CN109765090A - A device and method for accurate classification and sampling of laminar structures in continental tight reservoirs - Google Patents
A device and method for accurate classification and sampling of laminar structures in continental tight reservoirs Download PDFInfo
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Abstract
本发明涉及一种陆相致密储层纹层结构精确分类取样的装置及方法，其包括切割台座系统、激光定位系统、摄像系统、机械手系统以及主控制系统；切割台座系统用于对岩石样品进行夹持，同时提供岩石样品的切割取样空间；激光定位系统用于发送激光信号到切割台座系统，结合切割台座系统建立工作空间平面坐标系，同时对岩石样品进行定位；摄像系统用于对工作空间系统的完整图像进行监控，并将监控图像发送到主控制系统；主控制系统根据建立的工作空间平面坐标系、岩石样品的坐标值数据和工作空间系统的完整图像发送样品切割指令到机械手系统；机械手系统用于对致密储层岩石样品进行切割取样。本发明可以广泛应用于致密储层岩石的分类取样领域。
The invention relates to a device and method for accurate classification and sampling of lamina structures of continental dense reservoirs, comprising a cutting pedestal system, a laser positioning system, a camera system, a manipulator system and a main control system; the cutting pedestal system is used for rock sample analysis Clamping, while providing a cutting sampling space for rock samples; the laser positioning system is used to send laser signals to the cutting pedestal system, and combined with the cutting pedestal system to establish a working space plane coordinate system, and at the same time to locate the rock samples; the camera system is used to monitor the working space The complete image of the system is monitored, and the monitoring image is sent to the main control system; the main control system sends the sample cutting instruction to the manipulator system according to the established workspace plane coordinate system, the coordinate value data of the rock sample and the complete image of the workspace system; The robotic system is used for cutting and sampling tight reservoir rock samples. The invention can be widely used in the field of classification and sampling of tight reservoir rocks.
Description
Technical field
The present invention relates to a kind of terrestrial facies compact reservoir laminated texture precise classification sampling device and method, more particularly to
A kind of device and method based on the sampling of the terrestrial facies compact reservoir laminated texture precise classification of manipulator and laser positioning means, belongs to
In feature petrology stratification structural analysis field.
Background technique
Compact reservoir laminated texture is one of pulveryte feature petrology stratification construction, in clastic rock and carbonic acid
Equal extensive development in rock salt type.Lamina is formed is controlled by primary sedimentary environment, water body hydrologic condition, material resource supply, ancient gas more
Wait the factors such as background, epidiagenesis, Chang Yiyan mine composition, microtexture, storage and collection performance etc. different " layer
Occasionally " or " rhythm " single layer is alternately present as typical development models.
Terrestrial facies tight sand and the laminated texture of shale reservoir are developed the most in clastic rock class, and predominantly chiltern (powder
Chiltern) the alternate composition of lamina Chang Yufu organic matter grapholith.The formation of chiltern lamina greatly enhances reservoir heterogeneity,
But it is most important to improvement terrestrial facies compact reservoir physical property, become " dessert " of unconventional oil and gas enrichment.However, terrestrial facies densification sand
Rock and the lamina group structure of shale reservoir are sufficiently complex, still not in place to its law of development and genesis mechanism understanding, serious to restrict
Refined reservoir evaluation and destination layer position it is preferred.For chiltern lamina and shale matrix (i.e. rich organic matter grapholith) classification
Development is fine to be sampled with description, the deep the two that discloses in Implications, microcosmic composition and hole-seam system, regime genesis
The differentiation mechanism of aspect, quantitative assessment laminated texture cause the Micro influence of Oil And Gas Occurrence state and content to promotion terrestrial facies
Close oil gas, the exploitation of shale oil gas Efficient Exploration have most important theories and realistic meaning.
In carbonate rock with Lacustrine Stromatolites deposit in laminated texture it is the most typical.As important microorganism carbonic acid
Rock salt Reservoir type, since cyanobacteria deposition constantly replaces with intermittently diagenetic periodicity, finally (powder is thin by bright for stromatolite
Brilliant calcite/dolomite) dark (micrite or spherolite) alternate lamina lamina stacking construction forms.However, stromatolite is original heavy
The complicated multiplicity of product environment, the laminated texture origin cause of formation is even more multifarious, and light and shade antithesis lamina time limit growth cycle is also indefinite, causes
Can not system disclose and its microcosmic Pore Textures and preserve ability.For dark-coloured rich organic matter and the rich inorganic mineral lamina of light color
Carry out stringent sophisticated category sampling, deeply demands microscopic appearance feature, isotope geochemistry behavioral difference between the two, probe into shadow
The master control geology and Astronomical Factors of stromatolite lamina growth rhythm are rung, when null response of the lamina to lake hydrological process record is disclosed
Mechanism promotes terrestrial facies tight carbonate to build oil the evolutionary process for portraying the microcosmic hole-seam-hole system of Lacustrine Stromatolites reservoir
Gas exploration and exploitation have great importance.
Realize that the precise classification sampling of antithesis lamina Rock Powder bits sample is further investigated and effectively solves above-mentioned section's knowledge
The key of topic.However, border motif is sufficiently complex between terrestrial facies mud shale and Lacustrine Stromatolites deposition conjugation lamina, wavy, vaulted,
Curved, distortion, curling especially develop, or even often occur parallel crumpled bedding, and thickness is typically only several millimeters to several centimeters, undoubtedly
The classification of single lamina is accurately cut and is had caused great difficulties with the acquisition of break flour sample.Conventional method generallys use conventional core
Cutting machine converts hand specimen position angle by each group conjugation lamina cutting, then through artificial eye sense organ, as far as possible along each group antithesis line
Stratum boundary limit completes the segmentation of single group layer idol, then further utilizes cutting machine saw-piece repeatedly gradually polishing finishing.This conventional flow
Journey is difficult accurately to hold cutting position, and operation timeliness is low, sample loss is big, and sampling precision is poor and often results in chiltern lamina and shale
It can not completely be cut between lamina, bright (spar) dark (micrite) lamina, finally because sample union dyeing leads to microcosmic group of structure between antithesis lamina
Observation characterization, the deviation or even distortion of geochemistry comprehensive analysis experimental result.In addition, the process is to manual operator's proficiency
It is required that it is high, unexpected injury easily is caused to experimenter.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of samplings of terrestrial facies compact reservoir laminated texture precise classification
Device and method is realized accurate to the classification of compact reservoir antithesis lamina by manipulator and laser positioning multiple modules coupling
Sampling, while operating efficiency is substantially improved, also can battle support laboratory staff safe operation.
