阅读说明：本技术 一种主动旋转式伽马随钻成像测量装置及测量方法 (Active rotary gamma while-drilling imaging measurement device and measurement method ) 是由 李洪强 于 2020-06-11 设计创作，主要内容包括：本发明提出了一种主动旋转式自然伽马成像测量装置,用于井筒随钻成像测量。本发明还提供一种主动旋转式伽马成像测量方法,包括控制与处理电路短节、连接于所述控制与处理电路短节的电机和方位伽马传感器及转速方位传感器,所述控制与处理电路短节用于控制所述马达的转速及转向,所述控制与处理电路短节接收所述方位伽马传感器及转速方位传感器测量单元的转速信息,根据所述转速信息控制所述马达的转速及转向,可以实现对井壁匀速转动扫描测量的全方位数据采集,通过无线通信经泥浆信号发生器上传到地面,经数据处理形成井壁伽马成像图谱。(The invention provides an active rotary natural gamma imaging measuring device which is used for imaging measurement while drilling of a shaft. The invention also provides an active rotary gamma imaging measurement method, which comprises a control and processing circuit short section, a motor connected with the control and processing circuit short section, an azimuth gamma sensor and a rotating speed and azimuth sensor, wherein the control and processing circuit short section is used for controlling the rotating speed and the steering of the motor, the control and processing circuit short section receives the rotating speed information of the azimuth gamma sensor and the rotating speed and azimuth sensor measurement unit, the rotating speed and the steering of the motor are controlled according to the rotating speed information, the all-dimensional data acquisition of the constant-speed rotation scanning measurement of the well wall can be realized, the all-dimensional data acquisition is uploaded to the ground through a mud signal generator through wireless communication, and the well wall gamma imaging map is formed through data processing.)

1. An active rotary gamma imaging-while-drilling measuring device is used for imaging and measuring a shaft outside a drill string, wherein the drill string comprises a pipe wall, a hollow pressure-resistant cavity surrounded by pressure-resistant pipes and a slurry channel formed between the pipe wall and the pressure-resistant pipes; it is characterized in that the preparation method is characterized in that,

a slurry worm gear, a generator, an electric power shaping and energy storage short section, a control and processing circuit short section, a motor, an orientation gamma sensor and a rotating speed and orientation sensor are sequentially arranged in the hollow pressure-resistant pipe cavity along the drilling direction far away from the drill column;

the slurry worm gear is connected with the generator, extends into the slurry channel, and can drive the slurry worm gear to rotate by slurry in the slurry channel;

the generator comprises a stator and a rotor, wherein a generating coil is arranged in the stator, the rotor is connected to the slurry worm wheel, and the rotor rotates relative to the stator and is used for converting the rotating force of the slurry worm wheel into electric power;

the electric power shaping and energy storage short section is connected to the generator and comprises a current shaping circuit and a storage module and is used for filtering, shaping and storing the current output by the generator;

the control and processing circuit short section is connected with the electric power shaping and energy storage short section, and the control and signal processing circuit short section is in control connection with the motor and is used for controlling the rotating speed and the rotating direction of the motor;

the motor is connected with the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor through a rotating shaft, and the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor are used for collecting well wall information;

the rotating shaft is provided with a signal slip ring, the azimuth gamma sensor and the rotating speed azimuth sensor are connected to the control and signal processing circuit short section through signal lines, the signal lines penetrate through the signal slip ring, and the control and signal processing circuit short section is also used for receiving signals of the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor;

the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor are in communication connection with a data processing and storing module, a first wireless transceiver is arranged in the data processing and storing module, and the first wireless transceiver is in communication connection with a second wireless transceiver;

and a second wireless transceiver is fixed at the top end of the drill string and used for receiving data of the first wireless transceiver.

2. The active rotary gamma imaging-while-drilling measurement device of claim 1,

the periphery wall of the pressure-resistant pipe is sequentially provided with a plurality of centralizers along the drilling direction of the drill column, and the centralizers are used for fixing the pressure-resistant pipe.

