicator light, and Fig. 13(b) is a circuit schematic diagram of a green LED indicator light.

Fig. 14 is the schematic diagram of the drive circuit board power supply circuit of the MCU main control board of the present invention; wherein, Fig. 14 (a) is the schematic diagram of the drive circuit board 24V power supply circuit, and Fig. 14 (b) is the drive circuit board 5V power supply circuit schematic diagram.

Fig. 15 is a schematic diagram of the JLINK download interface circuit of the MCU main control board of the present invention.

Fig. 16 is a force model diagram of the falling fish of the present invention.

Fig. 17 is a schematic diagram of calculating the slope of a certain point of a fish falling in the present invention.

Fig. 18 is a schematic diagram of a function model for mathematical calculation of fish falling in a horizontal well established in the present invention.

Fig. 19 is a model diagram of the cantilever beam when the falling fish of the present invention is placed obliquely.

Fig. 20 is a schematic diagram of establishing the XOY coordinate system, the X'OY' coordinate system and the X"O'Y" coordinate system of the present invention.

Fig. 21 is a schematic diagram of the fishing process and the establishment of the coordinate system when the fallen fish of the present invention occurs in a horizontal well.

Fig. 22 is a schematic diagram of the fishing process of the fish falling in the vertical well and the establishment of the coordinate system according to the present invention.

Fig. 23 is a flow chart of the location of fish falling in the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

The present invention provides a falling fish locator, referring to Fig. 2 to Fig. 3, comprising an ultrasonic probe 1, a spin stepping motor 2, a receiving platform 3, a cylindrical shell 4, a liner 5, an optical axis 6, and an electronic compass 7 1. MCU main control board; each ultrasonic probe 1, spin stepper motor 2, and electronic compass 7 are respectively connected to the MCU main control board, and the MCU main control board is connected to the host computer.

Ultrasonic probes 1, including a plurality of them, are set according to the needs. Here, they are specifically set to 4, which are arranged in a straight line and equidistant from top to bottom on the liner 5; the four ultrasonic probes are respectively used in the direction perpendicular to the liner Measure the distance to the falling fish, and calculate the average value of the slope of the falling fish at the detection position through the distance values measured by the four ultrasonic probes (the slope of the falling fish in the XOY coordinate system established as shown in Figure 18, Q represents the slope of each falling fish The depth of the fish locator descending), so as to obtain the inclination angle of the falling fish at the detection position (the angle between the falling fish and the detection direction).

The spin stepping motor 2 is fixed on the top of the cylindrical shell 4 and drives the lining plate 5 to rotate.

The receiving platform 3 is fixed on the inner edge of the cylindrical housing 4 , and the receiving platform 3 is provided with a bearing installed on the optical axis 6 . The eccentric rotation of the optical axis can be prevented by the receiving platform 3 .

The optical axis 6 is provided with a receiving platform 3 to prevent the eccentric rotation of the optical axis, one end of the optical axis 6 is connected to the spin stepping motor 2, and the other end of the optical axis 6 protrudes from the bottom of the cylindrical shell 4 and is connected to the liner 5 .

The electronic compass 7 is installed on the liner 5 and fixed above the liner 5 .

The spin stepper motor 2 is connected to the MCU main control board, each ultrasonic probe 1 is connected to the MCU main control board through the driver board, and the MCU main control board is connected to the host computer; the driver board needs 3.3V (VDD), 5V, 24V power supply: Among them, 5V and 24V are provided by the 24V to 5V circuit of the MCU main control board (see Figure 5), and 3.3V is provided by the 5V to 3.3V circuit of the main control board (see Figure 6), which is provided by the conversion chip LM1117 and the corresponding RC circuit (increased stability) Convert 5V to 3.3V.

