Automated directional drilling apparatus and methods
First Claim
Patent Images
1. A method of drilling to a target location which comprises:
- receiving an input comprising a planned drilling path to a target location;
determining a projected location of a bottom hole assembly of a drilling system;
wherein determining a projected location of a bottom hole assembly includes using a real-time survey projection as a directional trend, the real-time survey projection being based on real-time data obtained during drilling;
comparing the projected location of the bottom hole assembly to the planned drilling path to determine a deviation amount;
creating a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path, wherein creating a modified drilling path to the target location comprises creating a modified drilling path that intersects the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation, including determining a curve profile having the smallest rate of curvature that avoids drilling overshoot by;
a) calculating the curve profile to a first location in the planned drilling path,b) calculating the curve profile to a second incremental location before the first location in the planned drilling path,c) making the second location the first location and repeating step (b) until the calculation fails, andd) producing the modified drilling path with the curve profile corresponding to the curve profile calculated before the calculation failed; and
automatically and electronically generating one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path.
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Abstract
Methods and systems for drilling to a target location include a control system that receives an input comprising a planned drilling path to a target location and determines a projected location of a bottom hole assembly of a drilling system. The projected location of the bottom hole assembly is compared to the planned drilling path to determine a deviation amount. A modified drilling path is created to the target location as selected based on the amount of deviation from the planned drilling path, and drilling rig control signals that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path are generated.
124 Citations
39 Claims
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1. A method of drilling to a target location which comprises:
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receiving an input comprising a planned drilling path to a target location; determining a projected location of a bottom hole assembly of a drilling system;
wherein determining a projected location of a bottom hole assembly includes using a real-time survey projection as a directional trend, the real-time survey projection being based on real-time data obtained during drilling;comparing the projected location of the bottom hole assembly to the planned drilling path to determine a deviation amount; creating a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path, wherein creating a modified drilling path to the target location comprises creating a modified drilling path that intersects the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation, including determining a curve profile having the smallest rate of curvature that avoids drilling overshoot by; a) calculating the curve profile to a first location in the planned drilling path, b) calculating the curve profile to a second incremental location before the first location in the planned drilling path, c) making the second location the first location and repeating step (b) until the calculation fails, and d) producing the modified drilling path with the curve profile corresponding to the curve profile calculated before the calculation failed; and automatically and electronically generating one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method of drilling to a target location which comprises:
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receiving an input comprising a planned drilling path to a target location; determining a projected location of a bottom hole assembly of a drilling system; comparing the projected location of the bottom hole assembly to the planned drilling path to determine a deviation amount; creating a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path; and automatically and electronically generating one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path; wherein creating a modified drilling path to the target location includes; electronically calculating a first 3D curve, a hold section, and an optional second 3D curve that directs the bottom hole assembly along the planned drilling path, wherein each of the first and optional second 3D curves is calculated by; electronically calculating any curves required to intersect the planned drilling path at the target location; electronically calculating any curves required to intersect the planned drilling path at a first location before the target location, each curve having an acceptable rate of curvature for the BHA, the acceptable rate of curvature being defined as an achievable rate of curvature that avoids drilling path overshoot; electronically calculating any curves required to intersect the planned drilling path at a second location before the first location, the curves having an unacceptable rate of curvature, the first and second location being separated by a selected measurement distance, the unacceptable rate of curvature being defined as a rate of curvature that results in drilling path overshoot; and selecting the calculated curves to intersect the planned path at the first location before reaching the target location.