3. The active rotary gamma imaging-while-drilling measurement device of claim 1, wherein the stator built-in coil is built in and pressure resistant pipe.

4. The active rotary gamma while drilling measurement device of claim 1, wherein the rotor has a permanent magnet therein, and the rotor rotates relative to the stator to generate electricity.

5. The active rotary gamma imaging-while-drilling measuring device as claimed in claim 1, wherein two ends of the mud worm gear are fixed outside the high pressure resistant outer cylinder by using bearings, and are connected with components without direct contact inside the pressure resistant outer cylinder, so that the mud worm gear can be replaced conveniently.

6. The active rotary gamma while drilling imaging measurement device of claim 1, wherein the multi-sector data measured by the azimuth gamma sensor, the rotational speed azimuth sensor and the rotational speed azimuth sensor are transmitted to the second wireless transceiver through the first wireless transceiver, and the cascaded mud signal generator transmits the multi-sector natural gamma data to the ground receiving device.

7. The active rotary gamma imaging-while-drilling measuring device as claimed in claim 1, wherein when drilling is stopped and mud does not flow, the energy storage circuit can ensure that the rotary azimuth gamma control and measurement circuit enters a power saving mode, stops rotation of the azimuth gamma sensor and the rotation speed azimuth sensor, and saves the state before rotation is stopped.

8. An active rotation type gamma imaging measurement method is characterized by comprising a control and processing circuit short section, a motor, an orientation gamma sensor and a rotating speed and orientation sensor, wherein the motor, the orientation gamma sensor and the rotating speed and orientation sensor are connected to the control and processing circuit short section;

the method comprises the following steps:

and the control and processing circuit short section receives the rotating speed information of the orientation gamma sensor and the rotating speed orientation sensor and controls the rotating speed and the rotating direction of the motor according to the rotating speed information.

9. The active rotary gamma imaging measurement method of claim 8, wherein the control circuit controls the azimuth gamma sensor and the rotational speed azimuth sensor to scan the borehole wall at a constant speed relative to the borehole according to the set rotational speed no matter under the working conditions of sliding drilling and different speeds of rotary drilling.

10. The active rotary gamma imaging measurement method of claim 8, wherein the control and processing circuit sub receives the rotation speed information of the orientation gamma sensor and the rotation speed and orientation sensor, and controls the rotation speed and the rotation direction of the motor according to the rotation speed information, specifically:

when the control and signal processing circuit short section receives that the direction gamma sensor and the rotating speed direction sensor rotate at a rotating speed greater than a preset threshold value, the control and signal processing circuit short section controls the motor to rotate reversely relative to the rotating direction of the drill string, and a speed reducing effect is achieved.

11. The active rotary gamma imaging measurement method of claim 8, wherein the control and processing circuit sub receives the rotation speed information of the orientation gamma sensor and the rotation speed and orientation sensor, and controls the rotation speed and the rotation direction of the motor according to the rotation speed information, specifically:

when the control and signal processing short joint receives that the rotating speed of the azimuth gamma sensor and the rotating speed azimuth sensor is static relative to the well wall, the control and signal processing circuit short joint controls the motor to rotate in the positive direction relative to the rotating direction of the drill string, so that the drill string is static, and the azimuth gamma sensor and the rotating speed azimuth sensor actively rotate and scan relative to the well wall.

12. The active rotary gamma imaging measurement method of claim 8, wherein the control and processing circuit sub receives the rotation speed information of the orientation gamma sensor and the rotation speed and orientation sensor, and controls the rotation speed and the rotation direction of the motor according to the rotation speed information, specifically:

when the control and signal processing circuit short section receives that the azimuth gamma sensor and the rotating speed azimuth sensor rotate at a rotating speed lower than a preset threshold value, the control and signal processing circuit short section controls the motor to rotate in the positive direction relative to the rotating direction of the drill string, and the scanning rotating speed is actively increased.