The MCU main control board includes the MCU controller, and the MCU controller adopts the STM32F407VG main control chip, as shown in Figure 7, where pins 12 and 13 are connected to an 8MHz external crystal oscillator, pin 94 BOOT0 and pin 37 BOOT1 are connected to an external 100K resistor and then connected to GND. See Figure 4, the MCU controller outputs the generated PWM pulse signal to the pulse amplifier circuit, the pulse amplifier circuit receives the PWM pulse signal and outputs the high-voltage pulse signal to the ultrasonic probe, the ultrasonic probe receives the high-voltage pulse and emits ultrasonic waves, and the ultrasonic probe receives the After the echo signal is filtered and amplified by the band-pass filter circuit, it is sent to the MCU controller after being sampled by the logarithmic amplification circuit or timer capture/external interrupt circuit; the electronic compass 7 and the spin stepping motor 2 are respectively controlled by the MCU The controller is connected; the MCU controller is connected to the communication module used to communicate with the host computer. in:

1. STM32F407VG main control chip has the following characteristics:

(1) Advanced technology and process

-Memory accelerator: adaptive real-time accelerator (ARTAccelerator ^TM )

-Multiple AHB bus matrix and multi-channel DMA: support program execution and data transmission parallel processing, data transmission rate is very fast

-90nm process

(2) High performance

-210DMIPS168MHz

- Due to the adoption of ST (Standard Microelectronics) ART accelerator, the program running from FLASH is equivalent to 0 waiting for more memory

-Up to 1MB FLASH

-192KbSRAM: 128KB on the bus matrix, 64KB on the data bus dedicated to the CPU Advanced peripherals compatible with STM32F2

-USBOTG high speed 480Mbit/s

-IEEE1588, Ethernet MAC10/100

-PWM high-speed timer: 168MHz maximum frequency

- Encryption/Hash Hardware Processor: 32-bit Random Number Generator (RNG)

- 32-bit RTC with calendar function: <1μA real time clock, 1 second accuracy

(3) more improvements

- Low Voltage: 1.8V to 3.6VVDD, down to 1.7V on some packages

-Full duplex 12S

-12-bit ADC: 0.41us conversion/2.4Msps (7.2Msps in alternate mode)

- High-speed USART, up to 10.5Mbits/s

- High-speed SPI, up to 37.5Mbits/s

-Camera interface, up to 54M bytes/s

2. Ultrasonic probe

-Using 200K-75KHz ultrasonic transducer, plus a pressure-resistant protective cover, it is suitable for industrial mud and water

-Model: DYW-75/200-E

- Range: 200KHz0.6～120m, 75KHz1.8～300m

- Blind zone: 200KHz blind zone 0.6 meters, 75KHz blind zone 1.5 meters

-Frequency: 200KHz±5KHz or 75KHZ±3KHz

- Working voltage: peak voltage <800VPP

-Working temperature: -20～+80℃

-Pressure: maximum liquid depth of 5000 meters

- Angle: at 200KHz (beam width) half power angle -3dB: 10.4°, sharp angle: 24.6°; at 75KHz (beam width) half power angle -3dB: 28°, sharp angle: 69°

- Corrosion resistance: It can be used in the environment of weak acid and weak alkali.

3. Pulse amplifier circuit

The pulse amplifying circuit includes a PWM pulse wave reverse output circuit and an SSP pulse starting transformer boosting circuit connected in sequence. The PWM signal sent by the MCU main control chip (according to the frequency of the transducer and the actual work requirements, a pulse signal of 5-20 cycles is generated, the frequency of the signal must be equivalent to the frequency of the transducer, and the signal amplitude is 5Vpp) through the The PWM pulse wave reverse output circuit composed of 74HCT04D inverter components and auxiliary circuits (74HCT04D is a six-channel inverter, see Figure 8) can obtain the SSP signal opposite to the PWM signal; the SSP signal is then passed through the SSP pulse to start the transformer up Voltage circuit (the SSP pulse passes through the LU3410NMOS tube to control whether the transformer T1 is boosted. When the SSP has a pulse, it boosts the voltage to drive the ultrasonic probe. When there is no pulse, it does not drive. See Figure 9) to obtain the ultrasonic probe input signal TRANS, as shown in Figure 9 T1 in the SSP pulse-starting transformer boost circuit shown is a transformer, whose function is to raise the voltage to the voltage value required for ultrasonic probe transmission;

4. Band-pass filter circuit

Referring to Figure 10, the bandpass filter circuit adopts low-cost, high-speed, voltage feedback amplifier AD8052, which has the function of active signal filtering, and the 9018 ultra-high frequency silicon transistor Q1 has the function of signal amplification (first, the echo signal is amplified weakly by the 9018 transistor Q1 The echo signal, using AD8052 with the auxiliary RC filter circuit for primary filtering and secondary filtering, so that the relevant noise and interference waves are filtered); the signal processed by the band-pass filter circuit is output to the logarithmic amplifier circuit through the network CHULI Or timer capture/external interrupt mode circuit.