To achieve the above object, the present invention takes following technical scheme: a kind of terrestrial facies compact reservoir laminated texture accurately divides
The device of class sampling comprising work space systems and master control system；The work space systems include cutting stand system,
Laser orientation system, camera system and arm-and-hand system；The cutting stand system is used to be sent according to the master control system
Sample clamping instruction compact reservoir rock sample is clamped, while providing the cutting sampling space of rock sample；It is described
The Laser emission position command that laser orientation system is used to be sent according to the master control system sends laser signal and cuts described in
Ceding of Taiwan base system, and the master control system is sent by the coordinate Value Data of the cutting stand system and rock sample；Institute
Camera position adjustment instruction of the camera system for sending according to the master control system is stated to the complete of the work space systems
Whole image is monitored, and sends the master control system for monitoring image；The master control system is according to the cutting bed
The coordinate Value Data of base system establishes working space plane coordinate system, and according to the working space plane coordinate system of foundation, densification
The coordinate Value Data of reservoir rock sample and the complete image of work space systems send sample cutting instruction and arrive the machinery
Hand system；The arm-and-hand system is used to cut to compact reservoir rock sample according to the sample cutting instruction received and take
Sample.
Further, the cutting stand system includes cutting pedestal, laser emitter group and rock-like product fixing device；
The cutting pedestal is to be placed horizontally on laboratory bench, opening upwards rectangular parallelepiped structures；The laser emitter group
Including be separately positioned on it is described cutting pedestal four corners laser emitter, each laser emitter with the main control
System is connected；The rock-like product fixing device includes the identical rock sample fixation kit of four structures, each rock-like
Product fixation kit is fixedly installed on respectively on four medial surfaces of the cutting pedestal, and each rock sample fixation kit point
Not Tong Guo data line be connected with the master control system, elongation and folder by master control system to the rock sample fixation kit
The state of holding is automatically adjusted.
Further, the cutting pedestal is made of gray cast iron material, having a size of long 20cm, wide 15cm, high 5cm.
Further, the rock sample fixation kit includes slide bar, support frame, clamping jaw connecting rod, steps up cylinder and two
Clamping jaw；Described slide bar one end is fixed on the cutting pedestal medial surface, and the other end is fixedly connected with support frame as described above；Institute
State and be fixedly connected in the middle part of the other end and the clamping jaw connecting rod of support frame, the upper and lower ends of the clamping jaw connecting rod respectively with
The connection of one clamping jaw arm pin shaft；Two clamping jaw arm outer ends are connect with a clamping jaw respectively, and two clamping jaw arm inner ends pass through company
Spindle is connect with the cylinder that steps up；The slide bar and step up cylinder and be connected with the master control system, by the main control system
System automatically controls.
Further, the jaw surfaces are coated with frictional layer, and the frictional layer is using coarse alloy in the folder
The high rigidity rough coatings that pawl surface is formed.
Further, the laser orientation system includes wall bracket, two pole of hoisting bracket, laser emitter and photoelectricity
Pipe；The wall bracket is arranged above the cutting stand system；The hoisting bracket is arranged in the wall bracket end,
And the hoisting bracket bottom is fixedly installed laser emitter and photodiode；The laser emitter is provided with laser tune
Regulating device, the laser regulating device are connected with the master control system by data line, are controlled by the master control system；Institute
Photodiode is stated for detecting to the laser signal of the laser transmitter projects, is sent after being converted into electric signal
To the master control system.
Further, the camera system includes two camera assemblies being arranged on hoisting bracket, each camera shooting group
Part includes slide strips, buckle, columnar bracket, vertical rotary machine core and video camera；The hoisting bracket is arranged in the cutting bed
The surface at base system center, and guarantee to avoid blocking the transmitting laser space of the laser orientation system, the hoisting bracket
On be installed with the horizontal rotation machine core that state is rotated horizontally for controlling the hoisting bracket；The slide strips are slidably arranged in described
On hoisting bracket, the buckle is fixed at below the slide strips, the column that setting can rotate horizontally below the buckle
Shape bracket, the columnar bracket lower section are connected by the vertical rotary machine core with the video camera；The horizontal rotation machine core,
Slide strips, columnar bracket and vertical rotary machine core pass through data line and are connected with the master control system, are sent out according to master control system
The camera position adjustment instruction sent adjusts position and the shooting direction of the video camera, and the complete image of working space is sent
To master control system.
Further, the arm-and-hand system includes the cylinder assembly and mechanical arm assembly being set on the base, the gas
Cylinder component is used to that the mechanical arm assembly to be driven to execute the sample cutting instruction that the master control system is sent；The cylinder assembly
Including bottom cover, trimmer valve, cylinder barrel, pull rod, top cover, trimmer valve, piston and anti-dust cover；The cylinder barrel setting
Between the bottom cover and top cover, two pull rods, the pull rod upper and lower ends difference is arranged in the cylinder barrel two sides
It is fixedly connected with the bottom cover and top cover；The trimmer valve is respectively set on the bottom cover and top cover；The top
The piston is arranged in tops, and the anti-dust cover is arranged on the piston；The mechanical arm assembly includes decoder and by machine
The manipulator that tool waist, worm gear, mechanical arm, spherical gear, blade cover, nut and bolt and blade form；The decoder is logical
It crosses data line to be connected with the master control system, be connected by current line with the piston, for send master control system
Sample cutting instruction is decoded, and is controlled the manipulator and is executed corresponding actions；The machinery waist is using setting in the solution
Vertical structure on code device；It is connected between the machinery waist and the mechanical arm with the worm gear；The mechanical arm end
The blade cover is arranged in portion, passes through the fixed blade of the nut and bolt inside the blade cover；The blade the center point
Sensor is installed, the laser signal that the sensor is issued by receiving the laser orientation system is run in the blade
When determine the position and cutting direction of the blade, and be sent to the master control system.