Technical Field

The invention relates to the technical field of drilling measurement imaging, in particular to an active rotary gamma while-drilling imaging measurement device and a measurement method.

Background

The prior art is to install a position gamma sensor and a rotating speed position sensor in the middle of a drill string, or to install a gamma sensor on the outer wall of a drill collar. The sensor is provided with a tungsten shield for shielding gamma rays in a certain direction, allowing rays with a specific angle to enter, and realizing imaging measurement on the well wall around a drill string.

During specific work, when the rotary drilling is carried out, the drill stem drives the azimuth gamma sensor and the rotating speed azimuth sensor to rotate, so that the well wall is scanned for 360 degrees and a 360-degree circumferential data set of the well wall is collected, and the imaging processing of the data set is further carried out. However, in the drilling process, a sliding drilling stage exists, at this time, the drill string does not rotate, and the azimuth gamma sensor and the rotating speed azimuth sensor only face a fixed angle, so that only borehole wall measurement data of the fixed angle is collected, the measurement data only can reflect the geological property of the fixed angle, scanning imaging cannot be performed, and a scanning blind area for borehole wall measurement exists.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide an active rotary gamma while-drilling imaging measuring device and a measuring method, which can realize omnibearing data acquisition of borehole wall measurement and form a borehole wall gamma imaging map.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides an active rotary gamma imaging-while-drilling measurement apparatus, which is used for imaging measurement while drilling of a wellbore outside a drill string, where the drill string includes a pipe wall, a hollow pressure-resistant cavity surrounded by a pressure-resistant pipe, and a slurry channel formed between the pipe wall and the pressure-resistant pipe; it is characterized in that the preparation method is characterized in that,

a slurry worm gear, a generator, an electric power shaping and energy storage short section, a control and processing circuit short section, a motor, an orientation gamma sensor, a rotating speed orientation sensor and a rotating speed orientation sensor are sequentially arranged in the hollow pressure-resistant pipe cavity along the direction far away from the drilling direction of the drill column;

the slurry worm gear is connected with the generator, extends into the slurry channel, and can drive the slurry worm gear to rotate by slurry in the slurry channel;

the generator comprises a stator and a rotor, wherein a generating coil is arranged in the stator, the rotor is connected to the slurry worm wheel, and the rotor rotates relative to the stator and is used for converting the rotating force of the slurry worm wheel into electric power;

the electric power shaping and energy storage short section is connected to the generator and comprises a current shaping circuit and a storage module and is used for filtering, shaping and storing the current output by the generator;

the control and processing circuit short section is connected with the electric power shaping and energy storage short section, and the control and signal processing circuit short section is in control connection with the motor and is used for controlling the rotating speed and the rotating direction of the motor;

the motor is connected with the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor through a rotating shaft, and the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor are used for collecting well wall information;

the rotating shaft is provided with a signal slip ring, the azimuth gamma sensor and the rotating speed azimuth sensor are connected to the control and signal processing circuit short section through signal lines, the signal lines penetrate through the signal slip ring, and the control and signal processing circuit short section is also used for receiving signals of the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor;

the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor are in communication connection with a data processing and storing module, a first wireless transceiver is arranged in the data processing and storing module, and the first wireless transceiver is in communication connection with a second wireless transceiver;

and a second wireless transceiver is fixed at the top end of the drill string and used for receiving data of the first wireless transceiver.

In some embodiments of the first aspect of the present invention, the outer circumferential wall of the pressure pipe is sequentially provided with a plurality of centralizers along the drilling direction of the drill string, and the centralizers are used for fixing the pressure pipe.

In some embodiments of the first aspect of the present invention, the stator internal coil is built in and in a pressure tube,

in some embodiments of the first aspect of the present invention, the rotor has permanent magnets therein, and the rotor rotates relative to the stator to generate electricity.

In some embodiments of the first aspect of the present invention, two ends of the slurry worm gear are fixed outside the high pressure resistant outer cylinder by using bearings, and are connected with the inner part of the pressure resistant cylinder without direct contact parts, so that the slurry worm gear is convenient to replace.