5. Logarithmic amplification circuit and timer capture/external interrupt circuit

The logarithmic amplification circuit and the timer capture/external interrupt mode circuit adopt two different working modes respectively. The logarithmic amplification circuit can be collected through the AD conversion mode, and the timer capture/external interrupt mode circuit can be collected by the timer capture mode. , here is an example of using the timer capture/external interrupt mode circuit:

1) Logarithmic amplification circuit:

The band-pass filter circuit is connected to the logarithmic amplifier circuit through the network CHULI. Logarithmic amplification circuit, see Figure 11, the main chips used are AD8310 and LM358. AD8310 is a high-speed voltage output logarithmic amplifier produced by AD Company. It can demodulate the frequency range from DC to 440MHz. The LM358 is a dual operational amplifier, which includes two independent, high-gain, internal frequency-compensated dual operational amplifiers. It is suitable for single power supply with a wide range of power supply voltage, and is also suitable for dual power supply operation mode. Under the recommended operating conditions In this case, the power supply current has nothing to do with the power supply voltage (the single power supply mode is used in this circuit); the SING_AD signal obtained after processing by the logarithmic amplifier circuit is sent to the main control chip and processed by the program.

2) Timer capture/external interrupt mode circuit:

Timer capture/external interrupt mode circuit, see Figure 12, the main chip used is LMC7211, which is a small CMOS comparator with rail-to-rail input, set a reference voltage to adjust through the potentiometer R39, when the pulse amplitude is greater than the reference When the voltage is low, LMC7211 pin 1 (OUT pin) outputs a high level, and the main control chip STM32F4 collects the output time point of this level to calculate the echo time point. The so-called timer capture/external interrupt method is controlled by loading the program The main control chip STM32F4 determines the echo time point of the received pulse. The band-pass filter circuit is connected to the timer capture/external interrupt mode circuit through the network CHULI, and the INT_AD signal is obtained after being processed by the timer capture/external interrupt mode circuit, and sent to the main control chip STM32F4, and the main control chip STM32F4 processes and analyzes the echo signal.

In summary, the overall circuit operation process of the ultrasonic probe sending and receiving signals is as follows: a PWM waveform is generated by the timer 2 of the main control chip STM32F4, and the number of pulses is controlled by the timer 3 (the number is related to the measurement distance, and the number of pulses depends on the distance. Multiple) Excite the ultrasonic probe to emit ultrasonic waves, and after encountering obstacles, the echo signal TRANS will be processed by the band-pass filter circuit shown in Figure 10, and sent to the timer capture/external interrupt mode circuit shown in Figure 12, and the final INT_AD signal Send it to the main control chip STM32F4 to record the time interval. The above two methods of logarithmic amplification circuit and timer capture/external interrupt circuit can be used for ranging, but the timer capture/external interrupt method is often more accurate and convenient for sampling, so this method is chosen.

6. Electronic compass

Choose the tilt compensation type three-dimensional electronic compass, the model HCM365 is mainly used in industrial petroleum geological logging. Its characteristics are as follows:

-Measurement range: 360°full attitude

-With hard magnetic, soft magnetic and tilt compensation

-Accuracy: 0.3°～0.5°

Output interface: RS232, RS485, TTL (optional)

-Working voltage: DC+5V

-Wide temperature working: -40～+85℃

- Working current: 40mA

-Volume: 55*37*24mm, can be customized.

Referring to Fig. 4, the data collected by the electronic compass 7 is uploaded to the upper computer through the serial port (communication module) connected with the MCU controller. The MCU main control board circuit and the upper computer are placed on the ground, and only the mechanical structure of the falling fish locator (including four probes, a stepping motor, and an electronic compass is used. At present, the protection of the logging circuit and the waterproofing of the motor are very mature. , can be used directly) directly into the well, and the drilling fluid circulation can be used for cooling and heat dissipation treatment, and since the detection process does not involve actions such as breaking rock formations, it will not generate too high a temperature, and the basic drilling fluid circulation can achieve The purpose of heat dissipation and cooling.