Further, the master control system includes console computer, mouse and input-output system；The computer control
Platform is connect by data line with the input-output system, and the input-output system passes through data line and the working space system
Each system connection in system；Accurate sampling machine control module, the accurate sampling machine are provided in the console computer
Control module includes Laser emission submodule, space coordinate analysis submodule, sample clamping submodule, manipulator control submodule
With working space monitoring submodule；The cutting that the space coordinate analysis submodule is used to be sent according to the laser orientation system
The coordinate Value Data of each laser emitter in stand system is established using the cutting stand system as the working space plane of plane
Coordinate system；The Laser emission submodule is sent to the laser orientation system, and root for generating Laser emission position command
Coordinate Value Data is obtained according to the electric signal that the laser orientation system is fed back, the coordinate value data include two classes, first is that described
The coordinate Value Data of each laser emitter in stand system is cut, second is that clamping rock sample surface in the cutting stand system
Conjugation lamina boundary line coordinate Value Data；The sample clamping submodule is used for the sample according to camera system Real-time Feedback
Clamping condition generates sample clamping instruction and is sent to the cutting stand system, by the cutting stand system to rock sample
Clip position be automatically adjusted；The manipulator control submodule is used for according to working space plane coordinate system and described
The coordinate Value Data of the conjugation lamina boundary line on rock sample surface generates sample cutting instruction and arrives arm-and-hand system, to rock
Sample carries out cutting sampling；The working space monitoring submodule is sent to the camera shooting for generating camera position adjustment instruction
System, and receive the complete image of the working space of the camera system feedback.
A kind of terrestrial facies compact reservoir laminated texture precise classification sampling method comprising following steps:
(1) preliminary treatment is carried out to shale samples, and pedestal system is cut in the merging of compact reservoir rock sample by treated
In system, manually adjusts rock-like product fixing device and compact reservoir rock sample tentatively fix；
(2) blade is selected according to sample cut surface size and cutting scale requirement and installed, to compact reservoir laminated texture
Sampler, which check, ensures that its is working properly；
(3) complete image of work space systems is obtained by camera system, and specimen holder is sent by master control system
Instruction is held to cutting stand system, it is ensured that compact reservoir rock sample is completely fixed；
(4) laser orientation system and cutting stand system are opened, working space plane coordinates is established in master control system
System；
(5) camera position adjustment instruction is sent to camera system, so that camera system is located at cutting by master control system
The surface of pedestal, while the horizontal plane image of cutting pedestal obtained and the working space plane coordinate system of foundation are kissed
It closes, forms overlapping image；
(6) laser emitter for opening laser orientation system, through the auxiliary observation of camera system, in master control system
The multiple coordinates obtained on the conjugation lamina boundary line on compact reservoir rock sample surface form point set；
(7) point set obtained is fitted to a smooth curve, and is finely adjusted correction, make the matched curve and caused
The conjugation lamina boundary line of close reservoir rock sample surfaces coincide；
(8) blade cutting track is generated according to the matched curve after correction, is sent to arm-and-hand system；
(9) arm-and-hand system cuts compact reservoir rock sample according to blade cutting track, while to blade position
It sets and is monitored with cut direction, and send master control system for monitoring data；
(10) cutting is completed, and closes each system in working space, is taken out the compact reservoir rock sample that cutting is completed and is used
It is tested in subsequent analysis.
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention passes through laser orientation system pair
It cuts stand system and its interior rock sample carries out precise positioning, by master control system control arm-and-hand system to rock sample
Carry out accurate cutting sampling, breach the limitation of traditional manual cutting sampling installation method, can be realized chiltern and shale lamina,
Completely cutting between bright (spar) dark (micrite) lamina, and avoid the union dyeing of different attribute lamina break flour sample room and polish repeatedly
Caused mass loss, while operating efficiency is substantially improved, also can battle support laboratory staff safe operation.2, originally
Invention is provided with camera system, and master control system is according to camera system to the complete image of working space to the entire of rock sample
Cutting process is accurately controlled, and sample cutting accuracy is improved.3, the present invention is due to being provided with laser hair in master control system
Penetrate submodule, space coordinate analysis submodule, sample clamping submodule, manipulator control submodule and working space monitoring submodule
Block, it is accurate to divide rock sample cutting track on the basis of carrying out precise positioning to rock sample, it is multiple to realize completely cutting
Miscellaneous form boundary is conjugated lamina, provides possibility to effectively eliminate rock sample break flour union dyeing under submicroscopic scale, can greatly improve sample
The precision that product cut microcosmic group of structure between collecting efficiency, especially layer idol, change to isotope behavioral difference characterization.4, the present invention due to
Blade the center point is provided with sensor in arm-and-hand system, can to classification sampling process in blade cutting track and cutting side
To being monitored, the cutting accuracy to rock sample classification sampling is further ensured.5, the present invention is due to cutting stand system
In be provided with multiple rock sample fixation kits, each side of rock sample can effectively be clamped, and rock sample is solid
The jaw surfaces for determining component are coated with frictional layer, and clamping jaw can be effectively prevent to fall off with rock sample surface, realize rock sample
Be completely fixed.6, the present invention is made due to cutting pedestal in cutting stand system of gray cast iron material, is had biggish anti-
Compressive Strength and good dimensional stability, and there is good damping performance, it can be to avoid cutting bed seat during the experiment
Vibration is generated, cutting track is caused deviation occur.Therefore, the present invention can be widely applied to terrestrial facies compact reservoir laminated texture
Classification sampling field.