In some embodiments of the first aspect of the present invention, the multi-sector data measured by the azimuth gamma sensor and the rotational speed azimuth sensor is transmitted to the second wireless transceiver via the first wireless transceiver, and the cascade mud signal generator transmits the multi-sector natural gamma data to the surface receiving device.

In some embodiments of the first aspect of the present invention, when drilling is stopped and slurry does not flow, the energy storage circuit may ensure that the rotating azimuth gamma control and measurement circuit enters a power saving mode, stops the rotation of the azimuth gamma sensor and the rotation speed azimuth sensor, and saves the state before stopping the rotation.

In order to achieve the above object, an embodiment of a second aspect of the present invention provides a control and processing circuit sub, a motor, an orientation gamma sensor, and a rotation speed and orientation sensor, which are connected to the control and processing circuit sub, wherein the control and processing circuit sub is configured to control a rotation speed and a rotation direction of the motor;

the method comprises the following steps:

and the control and processing circuit short section receives the rotating speed information of the orientation gamma sensor and the rotating speed orientation sensor and controls the rotating speed and the rotating direction of the motor according to the rotating speed information.

In some embodiments of the second aspect of the present invention, the control circuit may control the orientation gamma sensor and the rotational speed and orientation sensor to scan the borehole wall at a constant speed relative to the borehole according to the set rotational speed, regardless of the conditions of sliding drilling and different speeds of rotary drilling.

In some embodiments of the second aspect of the present invention, the control and processing circuit sub receives rotation speed information of the orientation gamma sensor and the rotation speed and orientation sensor, and controls the rotation speed and the rotation direction of the motor according to the rotation speed information, specifically:

when the control and signal processing circuit short section receives that the direction gamma sensor and the rotating speed direction sensor rotate at a rotating speed greater than a preset threshold value, the control and signal processing circuit short section controls the motor to rotate reversely relative to the rotating direction of the drill string, and a speed reducing effect is achieved.

In some embodiments of the second aspect of the present invention, the control and processing circuit sub receives rotation speed information of the orientation gamma sensor and the rotation speed and orientation sensor, and controls the rotation speed and the rotation direction of the motor according to the rotation speed information, specifically:

when the control and signal processing short joint receives that the rotating speed of the azimuth gamma sensor and the rotating speed azimuth sensor is static relative to the well wall, the control and signal processing circuit short joint controls the motor to rotate in the positive direction relative to the rotating direction of the drill string, so that the drill string is static, and the azimuth gamma sensor and the rotating speed azimuth sensor actively rotate and scan relative to the well wall.

In some embodiments of the second aspect of the present invention, the control and processing circuit sub receives rotation speed information of the orientation gamma sensor and the rotation speed and orientation sensor, and controls the rotation speed and the rotation direction of the motor according to the rotation speed information, specifically:

when the control and signal processing circuit short section receives that the azimuth gamma sensor and the rotating speed azimuth sensor rotate at a rotating speed lower than a preset threshold value, the control and signal processing circuit short section controls the motor to rotate in the positive direction relative to the rotating direction of the drill string, and the scanning rotating speed is actively increased.

The invention provides an active rotary gamma while-drilling imaging measuring device and a measuring method. The device is installed in a special drill collar or a drill column in an upper suspension or lower seating key mode, and when slurry drives a turbine through a slurry channel between the drill column and a pressure pipe in the drilling process to provide energy for the azimuth gamma sensor and the rotating speed azimuth sensor to rotate at a uniform and controllable rotating speed relative to a well wall in the pressure pipe, the azimuth gamma sensor and the rotating speed azimuth sensor can be guaranteed to scan the well wall at a constant rotating speed to form a well wall gamma imaging map no matter the drill column rotates or is static.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of an active rotary gamma MWD measurement apparatus according to an embodiment of the present invention;

FIG. 2 is a flow chart of an active rotary gamma imaging measurement method according to one embodiment of the invention.

Detailed Description

Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.