The MCU main control board also includes 24V to 5V circuit, 5V to 3.3V circuit, LED indicator module, drive circuit board power supply circuit, JLINK download interface; among them:

1. 24V to 5V circuit, see Figure 5, using LM2596T5.0(5) switching power supply regulator, connected to an external 24V power supply, to convert 24V voltage to 5.0V voltage, the J1 terminal is the input port of the power supply, J1 .1 Connect to 24V, J1.2 connect to GND, after processing by the 24V to 5V circuit shown in Figure 5, the required 24V and 5V power supplies can be obtained;

2. 5V to 3.3V circuit, see Figure 6, using the LM1117-3.3 voltage regulator chip, the 5V (VCC) voltage is processed by the voltage regulator chip to obtain a 3.3V voltage (VDD), which supplies power to the main control chip STM32F407VG;

3. LED indicator module, see Figure 13, including red LED light and green LED light, the positive pole of the red LED light is powered by a 5V power supply, and the negative pole is grounded to indicate that the 5V power supply is normal. The 95-pin connection of the main control chip is used to cooperate with software programming to display that the program is running normally;

4. The power supply circuit of the driver circuit board, see Figure 14, provides power and ground for the driver board circuit, and the power supply is divided into 24V and 5V;

5. The JLINK download interface, see Figure 15, is connected to pins 72 and 76 of the main control chip.

The present invention also provides a method for locating fish by using the above-mentioned fish locator. Figure 1 is a schematic diagram of a fish in drilling. The position after the offset of the top of the fish is A, and the bottom of the belly hole is B.

The design idea is as follows: multiple ultrasonic probes 1 are arranged in a line on the lining plate 5, and the rotation of the lining plate 5 is controlled by the spin stepping motor 2 to realize 360-degree detection. Send the falling fish locator downhole along the borehole, and after exceeding point C of the broken drill point (the vertical depth S of the broken drill is known, and the detection dive depth T is also known), rotate the detection while moving, when an approximate straight line is detected When it is a straight-line object, it can be considered as a falling fish. According to the measured inclination direction of the drill pipe, as well as the characteristics of the mud in the big belly hole, the material of the drill pipe, etc., the force analysis of the drill pipe is carried out, and the position of the top A of the fish is calculated, and then the traditional fishing method is used for fishing.

Taking the first horizontal well model as an example, it specifically includes the following steps (as shown in Figure 21):

When the fish locator arrives at the broken drill point C, the angle between it and the direction perpendicular to the ground is θ (that is, the pitch angle measured by the electronic compass 7), which is consistent with the deflection angle above the belly hole.

Step 1: install the falling fish locator on the front end of the drill pipe, and send it downhole along the drill hole; set the first ultrasonic probe, the second ultrasonic probe, ..., the mth ultrasonic probe, m is a positive integer; the specific setting is four, which are respectively the first ultrasonic probe, the second ultrasonic probe, the third ultrasonic probe and the fourth ultrasonic probe;

Step 2: When descending to the depth of the broken drill (the vertical depth S of the broken drill is known, and the detection depth T is also known), first record the pitch angle θ of the electronic compass at this time, and then make the falling fish locator continue to descend , the upper computer controls the spin stepper motor to rotate 360 degrees. If no approximately linear object is detected, the fish locator will continue to descend (set the distance Q of each descending to be 10 meters), and then rotate the liner 360 degrees again after stopping. Scan the ultrasound probe for probing. Repeat the above steps, if an approximately linear object is detected, it can be considered that the approximately linear object is a broken drill pipe (falling fish), and the navigation angle α of the electronic compass 7 at this time is recorded. Whether it is an approximately linear object is judged by whether the slopes β ₁ , β ₂ , and β ₃ calculated from the detection distances of the four probes are approximately equal.

Step 3: Calculate the inclination angle of the falling fish.

Referring to Figure 18, repeatedly control the falling fish locator to go down and detect until the probe 1 and the detected approximately linear object reach the detection blind zone distance, collect multiple sets of data, save them and upload them to the host computer. The distance from the first probe to the falling fish is d ₁₁ , as shown in Figure 20, the position of the first ultrasonic probe is taken as the coordinate origin O, and the direction pointing horizontally to the falling fish (direction of navigation angle α) is taken as the positive direction of the X-axis , The vertical upward direction is the positive direction of the Y axis to establish a coordinate system XOY. Rotate the XOY coordinate system counterclockwise by an angle θ to form the X'OY' coordinate system, and then translate the X'OY' coordinate system along the positive direction of the X' axis by d ₁₁ to obtain the X"O'Y" coordinate system, and the coordinate system is established. . Combined with Figure 17, the inclination angles of Luoyu 8 in the X'OY' coordinate system are calculated as follows: Among them: d ₁₁ , d ₁₂ , d ₁₃ , and d ₁₄ are the distances between the first ultrasonic probe, the second ultrasonic probe, the third ultrasonic probe and the fourth ultrasonic probe on the falling fish locator 9 in the direction perpendicular to the liner to the broken fish. The measuring distance of the inclined drill pipe (falling fish 8), for Take the average value to get the average value of the inclination angle of the fish In Fig. 18, the data d ₀₁ , d ₀₂ , d ₀₃ , and d ₀₄ measured when the four probes enter the detection blind zone are invalid data.

