CA2861962C - High definition drilling rate of penetration for marine drilling - Google Patents
High definition drilling rate of penetration for marine drilling Download PDFInfo
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- CA2861962C CA2861962C CA2861962A CA2861962A CA2861962C CA 2861962 C CA2861962 C CA 2861962C CA 2861962 A CA2861962 A CA 2861962A CA 2861962 A CA2861962 A CA 2861962A CA 2861962 C CA2861962 C CA 2861962C
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- 238000005553 drilling Methods 0.000 title claims abstract description 26
- 230000035515 penetration Effects 0.000 title claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 abstract description 13
- 238000004364 calculation method Methods 0.000 abstract description 11
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- PRPINYUDVPFIRX-UHFFFAOYSA-N 1-naphthaleneacetic acid Chemical compound C1=CC=C2C(CC(=O)O)=CC=CC2=C1 PRPINYUDVPFIRX-UHFFFAOYSA-N 0.000 description 1
- 235000001270 Allium sibiricum Nutrition 0.000 description 1
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- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000008713 feedback mechanism Effects 0.000 description 1
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- 231100001261 hazardous Toxicity 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 244000038293 primary consumers Species 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/12—Underwater drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B45/00—Measuring the drilling time or rate of penetration
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/001—Survey of boreholes or wells for underwater installation
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/04—Measuring depth or liquid level
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—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
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- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- Geophysics (AREA)
- Remote Sensing (AREA)
- Earth Drilling (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Two sensors (114, 112) may be installed on a marine drill (100) to improve measurements used for monitoring and operating the marine drill. The sensors may be installed in a differential configuration with one sensor located on a top block (102) of the marine drill and a second sensor located on a drilling floor (104) of the marine drill. Various calculations may be performed using measurements obtained from the two sensors such as, for example, rate of penetration of the marine drill, drilling level bubble for the marine drill, out of- straightness values for the marine drill, and vibration motion for the marine drill.
Description
HIGH DEFINITION DRILLING RATE OF
PENETRATION FOR MARINE DRILLING
TECHNICAL FIELD
[0001] The instant disclosure relates to marine drilling. More specifically, this disclosure relates to monitoring equipment for marine drilling.
BACKGROUND
PENETRATION FOR MARINE DRILLING
TECHNICAL FIELD
[0001] The instant disclosure relates to marine drilling. More specifically, this disclosure relates to monitoring equipment for marine drilling.
BACKGROUND
[0002] In the marine drilling arena, vessel dynamics have a significant impact on both control and monitoring of the crown block. Although it is not strictly the crown block position with respect to the drill floor that is of consequence, the crown block position is an important consideration. In marine drilling with mobile offshore drilling units (MODU) the top drive may be the primary point of attachment of the drill string to the rig.
[0003] Conventionally, in both marine and land drilling, the instrument for measuring block position is a rotary encoder. Various types and attachment configurations of this encoder exist. There are at least two parties on the MODU with an interest in block position, each for slightly different reasons. The drill floor is a primary consumer of the block position information, due to the highly automated nature of drilling systems. The automation system monitors the block position for various control loops and safety interlocks. The other consumer of the block position data is third party service companies on board the MODU, such as mud loggers, measurement while drilling service providers, logging while drilling service providers, and directional drillers.
10005j The encoder's placement on the drill floor has advantages and .tradeoffs, The most convenient and reliable location for the encoder is mounted on the.
shaft of the draw works. The main advantage when mounted on the shaft is that the location alio for easy installation and maintenance, The drawback of this location is=
that 'syst'ematic errors ..may be produced, because the encoder's observation is an indirect meas=urement. This placement for the encoder measures the drums.' current rotation angle. Calibration is necessary to derive the block position. Calibration may be pert:brined by using a direct distance pleasuring device .sueh as a tape measure or eleetronic distance measurement (E:DM) to generate a look-up table of block.
position to rotation increment. Placing .the encoder on the rotary shaft .of the draw works introduces a non-linear systematic error. In addition, the steel wire rope may deform, depending on temperature :iitt(1 loA Yet another possibility is to USO a string encoder in place of. a rotary encoder.
100061 COTIVentionally, motion reference units OVIR.U.$) and 1,,Q.rtical reference units (YR.U.$) are. used to provide. measurements for active: compensation for vessel heave. These units may be installed on the drill floor, The outputs from these sensors drive Con tro H oo p feedback mechanisms srìeh. as. proport i on al- integ ra -deriv=ative (,PID) controller loops in the control system in an attempt to 'maintain a constant weight on the bit.
SUMMARY
E.0007I According to one embodiment, a method includes receiving- first information from =a first sensor located on a drill floor of a marine drill, The rnethod al=so rt.t.o.eiving second infOrmation ftoiriî a second SeT1SOr located on a top drive of the, marine drill. 'File method further includes calculating a physical parameter based, in part, on the first information received from the first sensor and the second information received from tbs.:7second sensor, [00081 According to another embodim.ent, a computer program product includes a non-transitoiy computer readable med having code to receive .first infOrmation from a first sensor located on a drill floor of a marine drill.