Detailed description of the invention
Fig. 1 is the apparatus structure schematic diagram of terrestrial facies compact reservoir laminated texture precise classification sampling of the present invention；
Fig. 2 is rock sample fixation kit structural schematic diagram of the present invention；
Fig. 3 is camera system structural schematic diagram of the present invention；
Fig. 4 is arm-and-hand system structural schematic diagram of the present invention；
Fig. 5 is spherical gear structural schematic diagram of the present invention；
Fig. 6 is the method for the present invention flow chart.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
Automatic mechanical hand is as more mature industrial robot, because its accuracy is high, flexibility is good, stability is good, in oil
The application of gas geological exploration field is also more and more.On the other hand, the technology of laser orientation system also reaches its maturity at present, is curing
The fields such as, military, communication receive extensive favor.The combination of manipulator and laser orientation system, is expected to unconventional
Meet accurate positioning in the submicroscopic scale sampling process of reservoir, flexible operation, operation easily require.It therefore, is realization terrestrial facies
The classification scrutiny of compact reservoir laminated texture, the present invention provide a kind of based on manipulator and laser positioning multiple modules coupling
Automatic sampling device, to overcome defect present in traditional rock core cutting sampling process.
As shown in Figure 1, a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling provided by the invention, including
The work space systems that be made of cutting stand system 1, laser orientation system 2, camera system 3 and arm-and-hand system 4 and right
The master control system 5 that work space systems are controlled.Wherein, cutting stand system 1 is used to be sent according to master control system 5
Sample clamping instruction clamps terrestrial facies compact reservoir rock sample 6 (hereinafter referred to as rock sample), and provides rock sample 6
Cutting sampling space；The Laser emission position command that laser orientation system 2 is used to be sent according to master control system 5 sends laser
Signal establishes working space plane coordinate system to cutting stand system 1, in conjunction with cutting stand system 1 jointly, while to rock-like
Product 6 are positioned, and give the coordinate value data feedback of the working space plane coordinate system of foundation and rock sample 6 to main control system
System 5；Complete graph of the camera position adjustment instruction that camera system 3 is used to be sent according to master control system 1 to work space systems
It feeds back as being monitored, and by monitoring image to master control system 5；Master control system 5 is sat according to the working space plane of foundation
The complete image of mark system, the coordinate Value Data of rock sample 6 and work space systems sends sample cutting instruction and arrives manipulator
System 4；Arm-and-hand system 4 is used to carry out cutting sampling to rock sample 6 according to the sample cutting instruction received.
Cutting stand system 1 includes cutting pedestal 11, laser emitter group 12 and rock-like product fixing device 13.Wherein,
The rectangular parallelepiped structure that pedestal 11 is opening upwards is cut, is placed horizontally on laboratory bench；Laser emitter group 12 includes
It is separately positioned on the laser emitter 121~124 of cutting 11 four corners of pedestal, each laser emitter and laser orientation system 2
It matches, the work being made of X, Y can be established using the position where one of corner laser emitter as coordinate origin
Space plane coordinate system；Rock-like product fixing device 13 includes the identical rock sample fixation kit of four structures, each rock-like
Product fixation kit is fixedly installed on respectively on four medial surfaces of cutting pedestal 11, for clamping rock sample 6 from different perspectives
Every one side, guarantee to be completely fixed rock sample 6 during cutting rock sample 6；Each rock sample fixation kit passes through
Data line is connected with master control system 5, is carried out by master control system 5 to the elongation of each rock sample fixation kit and clamp position
Adjust automatically.
Further, the size preferably long 20cm, wide 15cm, high 5cm of pedestal 11 are cut.It cuts pedestal 11 and uses gray cast iron
Material is made, this is because gray cast iron not only has biggish compression strength and good dimensional stability, but also has good
Damping performance, vibration can be generated during the experiment to avoid cutting bed seat, cutting track is caused deviation occur.
Further, as shown in Fig. 2, each rock sample fixation kit includes slide bar 131, support frame 132, clamping jaw connection
Bar 133 steps up cylinder 134 and two clamping jaws 135.Wherein, 131 one end of slide bar is fixed on cutting 11 medial surface of pedestal, separately
One end is fixedly connected with support frame 132, and the other end of support frame 132 is fixedly connected with the middle part of clamping jaw connecting rod 133, and clamping jaw connects
The upper and lower ends of extension bar 133 are connect with a clamping jaw arm pin shaft respectively, and two clamping jaw arm outer ends are connect with a clamping jaw 135 respectively, two folders
Pawl arm inner end is connect by connecting shaft with cylinder 134 is stepped up.Slide bar 131 and step up cylinder 134 by data line and main control
System 5 is connected, and is automatically controlled by master control system 5.When stepping up the opening of cylinder 134, clamping jaw connecting rod 133 can be made to be closed,
And then clamping jaw 135 is made to clamp rock sample 6.Preferably, in the present invention slide bar 131 elongation state and clamping jaw connecting rod 133
Clamp position can also manually adjust.It can be by adjusting clamping jaw connecting rod 133 when being manually adjusted to clamping jaw connecting rod 133
With the bolt between clamping jaw arm, the adjustment to 6 clamp position of rock sample between two clamping jaws 135 is realized.
Further, each 135 surface of clamping jaw is coated with frictional layer 136, which is to use coarse alloy
In the high rigidity rough coatings that 135 surface of clamping jaw is formed, the feature high with hardness, wearability is good, can prevent clamping jaw 135 with
6 surface of rock sample slips.
Laser orientation system 2 includes wall bracket 21, hoisting bracket 22, laser emitter 23 and photodiode 24.Its
In, the top of cutting pedestal 11 is arranged in wall bracket 21, and hoisting bracket 22,22 bottom of hoisting bracket is arranged in 21 end of wall bracket
Portion is fixedly installed laser emitter 23 and photodiode 24；Laser emitter 23 is provided with laser regulating device (in figure not
Show), which passes through the data line being arranged in wall bracket 21 and is connected with master control system 5, according to master control
The Laser emission position of laser emitter 23 is adjusted in the Laser emission position command that system 5 processed is sent；Photodiode
Each laser in 24 laser signal and cutting stand system 1 for being emitted in cutting stand system 1 to laser emitter 23
The position of transmitter is detected, and is converted into after electric signal and is sent to master by the data line being arranged in wall bracket 21
Control system 5.