Step 4: Coordinate transformation.

In the detection process, the function image as shown in Figure 18 is established, and each falling fish position point is shown in Figure 18, and the X'OY' coordinate system in step 3 is rotated clockwise by θ to obtain the XOY coordinate system, and the coordinate conversion calculation The formula is:

According to the formula ①, the coordinates in the X'OY' coordinate system can be transformed into the coordinates in the XOY coordinate system.

Step 5: Determine the function curve of the falling fish and the coordinates of the top of the fish.

Referring to Figure 16, when the falling fish is in a balanced state, the drill pipe is affected by its own weight G, buoyancy f _s and support _force F, and the drill pipe is bent. Due to the buoyancy of the mud, the weight of the drill pipe in the mud is:

In formula ②:

G - is the self-weight of the drill pipe in the mud, in N/m;

q—the weight of the drill pipe in the air, unit N/m;

ρmud— _mud density (determined by the temperature and viscosity characteristics of the mud), unit g/cm ³ ;

ρ _steel —the density of the drill pipe, in g/cm ³ .

30m upwards from the support point of the falling fish (generally the bottom of the big-bellied wellbore), the maximum bending degree of the drill pipe is 2.2 degrees, which can be approximated as a straight-line falling fish of about 30m. A cantilever beam with a free end at one end, as shown in Figure 19, is approximately a quartic curve under the action of gravity and buoyancy.

As shown in Figure 19, the falling fish is subjected to the vertical downward distributed load G. In the figure, G represents the self-weight of the drill pipe in the mud. The self-weight is the resultant force of the self-weight of the fish in the air and the buoyancy of the fish. The inclination angle is the pitch angle θ. The drilling route is carried out according to the design drawing, the drilling distance and the diving distance of the detector are known, so L is known; the bending stiffness E of the cantilever beam and the inertia I of the cantilever beam relative to the neutral axis are determined by the material of the fish . The approximate differential equation of the deflection line of the cantilever beam subjected to G action: y"" is the second order derivative of y", which can be solved in the coordinate system X"O'Y" as follows:

Transform each power coefficient into A", B", C", and obtain: y"=A"x" ⁴ +B"x" ³ +C"x" ² , according to Fig. 20 (L' represents that the top of the fish 10 is in Y” axis drop distance), taking any micro-segment, we can know y"' is the first derivative of y", expand y"' by series, so Integrate the entire curved curve,

y”'=4A”x” ³ +3B”x” ² +2C”x”……………………………⑤,

Substitute Equation ⑤ into Equation ④ to get:

The abscissa point Wx" of the fish top in the X"O'Y" coordinate system can be obtained by solving the ⑥ formula, and the Wx" is brought into the ⑥ formula to obtain the fish top 10 in the X"O'Y" coordinate system Ordinate point Wy", according to Figure 20, Wx'=Wx"+d ₁₁ , Wy'=Wy", according to formula ①, the coordinates of Yuding 10 in the XOY coordinate system are: (α, Wx ₌ Wx'* cosθ-Wy'*sinθ, W _y =Wx'*sinθ+Wy'*cosθ), α is the navigation angle of the electronic compass, W _x , W _y are shown in Figure 20.

