System and method for determining incremental progression between survey points while drilling

• US 8,596,385 B2
• Filed: 06/22/2012
• Issued: 12/03/2013
• Est. Priority Date: 12/22/2011
• Status: Active Grant

• Current Assignee: Motive Drilling Technologies Inc. (Helmerich & Payne Incorporated)
• Original Assignee: Hunt Advanced Drilling Technologies, L.L.C.
• Inventors: Benson, Todd W., Chen, Teddy C.
• Primary Examiner(s): Bomar, Shane
• Assistant Examiner(s): MICHENER, BLAKE E
• Application Number:
  US13/530,298
• Publication Number:
  US 20130161096A1
• Time in Patent Office: 529 Days
• Field of Search: 175/26, 175/45, 175/61
• US Class Current: 175/61
• CPC Class Codes: E21B 44/00 Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
• CPC Class Codes: E21B 45/00 Measuring the drilling time or rate of penetration
• CPC Class Codes: E21B 47/024 of devices in the borehole determining slope or direction of the borehole E21B47/022
• CPC Class Codes: E21B 47/026 of penetrated ground layers
• CPC Class Codes: E21B 47/04 Measuring depth or liquid level
• CPC Class Codes: E21B 47/09 Locating or determining the position of objects in boreholes or wells , e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
• CPC Class Codes: E21B 47/12 Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
• CPC Class Codes: E21B 47/18 through the well fluid , e.g. mud pressure pulse telemetry
• CPC Class Codes: E21B 7/04 Directional drilling
• CPC Class Codes: E21B 7/06 Deflecting the direction of boreholes
• CPC Class Codes: E21B 7/10 Correction of deflected boreholes

Abstract

A system and method for surface steerable drilling are provided. In one example, the system receives toolface information for a bottom hole assembly (BHA) and non-survey sensor information corresponding to a location of the BHA in a borehole. The system calculates an amount of incremental progress made by the BHA based on the non-survey sensor information and calculates an estimate of the location based on the toolface information and the amount of incremental progress. The system repeats the steps of receiving toolface information and non-survey sensor information and calculating an amount of incremental progress to calculate an estimate of a plurality of locations representing a path of the BHA from a first survey point towards a second sequential survey point.

Claims

1. A method for calculating a path during drilling comprising:

1) receiving, by a surface steerable system coupled to a drilling rig, a first set of toolface information from a bottom hole assembly (BHA) located in a borehole and coupled to a drillstring, wherein the first set of toolface information corresponds to a first current location of the BHA between a first measured survey point that has been passed and a second directly sequential measured survey point that has not yet been reached;

2) receiving, by the surface steerable system, first sensor information from at least one of the drilling rig, the BHA, or the drillstring coupling the drilling rig to the BHA, wherein the first sensor information is accumulated as the BHA moves from the first measured survey point to the first current location;

3) calculating, by the surface steerable system, an amount of first incremental progress made by the BHA since the first measured survey point, wherein calculating the amount of first incremental progress includes calculating a displacement and a build rate of the BHA from the first measured survey point to the first current location and is based on the first sensor information;

4) calculating, by the surface steerable system, a first estimate of the first current location based on the first measured survey point, the first set of toolface information and the amount of first incremental progress;

5) causing, by the surface steerable system, at least one drilling parameter to be modified in order to alter a drilling direction of the BHA based on the first estimate if the surface steerable system determines that the first estimate indicates the drilling direction needs to be altered;

6) receiving, by the surface steerable system, a second set of toolface information from the BHA corresponding to a second current location of the BHA between the first measured survey point that has been passed and the second directly sequential measured survey point that has not yet been reached;

7) receiving, by the surface steerable system, second sensor information from at least one of the drilling rig, the BHA, or the drillstring, wherein the second sensor information is accumulated as the BHA moves from the first estimate of the first current location to the second current location;

8) calculating, by the surface steerable system, an amount of second incremental progress made by the BHA since the first incremental progress was calculated, wherein calculating the amount of second incremental progress includes calculating a displacement and a build rate of the BHA from the first estimate of the first current location to the second current location and is based on the second sensor information;

9) calculating, by the surface steerable system, a second estimate of the second current location based on the second set of toolface information and the amount of second incremental progress received since the first estimate and without directly referencing the first measured survey point;

10) causing, by the surface steerable system, at least one drilling parameter to be modified in order to alter the drilling direction of the BHA based on the second estimate if the surface steerable system determines that the second estimate indicates the drilling direction needs to be altered; and

repeating, by the surface steerable system, steps 6 through 10 to calculate an estimate of a plurality of locations representing a path of the BHA from the first measured survey point towards the second directly sequential measured survey point until the second directly sequential measured survey point is reached.