The .medium.
also .inclades code to receive second information from a. second sensor located on a top chive of the marine drill. 'The medium further Mel11 3 .C.eS Cade EU calculate a physical parameter based, in part, OTI the .first information received from the first sensor ;And the second information received from the seeond sensor, 100091 .According to yet another embodiment, an apparatus includes a first sensor located on a drill floor of a marine drill. The apparatus also includes a second sensor located on a top drive of the marine drill. The first sensor and the second sensor are set-up in a differential configuration. The apparatus further includes a processor coupled to the first and second sensors. 'There is at least one proCessor configured to calculate a physical parameter based, in .part, on the first information received from the first sensor and the second informatioii rkitei ved from the second sensor.
[00101 The foregoing has outlined rather -broadly the IC-attires and technical advantage*. of the present disclosure in order that the detailed description of the .disclosure that t011oWs may be better understood. Additional features and advantaizes of the disclosure will be described hereinafter \vhich 'forrn the subject of the claims of the disclosure. It should be appreciated by those...skilled in the ail that the conception and specific. embodiment disclosed .may be readily utilized. as a. basis for modifying or designing, other structures for carrying out the .same purposes of the present disclOSUre.. iì
should .also be realized by those .skilled in the art that such equivalent constructions do not depart from the spirit and scope of the. disclosure as. set forth in the appended claims.
The novel features which are believed to be characteristic of the disclosure, both as to its.
organiz.ation and method of operation, together with further objects and advantages will be 'better understood from the following description when considered in connection with the accompanying figures. It is to be expressly understood, however, that each of the fiatares is provided for the purpose of illustration and description only and is not intended as a definition of the limits of the pre,sent clisclosure, MEE DESCRIPTION OF THE DRAWING S
100 I 11 For a more complete understanding of the disclosed system and methods,. reference i now made to the following descriptions taken in conjunction with the accompanying d fa ings.
MI 21 FIGURE I is a block diagram illustrating, a .marine drill with two sensors according to one embodiment of the disclosure 1001.31 FIGURE 2 is a block diagram illustrating a communications system for coupling to sensors on a marine drill according to otle embodiment of the disclosure, [00141 FIGURE 3 is a flow chart illustrating a .method fbr operating two sensors .on:.a marine drill according to one embodiment of the disclosure, (00151 FIGURE 4 is a block diagram illustrating mechanization of receiving information from two. SensorS 011 a marine drill according to one embodiment of the disclosure:, 100161 FIGURE 5 is a block diagram illustrating an atypical error state Kalman filter loop according to one embodiment of the disclosure.
[00171 FIGURE 6 is a block diagram illustrating a computer system accordinr4 to one embodiniOnt of the disclosure.
:DETAILED DESCRIPTION
100181 A second sensor may .be installed on a marine drill, such as on a top 'block, to itnprove measurements used for monitoring and operating the marine drill.
FIGURE, 1 is a block diagram. illustrating a. marine drill with two sensors according to one embodiment of the disclosureõk marine drill 100, such as a mobile offshore drilling unit (MODU.)., .may include a drill floor 104. A first sensor 114 may be located on the drill 'floor 104. The first sensor 114 may include onc or .more of an accelerometer, a gyroscope, and a compass. According to one embodiment, the .first sensor 11.4 may be appropriately rated for explosively hazardous areas.. The marine drill 100 ma.y also include a top block 102.
100191 A second sensor 112 inay be located .,on the top block 102. The second sensor 112 may include one or more of an acceleroineter, a gyroscope, and a compass.. According, to one .embodiment, the second sensor 112 is mounted on the top block 102. The first sensor 114 and the second sensor 112 may be .set-up in a differential .configuration. For example, measurements may be =taken from the first sensor 114 and the second sensor 112 nearly simultaneously., well that moven-tent of the drill floor 104 detected by the: first sensor 114 may be subtracted from the movement of the top block
10005j The encoder's placement on the drill floor has advantages and .tradeoffs, The most convenient and reliable location for the encoder is mounted on the.
shaft of the draw works. The main advantage when mounted on the shaft is that the location alio for easy installation and maintenance, The drawback of this location is=
that 'syst'ematic errors ..may be produced, because the encoder's observation is an indirect meas=urement. This placement for the encoder measures the drums.' current rotation angle. Calibration is necessary to derive the block position. Calibration may be pert:brined by using a direct distance pleasuring device .sueh as a tape measure or eleetronic distance measurement (E:DM) to generate a look-up table of block.
position to rotation increment. Placing .the encoder on the rotary shaft .of the draw works introduces a non-linear systematic error. In addition, the steel wire rope may deform, depending on temperature :iitt(1 loA Yet another possibility is to USO a string encoder in place of. a rotary encoder.
100061 COTIVentionally, motion reference units OVIR.U.$) and 1,,Q.rtical reference units (YR.U.$) are. used to provide. measurements for active: compensation for vessel heave. These units may be installed on the drill floor, The outputs from these sensors drive Con tro H oo p feedback mechanisms srìeh. as. proport i on al- integ ra -deriv=ative (,PID) controller loops in the control system in an attempt to 'maintain a constant weight on the bit.