As shown in figure 3, camera system 3 includes two camera assemblies 32 being arranged on hoisting bracket 31, each camera assembly
32 include slide strips 321, buckle 322, columnar bracket 323, vertical rotary machine core 324 and video camera 325.Wherein, hoisting bracket
31 are arranged in the surface of cutting stand system 1, and guarantee to avoid blocking the transmitting laser space of laser orientation system 2, lifting
The horizontal rotation machine core 311 that state is rotated horizontally for controlling hoisting bracket 31 is installed on bracket 31；The sliding setting of slide strips 321
On hoisting bracket 31, buckle 322 is fixed at 321 lower section of slide strips, is provided with the column that can be rotated horizontally below slide strips 321
Bracket 323 is connected below columnar bracket 323 with video camera 325 by vertical rotary machine core 324, and vertical rotary machine core 324 is used for
The rotation status of video camera 325 is controlled；Rotate horizontally machine core 311, slide strips 321, columnar bracket 323 and vertical rotary machine
Core 324 is connected by data line with master control system 5, is adjusted according to the camera position adjustment instruction that master control system 5 is sent
The position of video camera 325 and shooting direction, and master control system 5 is sent by the complete image of working space.It is by camera shooting
System 3, can be monitored working space in master control system 5.Monitoring purpose mainly has following three points: 1, monitoring rock-like
Product clamping condition, 2, laser emitter 23 emits the position of laser in monitoring laser orientation system 2,3, with arm-and-hand system want to match
It is live in detail to close monitoring rock sample laminated texture rhythm lamina cutting.
As shown in figure 4, arm-and-hand system 4 includes the cylinder assembly 42 and mechanical arm assembly 43 being arranged on pedestal 41, gas
Cylinder component 42 is used for compressed gas, is mechanical energy by pressure conversion, and driving manipulator component 43 executes what master control system 5 was sent
Sample cutting instruction.
Cylinder assembly 42 include bottom cover 421, the first trimmer valve 422, cylinder barrel 423, pull rod 424, top cover 425,
Second trimmer valve 426, piston 427 and anti-dust cover 428.Wherein, cylinder barrel 423 is arranged in bottom cover 421 and top cover 425
Between, 423 two sides of cylinder barrel be arranged two pull rods 424, the upper and lower ends of two pull rods 424 respectively with bottom cover 421 and top cover
425 are fixedly connected, and then cylinder assembly up-down structure is fixed；First is respectively set on bottom cover 421 and top cover 425
Trimmer valve 422 and the second trimmer valve 426 hit the kinetic energy of end cap when for reducing piston motion to terminal, reduce to cylinder zero
The damage of part.Piston 427 is set at the top of top cover 425, is provided with anti-dust cover 428 on piston 427.Piston 427 passes through electric current
Line is connect with the decoder in mechanical arm assembly, which can be converted to solution for the kinetic energy that cylinder assembly top piston obtains
Electric energy needed for code device and manipulator drives decoder and manipulator to operate.
Mechanical arm assembly 43 is including decoder 431 and by mechanical waist 432, worm gear 433, mechanical arm 434, spherical gear
435, the manipulator that blade cover 436, nut and bolt 437 and blade 438 form.Wherein, decoder 431 passes through data line and master
Control system 5 is connected, and the sample cutting instruction for sending master control system 5 is decoded, and control manipulator executes corresponding
Movement；Mechanical waist 432 is using the vertical structure being arranged on decoder 431, for expanding manipulator opereating specification and adjusting
The cut direction of blade 438；It is connected between mechanical waist 432 and mechanical arm 434 with worm gear 433, worm gear 433 can control machine
434 vertical motion of tool arm；434 end of mechanical arm is provided with blade cover 436, passes through nut and bolt inside blade cover 436
437 fixed blades 438,438 the center point of blade are equipped with sensor, which can be sent out by receiving laser orientation system 2
Laser signal out determines 438 position of blade and cutting direction when blade 438 is run, and is sent to main control system
System 5, to guarantee that blade 438 is advanced according to intended trajectory.
Further, as shown in figure 5, mechanical arm 434 includes four sections, joint is button between each section mechanical arm 434
Wheel 435, mechanical arm horizontal stretching can achieve 25 centimetres, can cover each corner of cutting pedestal 11.Wherein, button
Wheel 435 is the new gear with robot and bionics techniques and mechanical development and appearance, it is ensured that arm is flexible
Movement, guiding blade 438 are moved according to specified track, realize complete, the continuous cutting to conjugation lamina.Mechanical arm 434
Length and joint number can be adjusted according to actual needs.
Further, blade 438 is circle, and manufacture material used is diamond, can be according to rock sample scale
With cutting requirement precision, the blade of corresponding size is voluntarily selected.In the present invention, there are five types of the diameters of blade 438: 0.8cm, 1cm,
1.5cm,2cm,3cm.If necessary to more allowing blade replacement, the first nut on release bolt, placed in blade cover before removing
Blade then changes the blade of selection, nut is tightened on bolt, keeps blade fixed in blade cover.
Master control system 5 includes console computer 51, mouse 52 and input-output system 53.Wherein, console computer 51
It is controlled by mouse 52, console computer 51 is connect by data line with input-output system 53, and input-output system 53 passes through number
It is connect according to line with each system in work space systems, the operational order that console computer 1 generates passes through input-output system 53
The feedback signal of each system being sent in work space systems, each system is controlled by 53 feedback to the computer of input-output system
Platform 51.Accurate sampling machine control module is provided in console computer 51, it includes laser that this, which accurately samples machine control module,
Emit submodule, space coordinate analysis submodule, sample clamping submodule, manipulator control submodule and working space monitoring
Module.