An active rotary gamma while drilling imaging measurement device according to an embodiment of the first aspect of the invention is described below with reference to fig. 1.

As shown in fig. 1, an active rotary gamma imaging-while-drilling measurement device according to an embodiment of the present invention is used for imaging while drilling in a wellbore outside a drill string, where the drill string includes a pipe wall, a hollow pressure-resistant cavity surrounded by a pressure-resistant pipe, and a mud channel formed between the pipe wall and the pressure-resistant pipe.

Specifically, a slurry worm gear, a generator, an electric power shaping and energy storage short section, a control and processing circuit short section, a motor, an orientation gamma sensor and a rotating speed and orientation sensor are sequentially arranged in the hollow pressure-resistant pipe cavity along the drilling direction far away from the drill stem.

The slurry worm gear is connected with the generator, extends into the slurry channel and can drive the slurry worm gear to rotate in the slurry channel; in the drilling process, slurry flowing in the slurry channel is utilized to drive the slurry worm gear to rotate, and the slurry worm gear drives the generator to generate power to supply power to the whole system.

The generator comprises a stator with a built-in generating coil and a rotor with a built-in permanent magnet, and the rotor is connected with the slurry worm gear and is used for converting the rotating force of the slurry worm gear into electric power; this electricity generation principle is realized based on the electromagnetic induction principle, and the rotor is rotatory for the stator to realize the cutting of magnetic induction line, thereby turn into electric power with the revolving force of mud worm wheel.

The electric power shaping and energy storage short section is connected to the generator and comprises a current shaping circuit and a storage module and is used for filtering, shaping and storing the current output by the generator; because the drill string is in a severe working environment and generates large current interference and voltage fluctuation noise, the current output by the generator needs to be filtered so as to provide stable working voltage, and the electric power is also stored in the energy storage module and used as reserve power when mud in the drill string stops flowing.

The control and processing circuit short section is connected with the electric power shaping and energy storage short section, and the control and signal processing circuit short section is in control connection with the motor and used for controlling the rotating speed and the rotating direction of the motor.

The motor is connected with the azimuth gamma sensor and the rotating speed azimuth sensor through a rotating shaft, and the azimuth gamma sensor and the rotating speed azimuth sensor are used for collecting well wall information.

The rotating shaft is provided with a signal slip ring, the azimuth gamma sensor and the rotating speed azimuth sensor are connected to the control and signal processing circuit short section through signal lines, the signal lines penetrate through the signal slip ring, and the control and signal processing circuit short section is also used for receiving signals of the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor;

the azimuth gamma sensor, the rotating speed azimuth sensor and the rotating speed azimuth sensor are in communication connection with a data processing and storing module, a first wireless transceiver is arranged in the data processing and storing module, and the first wireless transceiver is in communication connection with a second wireless transceiver;

and a second wireless transceiver is fixed at the top end of the drill string and used for receiving data of the first wireless transceiver.

In some embodiments of the invention, a plurality of centralizers are sequentially arranged on the peripheral wall of the pressure-resistant pipe along the drilling direction of the drill string, and the centralizers are used for fixing the pressure-resistant pipe.

In some embodiments of the invention, the stator built-in coil is built in and pressure-resistant pipe,

in some embodiments of the present invention, the rotor has a permanent magnet therein, and the rotor rotates relative to the stator to generate electricity.

In some embodiments of the invention, two ends of the slurry worm gear are fixed outside the high-pressure resistant outer cylinder by using bearings and are connected with a part which is not in direct contact with the inside of the high-pressure resistant outer cylinder, so that the slurry worm gear is convenient to replace.

In some embodiments of the invention, the multi-sector data measured by the azimuth gamma sensor, the rotational speed azimuth sensor and the rotational speed azimuth sensor is transmitted to the second wireless transceiver through the first wireless transceiver, and the cascaded mud signal generator transmits the multi-sector natural gamma data to the ground receiving device.