The formula ③ represents the curve equation of the falling fish obtained by taking the intercepted bottom of the falling fish as the origin of the coordinates. According to Figure 20, this equation can be transformed into the coordinate system X'OY' to obtain:

${\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}{\mathrm{<span\; class="notranslate">\; twenty\; four</span>}\mathrm{<span\; class="notranslate">\; E.</span>}\mathrm{<span\; class="notranslate">\; I</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}{\mathrm{<span\; class="notranslate">\; 6</span>}\mathrm{<span\; class="notranslate">\; E.</span>}\mathrm{<span\; class="notranslate">\; I</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; GL</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}}{\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; E.</span>}\mathrm{<span\; class="notranslate">\; I</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}$

After combining and simplifying, convert the coefficients of each power into A', B', C', D', E', and obtain the fish falling curve equation in the X'OY' coordinate system: y'=A'x' ⁴ +B'x' ³ +C'x' ² +D'x'+E', while deriving y':

y"＝4A'x' ³ +3B'x' ² +2C'x'+D'………………………………⑦

Step 6: Verify the falling fish curve equation y'=A'x' ⁴ +B'x' ³ +C'x' ² +D'x'+E'.

Lift the probe 1 up, set the uplink distance to 10 meters each time, and continue to detect, the same as the calculation method in step 3, detect n times in total, and calculate the inclination angle of the falling fish each time as (n is a positive integer). put tan and x′ _n ( m is the number of ultrasonic probes) into formula ⑦ to verify whether the coefficients A', B', C', D', and E' of the obtained fish-falling curve equation are accurate. If the coefficient is correct, go to step seven. If the equation coefficients are inaccurate, go back to step 3, place the probe in the X'OY' coordinate system, and continue down meters so that probe 1 is as close to the fish as possible.

Step 7: Calculate the coordinates of Yuding 10 in the coordinate system of _ground X _{, ground} O _{, ground} Y.

The trajectory during the drilling process is operated according to the predetermined trajectory. At the same time, the descending process of the fish locator is also carried out according to the predetermined drilling trajectory. The distance traveled by the fish locator in the horizontal and vertical directions and the deflection angle are known quantities. Use the pitch angle measured by the electronic compass to check whether it is accurate to directly use the deflection angle. If it is not accurate, directly use the average value of the pitch angles measured by the electronic compass many times as the deflection angle. In Figure 21, establish the XOY coordinates The Y axis in the system is the Y _ground axis, and the horizontal ground is the coordinate system X _ground O _ground Y _ground of the X _ground axis. Using W _x and W _y in step 5, the fish top is in the coordinate system X _ground O _ground Y _ground The coordinate points are: (α, Wx, Wy-T), the azimuth is α, and T is the distance between the falling fish locator and the ground, that is, the vertical depth from the ground at point O of the coordinate system where the first ultrasonic probe is located.

The above steps are a series of stress analysis and mathematical calculations for the first type of horizontal well, which is a relatively complicated situation. When θ=0, it is the situation of positioning fish in a vertical well (as shown in Figure 22). Compared with horizontal wells, coordinate conversion is not required, and the calculation of the function equation of the fish-falling curve actually only involves the mechanical analysis of the function equation and the translation of the coordinate system.

The falling fish positioning process of the present invention is shown in FIG. 23 .

The invention selects military-grade components and circuit design and protection, can work normally in complex environments such as underground high-temperature and high-pressure mud, and can use drilling fluid to circulate in the detection equipment to achieve the purpose of heat dissipation.

Claims (10)

1. a fish position finder, it is characterised in that: include multiple linearly equidistant arrangement ultrasonic probe on liner plate, drive the spin motor that liner plate rotates, and be installed on the electronic compass on liner plate; Described each ultrasonic probe, spin motor, electronic compass are connected with MCU master control borad respectively, and MCU master control borad connects host computer; Following steps are adopted to carry out fish location:

Step one: fish position finder is sent into down-hole along boring; Liner plate is placed equidistant the 1st ultrasonic probe, the 2nd ultrasonic probe ..., m ultrasonic probe from bottom to top, and m is positive integer;

Step 2: when fish position finder declines and arrives the breaking of rod degree of depth, spin step motor control liner plate rotating to realize 360 degree of detections, advances in detection limit, limit; When detecting near linear type object, then it is assumed that described near linear type object is fish;

Step 3: the data that host computer records according to electronic compass and ultrasonic probe calculate fish inclination angle;

Step 4: according to the characteristic of mud in out-of-round oversized hole and fish material, carries out force analysis to fish, calculates Position on the top of the fish, salvages fish according to described Position on the top of the fish.