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27. A system for drilling to a target location comprising:
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a receiving device adapted to receive an input comprising a planned drilling path to a target location; a sensory device adapted to determine a projected location of a bottom hole assembly of a drilling system;
wherein determine a projected location of a bottom hole assembly includes using a real-time survey projection as a directional trend, the real-time survey projection being based on real-time data obtained during drilling;a logic device adapted to compare the projected location of the bottom hole assembly to the planned drilling path to determine a deviation amount; a second logic device adapted to create a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path, the second logic device adapted to create a modified drilling path that intersects the planned drilling path if the amount of deviation exceeds a first threshold amount of deviation, and adapted to determine a curve profile having the smallest rate of curvature that avoids drilling overshoot by; a) calculating the curve profile to a first location in the planned drilling path, b) calculating the curve profile to a second incremental location before the first location in the planned drilling path, c) making the second location the first location and repeating step (b) until the calculation fails, and d) producing the modified drilling path with the curve profile corresponding to the curve profile calculated before the calculation failed; and a drilling rig control signal generator adapted to automatically and electronically generate one or more drilling rig control signals that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path. - View Dependent Claims (28, 29, 30)
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31. A method of directionally steering a bottom hole assembly during a drilling operation from a drilling rig to an underground target location, comprising:
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generating a drilling plan having a drilling path and an acceptable margin of error as a tolerance zone; receiving data indicative of one or more directional trends and a projection to bit depth; determining the actual location of the bottom hole assembly based on the one or more directional trends and the projection to bit depth; determining whether the bit is within the tolerance zone; comparing the actual location of the bottom hole assembly to the planned drilling path to identify an amount of deviation of the bottom hole assembly from the actual drilling path; automatically creating a modified drilling path based on the amount of deviation including; automatically creating a modified drilling path that intersects the planned drilling path if the amount of deviation exceeds a first threshold amount of deviation, automatically creating a modified drilling path to the target location that does not intersect the planned drilling path if the amount of deviation exceeds a second threshold amount of deviation, and determining a curve profile of the modified drilling path having the smallest rate of curvature that avoids drilling overshoot by; a) calculating the curve profile to a first location in the planned drilling path, b) calculating the curve profile to a second incremental location before the first location in the planned drilling path, c) making the second location the first location and repeating step (b) until the calculation fails, and d) producing the modified drilling path with the curve profile corresponding to the curve profile calculated before the calculation failed; determining a desired tool face orientation to steer the bottom hole assembly along the modified drilling path; automatically and electronically generating one or more drilling rig control signals at a directional steering controller; and outputting the one or more control signals to a drawworks and a top drive to steer the bottom hole assembly along the modified drilling path.
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32. Method of real-time survey projection drilling which comprises:
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drilling a well including a drilling state and a non-drilling state; collecting drilling information that includes measured data comprising at least one of real-time toolface, hole depth, pipe rotation, hook load, or delta pressure, or a combination thereof;
modeled drilling data;
or both, during the drilling state;calculating a real-time survey projection ahead of a standard survey obtained during the non-drilling state; using the calculated real-time survey projection as a new standard survey as if it were obtained during the non-drilling state; comparing the real-time survey projection to a drilling plan at the corresponding hole depth during the drilling state to determine a deviation amount from the drilling plan, the drilling plan including a target location; and creating a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path, wherein creating a modified drilling path to the target location comprises creating a modified drilling path that intersects the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation, including determining a curve profile having the smallest rate of curvature that avoids drilling overshoot by; a) calculating the curve profile to a first location in the planned drilling path, b) calculating the curve profile to a second incremental location before the first location in the planned drilling path, c) making the second location the first location and repeating step (b) until the calculation fails, and d) producing the modified drilling path with the curve profile corresponding to the curve profile calculated before the calculation failed. - View Dependent Claims (33, 34)
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35. A method of elongating a wellbore in a direction having a horizontal component comprising:
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detecting a current toolface orientation of a bottom hole assembly in real time with respect to vertical during drilling, the detected toolface orientation affecting a drilling direction of the bottom hole assembly; comparing the current toolface orientation to a desired toolface orientation to identify an amount of deviation of an actual drilling path from a planned drilling path; optimizing detected drilling operation parameters related to the current toolface orientation by creating a modified desired toolface orientation based on the amount of deviation from the planned drilling path, wherein creating the modified desired toolface orientation comprises electronically calculating any curves required to intersect the planned drilling path at a first location before the target location, each curve having an acceptable rate of curvature for the bottom hole assembly, the acceptable rate of curvature being defined as an achievable rate of curvature that avoids drilling path overshoot, electronically calculating any curves required to intersect the planned drilling path at a second location before the first location, the curves having an unacceptable rate of curvature, the first and second location being separated by a selected measurement distance, the unacceptable rate of curvature being defined as a rate of curvature that results in drilling path overshoot; generating drilling rig control signals to oscillate a quill based on the optimized drilling operation parameters to change the current toolface orientation to the modified desired toolface orientation to achieve the curves required to intersect the planned drilling path; and rotating a tubular along a modified drilling path. - View Dependent Claims (36, 37, 38, 39)
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Specification