Wherein, each in the cutting stand system 1 that space coordinate analysis submodule is used to be sent according to laser orientation system 2 to swash
The coordinate Value Data of optical transmitting set is established to cut stand system 1 as the working space plane coordinate system of plane；
Laser emission submodule is sent to laser orientation system 2 for generating Laser emission position command, and according to laser
The electric signal that positioning system 2 is fed back obtains dependent coordinate Value Data, which includes two classes, first is that cutting stand system
The coordinate Value Data of each laser emitter in 1, second is that cutting the conjugation lamina on clamped 6 surface of rock sample in stand system 1
The coordinate Value Data of boundary line；
Sample clamps submodule for the sample clamping condition according to 3 Real-time Feedback of camera system, generates sample clamping and refers to
Order is sent to cutting stand system 1, is automatically adjusted by clip position of the cutting stand system 1 to rock sample 6；
Manipulator control submodule is used for the coordinate Value Data of the conjugation lamina boundary line according to 6 surface of rock sample, raw
Arm-and-hand system 4 is arrived at sample cutting instruction, cutting sampling is carried out to rock sample 6；
Working space monitoring submodule is sent to camera system 3 for generating camera position adjustment instruction, and receives camera shooting
The complete image for the working space that system 3 is fed back.Wherein, the complete image of working space includes rock sample clamping condition, swashs
Light-seeking system emits situation and the rock sample laminated texture rhythm lamina cutting fact in detail of laser.
Further, on the keyboard of console computer 51, it is equipped with red danger button.When working space something unexpected happened
When, red danger button can be pressed with closing machine, prevent safety accident.
As shown in fig. 6, the device based on the sampling of above-mentioned terrestrial facies compact reservoir laminated texture precise classification, the present invention also provides
A kind of accurate sampling method of terrestrial facies compact reservoir laminated texture, comprising the following steps:
(1) preliminary treatment is carried out to shale samples, and the merging of compact reservoir rock sample is cut in pedestal by treated,
It manually adjusts rock-like product fixing device and compact reservoir rock sample tentatively fix.
Preliminary treatment is carried out to shale samples with geologic hammer first, so that cutting sample is long less than 15 centimetres, it is wide less than 10
Centimetre, height is less than 3 centimetres.Then hand specimen polishing is cleaned and is dried.It will treated lamellar compact reservoir
In rock sample merging cutting pedestal 11 (facet inceptive direction is upward), the cunning in each rock sample fixation kit is manually adjusted
Bar 131 and clamping jaw connecting rod 133, make it clamp the edge in four orientation of rock sample.
(2) blade is selected according to sample cut surface size and cutting scale requirement and installed, to compact reservoir laminated texture
Sampler is checked comprehensively, it is ensured that safety.
According to sample cut surface size and cutting scale requirement, the blade of suitable size is selected, and is mounted in the knife of manipulator
In piece cover.Instrument is carried out to start console computer check comprehensively after, opens accurate sampling apparatus control software.The sequence of steps
Purpose is in order to prevent after slitting operation before, and operator is not turned off manipulator control submodule, leads to computer
Console starting, blade operating simultaneously generate injury to operator around.
(3) complete image of working space is obtained by camera system 3, and sample clamping is sent by master control system 5
Cutting stand system 1 is instructed, rock sample is completely fixed.
It is first turned on working space monitoring submodule, the workspace image that observation different angle obtains, to working space
It is checked.After inspection, cutting stand system 1 clamps instruction according to the sample that sample clamping submodule is sent, and opens and adds
Tight cylinder 134 is closed clamping jaw connecting rod 133, and fixed slip bar 131 extends, make small machines handgrip not and influenced by external force and
It deforms.Then adjustment 325 position of video camera and shooting direction, are checked, it is ensured that rock sample 6 is complete from different perspectives
It is complete fixed.
(4) laser orientation system 2 and cutting stand system 1 are opened, working space plane seat is established in master control system 5
Mark system.
Specific method for building up are as follows: open laser orientation system 2, then turn on four endpoints in cutting stand system 1
Laser emitter 121~124.Utilize each laser in 24 pairs of cutting stand system 1 of photodiode in laser orientation system 2
The position of transmitter is detected, and the laser emitter of one of endpoint to cut pedestal 11 is established as zero point by X, Y
The working space plane coordinate system of composition, and read the coordinate of other endpoint laser emitters.Then by the work established sky
Between plane coordinate system imported into space coordinate analysis submodule in.
(5) camera position adjustment instruction is sent to camera system 3 by master control system 5, is cut so that camera system 3 is located at
The surface of ceding of Taiwan seat 11, so that the working space of the horizontal plane image for the cutting pedestal 11 that camera system 3 obtains and foundation
Plane coordinate system coincide, and forms overlapping image.
Adjust a video camera 325 to cutting 11 center of pedestal surface, pick-up lens vertically downward, by working space
Monitoring submodule obtains the horizontal plane image of cutting pedestal 11, and the horizontal plane image that will acquire is sent to space coordinate point
It analyses in submodule, so that the horizontal plane image of cutting pedestal 11 and the working space plane coordinate system of foundation coincide, forms weight
Folded image.
(6) laser emitter 23 for opening laser orientation system 2 utilizes mouse 52 by the auxiliary observation of camera system 3
The multiple coordinates obtained on the conjugation lamina boundary line on 6 surface of compact reservoir rock sample in master control system 5 form point set.
The laser emitter 23 for opening laser orientation system 2 is controlled by 325 auxiliary observation of video camera using mouse 52
Laser regulating device in laser emitter 23 makes laser be conjugated certain on lamina intersection on terrestrial facies compact reservoir facet surface
One point focusing.The position of laser focus point is read with post command photodiode 24, and record should in Laser emission submodule
The task-oriented coordinates of point.It since cutting starting point, repeats the above steps, obtains multiple points in rock sample antithesis lamina boundary line
Coordinate, formed point set.Pinpoint the complex-shaped degree that density depends on boundary line.