2. fish position finder according to claim 1, it is characterised in that: when setting fish position finder arrival breaking of rod location point, it is �� with the angle being perpendicular to direction, ground, the angle of pitch that namely electronic compass measurement is arrived, consistent with the deflecting angle above out-of-round oversized hole, described step 2 detects the process of fish particularly as follows: when fish position finder decline arrive the breaking of rod degree of depth time, first the pitching angle theta of now electronic compass is recorded, then control fish position finder to continue to decline, PC control spin motor 360 degree rotation, if not detecting near linear type object, then fish position finder continues descending, set descending 10 meters every time, carry out 360 degree of rotary lining plates after each descending stopping and making ultrasonic probe scanning probe, until detecting near linear type object, this near linear type object is fish, record the navigation angle �� of now electronic compass.

3. fish position finder according to claim 2, it is characterized in that: the process calculating fish inclination angle in described step 3 is as follows: Repetitive controller fish position finder is descending and detects, until when coming downwards to ultrasonic probe and reach detection blind area distance with the near linear type object detected, gathering multi-group data and preserve and be uploaded to host computer; If d_1mBeing that m ultrasonic probe is being perpendicular to the liner plate direction measurement distance to fish, m is positive integer, and the distance of adjacent ultrasonic probe is ��; With the position at the 1st ultrasonic probe place for zero O, be X-axis positive direction with the direction being horizontally directed to fish, direction straight up set up XOY coordinate system for Y-axis positive direction; By XOY coordinate system rotated counterclockwise by angle ��, form X ' OY ' coordinate system, then X ' OY ' coordinate system is translated d along X ' axle positive direction₁₁Obtain X " O ' Y " coordinate system; Calculate fish inclination angle in X ' OY ' coordinate system:RightAverage and obtain fish dip mean

4. fish position finder according to claim 3, it is characterised in that: the process calculating Position on the top of the fish in described step 4 comprises the steps:

Step S1, coordinate transform:

X ' OY ' coordinate system being rotated in a clockwise direction �� degree and obtains XOY coordinate system, obtaining Coordinate Conversion computing formula is:

According to formula 1. by coordinate that the Coordinate Conversion in X ' OY ' coordinate system is in XOY coordinate system;

Step S2, it is determined that the function curve of fish and top of fish coordinate in XOY coordinate system:

When fish is in poised state, drilling rod deadweight in mud is:

Formula 2. in:

G is drilling rod deadweight in mud, unit N/m;

The aerial deadweight of q drilling rod, unit N/m;

��_MudMud density, unit g/cm³;

��_SteelThe density of drilling rod, unit g/cm³;

From the fish strong point upwards 30m, drilling rod maximum flexion is 2.2 degree, can be approximately the linear type fish of nearly about 30m, and this fish can be similar to and see one end as be fixing end, the other end is the beam of free end, gravity, buoyancy effect under, be approximately biquadratic curve; Fish is subject to the effect of distributed load straight down, if G represents drilling rod deadweight in mud, this deadweight be fish conduct oneself with dignity in atmosphere and fish buoyancy make a concerted effort, angle of inclination is the pitching angle theta that electronic compass measurement is arrived, length of cantilever L is the length of the part fish intercepted, the route that creeps into during drilling well is undertaken by design drawing, creeps into distance and fish position finder dive distance for it is known that event length of cantilever L is known; The bending stiffness E of cantilever beam and cantilever beam are determined by fish material relative to the inertia I of neutral axis, cantilever beam be subject to the line of deflection approximate differential equation after G effect and be:Y " " is y " second dervative, solve such as following formula unary biquadratic equation at coordinate system X " O ' Y ":

Each power coefficient is turned to A ", B ", C " and, obtain: y "=A " x^��4+B��x^��3+C��x^��2, take arbitrary micro-section, it is possible to knowThe first derivative of y " ' for y ", to y " ' by series expansion soWhole section of curve of bending is integrated, has:

Y " '=4A " x^��3+3B��x^��2+ 2C " x " ... ... ... ... ... ... ... ... ... ... ... 5.,

5. formula is substituted into 4. formula obtain:

Solution 6. formula can obtain top of fish abscissa point Wx in X " O ' Y " coordinate system ", Wx " is brought into 6. formula, obtain top of fish vertical coordinate point Wy in X " O ' Y " coordinate system ", thus Wx '=Wx "+d₁₁, Wy '=Wy ", obtaining top of fish coordinate in XOY coordinate system according to 1. formula is: (��, W_x=Wx ' * cos ��-Wy ' * sin ��, W_y=Wx ' * sin ��+Wy ' * cos ��), �� is the navigation angle of electronic compass;