2. The method of claim 1 wherein the second sensor information includes a measured depth value representing an estimated distance traveled by the BHA since the amount of first incremental progress was calculated.

3. The method of claim 2 wherein calculating the amount of second incremental progress includes:

determining, by the surface steerable system, an amount of deviation between the measured depth value and an actual length in the drillstring coupling the BHA to the drilling rig, wherein the amount of deviation is due to at least one of compression, tension, and buckling in the drillstring; and

modifying, by the surface steerable system, the measured depth value to reflect the amount of deviation.

4. The method of claim 2 wherein the second sensor information is obtained at the drilling rig.

5. The method of claim 2 wherein the second sensor information is obtained in the borehole.

6. The method of claim 1 further comprising:

receiving, by the surface steerable system, survey data corresponding to survey sensor information from the second directly sequential measured survey point;

updating, by the surface steerable system, a current toolface and a current estimate of a third current location of the BHA based on the survey data; and

repeating, by the surface steerable system, steps 1-10 to estimate a second plurality of locations representing a path of the BHA between the second directly sequential measured survey point and a directly sequential third measured survey point, wherein the received survey data serves as a baseline for the second plurality of locations.

7. The method of claim 6 further comprising modifying, by the surface steerable system, how the amount of incremental progress is calculated for the second plurality of locations based on the survey data.

8. The method of claim 1 wherein the first and second sensor information includes a mechanical specific energy (MSE) measurement.

9. The method of claim 1 wherein the first and second sensor information includes a weight on bit (WOB) measurement.

10. The method of claim 1 further comprising:

calculating, by the surface steerable system, a vector for each of the plurality of locations based on the toolface information and the amount of incremental progress for each of the plurality of locations; and

producing, by the surface steerable system, a series of vectors representing the path between the first measured survey point and the second directly sequential measured survey point as a graphical representation of the path.

11. The method of claim 1 wherein the BHA is performing a sliding operation, and wherein the method further comprises displaying a progress of the sliding operation on a graphical user interface (GUI).

12. The method of claim 11 wherein displaying the progress includes displaying an amount of time left for the sliding operation.

13. The method of claim 11 wherein displaying the progress includes displaying a distance remaining for the sliding operation.

14. The method of claim 11 wherein displaying the progress includes displaying a percentage of the sliding operation that has been completed.

15. The method of claim 1 further comprising drilling, by the drilling rig, using the altered direction of the BHA.

16. The method of claim 1 wherein calculating, by the surface steerable system, the amount of incremental progress for one of the plurality of locations includes:

determining an average rate of penetration (ROP) for the BHA based on a characteristic of the BHA for a formation in which the location exists; and

applying the average ROP over a period of time that it took for the BHA to move from a previous estimate of a location between the first measured survey point and the second directly sequential measured survey point to the current location to determine a distance traveled based on the average ROP and the period of time.

17. The method of claim 16 wherein determining the average ROP includes retrieving the average ROP from a database.

18. The method of claim 1 wherein receiving the first and second sensor information includes receiving a plurality of sensor information data points for each receipt of a single toolface information data point, and wherein calculating the amount of incremental progress made by the BHA since the previous amount of incremental progress was calculated is based on the plurality of sensor information data points.

19. A surface steerable system for use with a drilling rig comprising:

a network interface;

a processor coupled to the network interface; and

a memory coupled to the processor, the memory storing a plurality of instructions for execution by the processor, the plurality of instructions including;

1) instructions for receiving a first set of toolface information from a bottom hole assembly (BHA) located in a borehole and coupled to a drillstring, wherein the first set of toolface information corresponds to a first current location of the BHA between a first measured survey point that has been passed and a second directly sequential measured survey point that has not yet been reached;

2) instructions for receiving first sensor information from at least one of the drilling rig, the BHA, or the drillstring coupling the drilling rig to the BHA, wherein the first sensor information is accumulated as the BHA moves from the first measured survey point to the first current location;

3) instructions for calculating an amount of first incremental progress made by the BHA since the first measured survey point, wherein calculating the amount of first incremental progress includes calculating a displacement and a build rate of the BHA from the first measured survey point to the first current location and is based on the first sensor information;

4) instructions for calculating a first estimate of the first current location of the BHA based on the first toolface information and the amount of first incremental progress;

5) instructions for causing at least one drilling parameter to be modified in order to alter a drilling direction of the BHA based on the first estimate if the surface steerable system determines that the first estimate indicates the drilling direction needs to be altered;