(7) point set obtained is fitted to a smooth curve, and is finely adjusted correction, make the matched curve and caused
The conjugation lamina boundary line of close reservoir rock sample surfaces is identical.
Gained point set is imported in space coordinate analysis submodule, and is thrown on overlapping image.Son is analyzed in space coordinate
Each coordinate points in point set are ranked up in module, then are fitted resulting point set to form a smooth curve
(for Matlab software spline curve interpolation method) then analyzes the curve editing in submodule to fitting in space coordinate, into
Row fine tuning correction, can make matched curve and antithesis line interlayer contact boundary line (between chiltern and shale lamina, bright (spar) secretly (mud
It is brilliant) between lamina) be identical.
(8) sample cutting instruction namely blade cutting track are generated according to the matched curve after correction, is sent to manipulator
System.
The matched curve in submodule after analysis correction is analyzed in space coordinate, using multinomial, is based on least square method
Principle can be fitted the unlimited approximating function of the curve, the mistake between the unlimited approximating function curve obtained and matched curve
Poor very little, can be ignored.The unlimited approximating function that the working space plane coordinate system of foundation and fitting obtain is imported into machine
In tool hand control submodule, and the cutting beginning and end coordinate value of reading is inputted, is set to blade cutting track.
(9) arm-and-hand system 4 cuts compact reservoir rock sample according to blade cutting track, while to blade position
It sets and is monitored with cut direction, and send master control system 5 for monitoring data.
The blade cutting track data flow of setting is imported in the decoder 431 in arm-and-hand system 4, decoder 431 is right
After the parsing of the data stream of acquisition, can order manipulator acted accordingly according to instruction execution, can make blade 438 operate and by
It is mobile according to specified cutting track, fine cut is carried out to terrestrial facies compact reservoir rock sample.When cutting, pass through working space
Module monitors working space situation, and analyze submodule by task-oriented coordinates and monitor blade position and cut direction, guarantee
Cutting work is satisfactorily completed.
(10) cutting is completed, and closes each system in working space, is taken out the compact reservoir rock sample that cutting is completed and is used
It is tested in subsequent analysis.
After the completion of cutting, blade is closed, accurate sampling machine control module and its each submodule are then turned off, from cutting
The hand specimen sample that cutting is completed is taken out in pedestal.After the completion of sample cleaning, it can be used for carrying out subsequent analysis test.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (10)
1. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling, it is characterised in that: it includes working space system
System and master control system；
The work space systems include cutting stand system, laser orientation system, camera system and arm-and-hand system；
The sample clamping instruction that the cutting stand system is used to be sent according to the master control system is to compact reservoir rock-like
Product are clamped, while providing the cutting sampling space of rock sample；
The Laser emission position command that the laser orientation system is used to be sent according to the master control system sends laser signal
The main control is sent to the cutting stand system, and by the coordinate Value Data of the cutting stand system and rock sample
System；
The camera position adjustment instruction that the camera system is used to be sent according to the master control system is to the working space system
The complete image of system is monitored, and sends the master control system for monitoring image；
The master control system establishes working space plane coordinate system, and root according to the coordinate Value Data of the cutting stand system
According to the complete of the working space plane coordinate system of foundation, the coordinate Value Data of compact reservoir rock sample and work space systems
Image sends sample cutting instruction and arrives the arm-and-hand system；
The arm-and-hand system is used to carry out cutting sampling to compact reservoir rock sample according to the sample cutting instruction received.
2. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as described in claim 1, it is characterised in that:
The cutting stand system includes cutting pedestal, laser emitter group and rock-like product fixing device；
The cutting pedestal is to be placed horizontally on laboratory bench, opening upwards rectangular parallelepiped structures；
The laser emitter group includes the laser emitter for being separately positioned on the cutting pedestal four corners, each laser
Transmitter is connected with the master control system；
The rock-like product fixing device includes the identical rock sample fixation kit of four structures, and each rock sample is fixed
Component is fixedly installed on respectively on four medial surfaces of the cutting pedestal, and each rock sample fixation kit passes through respectively
Data line is connected with the master control system, the elongation and clamp position by master control system to the rock sample fixation kit
It is automatically adjusted.
3. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as claimed in claim 2, it is characterised in that:
The cutting pedestal is made of gray cast iron material, having a size of long 20cm, wide 15cm, high 5cm.
4. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as claimed in claim 2, it is characterised in that:
The rock sample fixation kit includes slide bar, support frame, clamping jaw connecting rod, steps up cylinder and two clamping jaws；
Described slide bar one end is fixed on the cutting pedestal medial surface, and the other end is fixedly connected with support frame as described above；
It is fixedly connected in the middle part of the other end of support frame as described above and the clamping jaw connecting rod, the upper and lower ends of the clamping jaw connecting rod
It is connect respectively with a clamping jaw arm pin shaft；
Two clamping jaw arm outer ends are connect with a clamping jaw respectively, and two clamping jaw arm inner ends are stepped up by connecting shaft with described
Cylinder connection；
The slide bar and step up cylinder and be connected with the master control system, is automatically controlled by the master control system.
5. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as claimed in claim 4, it is characterised in that:
The jaw surfaces are coated with frictional layer, and the frictional layer is the high rigidity formed using coarse alloy in the jaw surfaces
Rough coatings.
6. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as described in claim 1, it is characterised in that:
The laser orientation system includes wall bracket, hoisting bracket, laser emitter and photodiode；
The wall bracket is arranged above the cutting stand system；
The hoisting bracket is arranged in the wall bracket end, and the hoisting bracket bottom is fixedly installed laser emitter
And photodiode；
The laser emitter is provided with laser regulating device, and the laser regulating device passes through data line and the main control system
System is connected, and is controlled by the master control system；
The photodiode is converted into electric signal for detecting to the laser signal of the laser transmitter projects
After be sent to the master control system.
7. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as described in claim 1, it is characterised in that:
The camera system includes two camera assemblies being arranged on hoisting bracket, each camera assembly include slide strips, buckle,
Columnar bracket, vertical rotary machine core and video camera；
The surface at the cutting stand system center is arranged in the hoisting bracket, and guarantees to avoid blocking the laser positioning
The transmitting laser space of system is installed with the level that state is rotated horizontally for controlling the hoisting bracket on the hoisting bracket
Rotate machine core；
The slide strips are slidably arranged on the hoisting bracket, and the buckle is fixed at below the slide strips, the buckle
The columnar bracket that can be rotated horizontally is arranged in lower section, is taken the photograph by the vertical rotary machine core with described below the columnar bracket
Camera is connected；
The horizontal rotation machine core, slide strips, columnar bracket and vertical rotary machine core pass through data line and the master control system
It is connected, position and the shooting direction of the video camera is adjusted according to the camera position adjustment instruction that master control system is sent, and will
The complete image of working space is sent to master control system.
8. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as described in claim 1, it is characterised in that:
The arm-and-hand system includes the cylinder assembly and mechanical arm assembly being set on the base, and the cylinder assembly is described for driving
Mechanical arm assembly executes the sample cutting instruction that the master control system is sent；
The cylinder assembly includes bottom cover, trimmer valve, cylinder barrel, pull rod, top cover, trimmer valve, piston and anti-dust cover；
The cylinder barrel is arranged between the bottom cover and top cover, and two pull rods are arranged in the cylinder barrel two sides, described
Pull rod upper and lower ends are fixedly connected with the bottom cover and top cover respectively；It is respectively set on the bottom cover and top cover described
Trimmer valve；The piston is set at the top of the top cover, the anti-dust cover is set on the piston；
The mechanical arm assembly includes decoder and by mechanical waist, worm gear, mechanical arm, spherical gear, blade cover, nut and spiral shell
The manipulator of bolt and blade composition；
The decoder is connected by data line with the master control system, is connected by current line with the piston, and being used for will
The sample cutting instruction that master control system is sent is decoded, and is controlled the manipulator and is executed corresponding actions；The machinery waist
Using the vertical structure being arranged on the decoder；Connected between the machinery waist and the mechanical arm with the worm gear
It connects；The blade cover is arranged in the mechanical arm end, passes through the fixed knife of the nut and bolt inside the blade cover
Piece；The blade the center point is equipped with sensor, and the sensor is by receiving the laser letter that the laser orientation system issues
Number, the position and cutting direction of the blade are determined in blade operation, and be sent to the master control system.
9. a kind of device of terrestrial facies compact reservoir laminated texture precise classification sampling as claimed in claim 2, it is characterised in that:
Master control system includes console computer, mouse and input-output system；
The console computer is connect by data line with the input-output system, and the input-output system passes through data line
It is connect with each system in the work space systems；
Accurate sampling machine control module is provided in the console computer, the accurate sampling machine control module includes swashing
Light emitting submodule, space coordinate analysis submodule, sample clamping submodule, manipulator control submodule and working space monitoring
Submodule；
Each laser in the cutting stand system that the space coordinate analysis submodule is used to be sent according to the laser orientation system
The coordinate Value Data of transmitter is established using the cutting stand system as the working space plane coordinate system of plane；
The Laser emission submodule is sent to the laser orientation system for generating Laser emission position command, and according to institute
The electric signal for stating laser orientation system feedback obtains coordinate Value Data, and the coordinate value data include two classes, first is that the cutting
The coordinate Value Data of each laser emitter in stand system, second is that clamping being total to for rock sample surface in the cutting stand system
The coordinate Value Data of yoke lamina boundary line；
The sample clamping submodule is used for the sample clamping condition according to camera system Real-time Feedback, generates sample clamping instruction
It is sent to the cutting stand system, the clip position of rock sample is automatically adjusted by the cutting stand system；
The manipulator control submodule is used for the conjugation according to working space plane coordinate system and the rock sample surface
The coordinate Value Data of lamina boundary line generates sample cutting instruction and arrives arm-and-hand system, carries out cutting sampling to rock sample；
The working space monitoring submodule is sent to the camera system for generating camera position adjustment instruction, and receives institute
State the complete image of the working space of camera system feedback.
10. a kind of terrestrial facies compact reservoir laminated texture precise classification sampling using such as any one of claim 1~9 described device
Method, it is characterised in that the following steps are included:
(1) preliminary treatment is carried out to shale samples, and the merging of compact reservoir rock sample is cut in stand system by treated,
It manually adjusts rock-like product fixing device and compact reservoir rock sample tentatively fix；
(2) blade is selected according to sample cut surface size and cutting scale requirement and installed, compact reservoir laminated texture is sampled
Device, which check, ensures that its is working properly；
(3) complete image of work space systems is obtained by camera system, and sample clamping is sent by master control system and is referred to
Enable cutting stand system, it is ensured that compact reservoir rock sample is completely fixed；
(4) laser orientation system and cutting stand system are opened, working space plane coordinate system is established in master control system；
(5) camera position adjustment instruction is sent to camera system, so that camera system is located at cutting pedestal by master control system
Surface, while make obtain cutting pedestal horizontal plane image and foundation working space plane coordinate system coincide,
Form overlapping image；
(6) laser emitter for opening laser orientation system is obtained in master control system by the auxiliary observation of camera system
Multiple coordinates on the conjugation lamina boundary line on compact reservoir rock sample surface form point set；
(7) point set obtained is fitted to a smooth curve, and is finely adjusted correction, make the matched curve and fine and close storage
The conjugation lamina boundary line on layer rock sample surface coincide；
(8) blade cutting track is generated according to the matched curve after correction, is sent to arm-and-hand system；
(9) arm-and-hand system cuts compact reservoir rock sample according to blade cutting track, at the same to blade position and
Cut direction is monitored, and sends master control system for monitoring data；
(10) cutting is completed, and each system in working space is closed, after the compact reservoir rock sample that taking-up cutting is completed is used for
Continuous analysis test.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910150257.8A CN109765090B (en) | 2019-02-28 | 2019-02-28 | Device and method for accurately classifying and sampling streak layer structure of continental facies tight reservoir |
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