3. formula represents the fish equation obtained with the bottom of fish intercepted for zero, this equations turned can be obtained in coordinate system X ' OY ':

$y^{\&prime;}=\frac{Gsin\mathrm{\&theta;}}{24EI}{(x^{\&prime;}-d_{11})}^4-\frac{GLsin\mathrm{\&theta;}}{6EI}{(x^{\&prime;}-d_{11})}^3+\frac{{\mathrm{GL}}^{2}sin\mathrm{\&theta;}}{4EI}{(x^{\&prime;}-d_{11})}^2,$

After merging abbreviation, each power coefficient is turned to A ', B ', C ', D ', E ', obtains: the fish curvilinear equation y '=A ' x in X ' OY ' coordinate system^��4+B��x^��3+C��x^��2+ D ' x '+E ', obtains y ' derivation simultaneously:

Y ' '=4A ' x^��3+3B��x^��2+ 2C ' x '+D ' ... ... ... ... ... ... ... ... ... 7.;

Step S3, to fish curvilinear equation y '=A ' x^��4+B��x^��3+C��x^��2+ D ' x '+E ' is verified:

Being lifted up by ultrasonic probe, each Top Runby is set as 10 meters, continues detection, and with step 3 computational methods, detection n time altogether, calculating the fish inclination angle every time obtained isN is positive integer; ?With x '_nSubstitute into formula 7., whereinM is the number of ultrasonic probe, and whether fish curvilinear equation coefficient A ', B ', C ', D ', E ' that checking is tried to achieve be accurate; If coefficient is accurate, carries out step S4, if equation coefficient is inaccurate, then return to step 3, and by ultrasonic probe in X ' OY ' coordinate system, continue descendingRice, makes ultrasonic probe as close possible to fish;

Step S4, calculates top of fish at X_GroundO_GroundY_GroundCoordinate position in coordinate system:

Track in drilling process is according to desired trajectory operation, the process of fish position finder test simultaneously is also carry out according to predetermined wellbore trace, distance and deflecting angle that fish position finder is horizontally and vertically walked are known quantity, whether utilize the angle of pitch that electronic compass is measured to check directly uses deflecting angle accurate, if inaccurate, directly the meansigma methods of the angle of pitch that use electronic compass is repeatedly measured is as deflecting angle, sets up with the Y-axis in XOY coordinate system for Y_GroundAxle, level ground is X_GroundThe coordinate system X of axle_GroundO_GroundY_Ground, utilize the W in step S2_x, W_y, obtain top of fish at coordinate system X_GroundO_GroundY_GroundIn coordinate points be: (��, Wx, Wy-T), the distance of wherein to be ��, T be at azimuth fish position finder distance ground institute dive, i.e. the 1st ultrasonic probe place coordinate system O point vertical depth apart from ground.

5. fish position finder according to claim 1, it is characterised in that: spin motor is connected with liner plate by optical axis.

6. fish position finder according to claim 5, it is characterised in that: also including a cylinder type shell, spin motor is fixed on cylinder type cover top portion; Optical axis one end connects spin motor, and the optical axis other end stretches out from cylinder type outer casing bottom and is connected with liner plate.

7. fish position finder according to claim 6, it is characterised in that: it is additionally provided with a bearing platform preventing optical axis eccentric rotary in cylinder type enclosure.

8. fish position finder according to claim 7, it is characterised in that: described bearing platform is fixed on the internal edge of cylinder type shell; Bearing platform is provided with the bearing being arranged on optical axis.

9. fish position finder according to claim 1, it is characterized in that: MCU master control borad includes MCU controller, the pwm pulse signal of generation is exported pulse amplifying circuit by MCU controller, pulse amplifying circuit receives pwm pulse signal and exports high-voltage pulse signal to ultrasonic probe, and ultrasonic probe receives described high-voltage pulse signal and launches ultrasound wave; The echo-signal that receives after band pass filter circuit filter and amplification, is transported to MCU controller again through after logarithmic amplifying circuit or timer capture/external interrupt mode circuit sampling by ultrasonic probe;Electronic compass, spin motor are connected with MCU controller respectively; MCU controller is also connected with the communication module for communicating with host computer.

10. fish position finder according to claim 1, it is characterised in that: described each ultrasonic probe adopts the ultrasonic transducer of additional pressure protective cover.