6) instructions for receiving a second set of toolface information from the BHA corresponding to a second current location of the BHA between the first measured survey point that has been passed and the second directly sequential measured survey point that has not yet been reached;

7) instructions for receiving second sensor information from at least one of the drilling rig, the BHA, or the drillstring, wherein the second sensor information is accumulated as the BHA moves from the first estimate of the first current location to the second current location;

8) instructions for calculating an amount of second incremental progress made by the BHA since the first incremental progress was calculated, wherein calculating the amount of second incremental progress includes calculating a displacement and a build rate of the BHA from the first estimate of the first current location to the second current location and is based on the second sensor information;

9) instructions for calculating a second estimate of the second current location based on the second set of toolface information and the amount of second incremental progress received since the first estimate and without directly referencing the first measured survey point;

10) instructions for causing at least one drilling parameter to be modified in order to alter the drilling direction of the BHA based on the second estimate if the surface steerable system determines that the second estimate indicates the drilling direction needs to be altered; and

instructions for repeating steps 6 through 10 to calculate an estimate of a plurality of locations representing a path of the BHA from the first measured survey point towards the second directly sequential measured survey point until the second directly sequential measured survey point is reached.

20. The surface steerable system of claim 19 wherein the second sensor information includes a measured depth value representing an estimated distance traveled by the BHA since the amount of first incremental progress was calculated.

21. The surface steerable system of claim 20 wherein the instructions for calculating the amount of second incremental progress include:

instructions for determining an amount of deviation between the measured depth value and an actual length in the drillstring coupling the BHA to the drilling rig, wherein the amount of deviation is due to at least one of compression, tension, and buckling in the drillstring; and

instructions for modifying the measured depth value to reflect the amount of deviation.

22. The surface steerable system of claim 20 wherein the second sensor information is obtained at the drilling rig.

23. The surface steerable system of claim 20 wherein the second sensor information is obtained in the borehole.

24. The surface steerable system of claim 19 further comprising:

instructions for receiving survey data corresponding to survey sensor information from the second directly sequential measured survey point;

instructions for updating a current toolface and a current estimate of a third current location of the BHA based on the survey data; and

instructions for repeating steps 1-10 to estimate a second plurality of locations representing a path of the BHA between the second directly sequential measured survey point and a directly sequential third measured survey point, wherein the received survey data serves as a baseline for the second plurality of locations.

25. The surface steerable system of claim 24 further comprising instructions for modifying how the amount of incremental progress is calculated for the second plurality of locations based on the survey data.

26. The surface steerable system of claim 19 wherein the first and second sensor information includes a mechanical specific energy (MSE) measurement.

27. The surface steerable system of claim 19 wherein the first and second sensor information includes a weight on bit (WOB) measurement.

28. The surface steerable system of claim 19 further comprising:

instructions for calculating a vector for each of the plurality of locations based on the toolface information and the amount of incremental progress for each of the plurality of locations; and

instructions for producing a series of vectors representing the path between the first measured survey point and the second directly sequential measured survey points as a graphical representation of the path.

29. The surface steerable system of claim 19 wherein the BHA is performing a sliding operation, and wherein the system further comprises instructions for displaying a progress of the sliding operation on a graphical user interface (GUI).

30. The surface steerable system of claim 29 wherein the instructions for displaying the progress include instructions for displaying an amount of time left for the sliding operation.

31. The surface steerable system of claim 29 wherein the instructions for displaying the progress include instructions for displaying a distance remaining for the sliding operation.

32. The surface steerable system of claim 29 wherein the instructions for displaying the progress include instructions for displaying a percentage of the sliding operation that has been completed.

33. The surface steerable system of claim 19 further comprising instructions for drilling, by the drilling rig, using the altered direction of the BHA.

34. The surface steerable system of claim 19 wherein the instructions for calculating the amount of incremental progress for one of the plurality of locations include:

instructions for determining an average rate of penetration (ROP) for the BHA based on a characteristic of the BHA for a formation in which the location exists; and

instructions for applying the average ROP over a period of time that it took for the BHA to move from a previous estimate of a location between the first measured survey point and the second directly sequential measured survey point to the current location to determine a distance traveled based on the average ROP and the period of time.

35. The surface steerable system of claim 34 wherein the instructions for determining the average ROP include instructions for retrieving the average ROP from a database.

36. The surface steerable system of claim 19 wherein the instructions for receiving the first and second sensor information include instructions for receiving a plurality of sensor information data points for each receipt of a single toolface information data point, and wherein calculating the amount of incremental progress made by the BHA since the previous amount of incremental progress was calculated is based on the plurality of sensor information data points.