In some embodiments of the invention, when drilling is stopped and mud does not flow, the energy storage circuit can ensure that the rotating azimuth gamma control and measurement circuit enters a power-saving mode, stops the rotation of the azimuth gamma sensor and the rotating speed azimuth sensor, and saves the state before stopping the rotation.

The active rotary gamma imaging measurement method of the second aspect embodiment of the invention is described below with reference to the drawings.

Fig. 2 is a flowchart of an active rotation type gamma imaging measurement method according to an embodiment of the invention, and as shown in fig. 2, the flowchart of the active rotation type gamma imaging measurement method of the invention at least includes steps S1 and S2.

And step S1, the control and processing circuit short section receives the rotation speed information of the orientation gamma sensor and the rotation speed orientation sensor.

Specifically, as shown, the structure and hardware part of the method comprises a control and processing circuit short section, a motor connected to the control and processing circuit short section, an azimuth gamma sensor and a rotating speed and azimuth sensor, wherein the control and processing circuit short section is used for controlling the rotating speed and the steering of the motor, the azimuth gamma sensor and the rotating speed and azimuth sensor are connected to the control and signal processing circuit short section through signal lines, and the control and signal processing circuit short section is also used for receiving signals of the azimuth gamma sensor and the rotating speed and azimuth sensor.

And step S2, controlling the rotation speed and the steering of the motor according to the rotation speed information.

Specifically, a plurality of processing programs are arranged in the control and processing signal circuit short section, and the control and processing signal circuit short section can control the rotating speed and the steering of the motor according to different rotating speed signals of the azimuth gamma sensor and the rotating speed azimuth sensor. Under the working conditions of sliding drilling and rotary drilling at different speeds, the control circuit can control the azimuth gamma sensor and the rotating speed azimuth sensor to scan the well wall at a constant speed relative to the shaft according to the set rotating speed.

Wherein, when the position gamma sensor and the rotational speed position sensor rotational speed are great, control and processing circuit nipple joint receives the rotational speed information of position gamma sensor and rotational speed position sensor, according to rotational speed information control the rotational speed and the turning to of motor specifically do:

when the control and signal processing circuit short section receives that the direction gamma sensor and the rotating speed direction sensor rotate at a rotating speed greater than a preset threshold value, the control and signal processing circuit short section controls the motor to rotate reversely relative to the rotating direction of the drill string, and a speed reducing effect is achieved.

When the rotating speed of the azimuth gamma sensor and the rotating speed and azimuth sensor is static relative to the well wall, the control and processing circuit short section receives the rotating speed information of the azimuth gamma sensor and the rotating speed and azimuth sensor, and controls the rotating speed and the steering of the motor according to the rotating speed information, specifically:

when the control and signal processing short joint receives that the rotating speed of the azimuth gamma sensor and the rotating speed azimuth sensor is static relative to the well wall, the control and signal processing circuit short joint controls the motor to rotate in the positive direction relative to the rotating direction of the drill string, so that the drill string is static, and the azimuth gamma sensor and the rotating speed azimuth sensor actively rotate and scan relative to the well wall.

When the rotating speeds of the azimuth gamma sensor and the rotating speed azimuth sensor are small and are not enough to rotate relative to the drill string to scan a 360-degree well wall, the control and processing circuit short section receives the rotating speed information of the azimuth gamma sensor and the rotating speed azimuth sensor, and controls the rotating speed and the rotating direction of the motor according to the rotating speed information, specifically:

when the control and signal processing circuit short section receives that the azimuth gamma sensor and the rotating speed azimuth sensor rotate at a rotating speed lower than a preset threshold value, the control and signal processing circuit short section controls the motor to rotate in the positive direction relative to the rotating direction of the drill string, and the scanning rotating speed is actively increased.

The active rotary gamma while-drilling imaging measuring device and the measuring method provided by the invention can ensure that the azimuth gamma sensor and the rotating speed azimuth sensor scan the well wall at a constant rotating speed no matter the drill string rotates or is static, so that a well wall gamma imaging atlas is formed.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.