SUMMARY
E.0007I According to one embodiment, a method includes receiving- first information from =a first sensor located on a drill floor of a marine drill, The rnethod al=so rt.t.o.eiving second infOrmation ftoiriî a second SeT1SOr located on a top drive of the, marine drill. 'File method further includes calculating a physical parameter based, in part, on the first information received from the first sensor and the second information received from tbs.:7second sensor, [00081 According to another embodim.ent, a computer program product includes a non-transitoiy computer readable med having code to receive .first infOrmation from a first sensor located on a drill floor of a marine drill.
The .medium.
also .inclades code to receive second information from a. second sensor located on a top chive of the marine drill. 'The medium further Mel11 3 .C.eS Cade EU calculate a physical parameter based, in part, OTI the .first information received from the first sensor ;And the second information received from the seeond sensor, 100091 .According to yet another embodiment, an apparatus includes a first sensor located on a drill floor of a marine drill. The apparatus also includes a second sensor located on a top drive of the marine drill. The first sensor and the second sensor are set-up in a differential configuration. The apparatus further includes a processor coupled to the first and second sensors. 'There is at least one proCessor configured to calculate a physical parameter based, in .part, on the first information received from the first sensor and the second informatioii rkitei ved from the second sensor.
[00101 The foregoing has outlined rather -broadly the IC-attires and technical advantage*. of the present disclosure in order that the detailed description of the .disclosure that t011oWs may be better understood. Additional features and advantaizes of the disclosure will be described hereinafter \vhich 'forrn the subject of the claims of the disclosure. It should be appreciated by those...skilled in the ail that the conception and specific. embodiment disclosed .may be readily utilized. as a. basis for modifying or designing, other structures for carrying out the .same purposes of the present disclOSUre.. iì
should .also be realized by those .skilled in the art that such equivalent constructions do not depart from the spirit and scope of the. disclosure as. set forth in the appended claims.
The novel features which are believed to be characteristic of the disclosure, both as to its.
organiz.ation and method of operation, together with further objects and advantages will be 'better understood from the following description when considered in connection with the accompanying figures. It is to be expressly understood, however, that each of the fiatares is provided for the purpose of illustration and description only and is not intended as a definition of the limits of the pre,sent clisclosure, MEE DESCRIPTION OF THE DRAWING S
100 I 11 For a more complete understanding of the disclosed system and methods,. reference i now made to the following descriptions taken in conjunction with the accompanying d fa ings.
MI 21 FIGURE I is a block diagram illustrating, a .marine drill with two sensors according to one embodiment of the disclosure 1001.31 FIGURE 2 is a block diagram illustrating a communications system for coupling to sensors on a marine drill according to otle embodiment of the disclosure, [00141 FIGURE 3 is a flow chart illustrating a .method fbr operating two sensors .on:.a marine drill according to one embodiment of the disclosure, (00151 FIGURE 4 is a block diagram illustrating mechanization of receiving information from two. SensorS 011 a marine drill according to one embodiment of the disclosure:, 100161 FIGURE 5 is a block diagram illustrating an atypical error state Kalman filter loop according to one embodiment of the disclosure.
[00171 FIGURE 6 is a block diagram illustrating a computer system accordinr4 to one embodiniOnt of the disclosure.
:DETAILED DESCRIPTION
100181 A second sensor may .be installed on a marine drill, such as on a top 'block, to itnprove measurements used for monitoring and operating the marine drill.
FIGURE, 1 is a block diagram. illustrating a. marine drill with two sensors according to one embodiment of the disclosureõk marine drill 100, such as a mobile offshore drilling unit (MODU.)., .may include a drill floor 104. A first sensor 114 may be located on the drill 'floor 104. The first sensor 114 may include onc or .more of an accelerometer, a gyroscope, and a compass. According to one embodiment, the .first sensor 11.4 may be appropriately rated for explosively hazardous areas.. The marine drill 100 ma.y also include a top block 102.
100191 A second sensor 112 inay be located .,on the top block 102. The second sensor 112 may include one or more of an acceleroineter, a gyroscope, and a compass.. According, to one .embodiment, the second sensor 112 is mounted on the top block 102. The first sensor 114 and the second sensor 112 may be .set-up in a differential .configuration. For example, measurements may be =taken from the first sensor 114 and the second sensor 112 nearly simultaneously., well that moven-tent of the drill floor 104 detected by the: first sensor 114 may be subtracted from the movement of the top block
4 102 detected by the second sensor 112. The first sensor 114 and the second sensor 112 may be coupled to a processor (not yet shown) for calculating physical parameters of the marine drill 100.
[0020] FIGURE 2 is a block diagram illustrating a communications system 200 for coupling two sensors on a marine drill according to one embodiment of the disclosure. A
processor 240 may receive information from a first sensor 214. such as a sensor located on a drill floor, through a communications bus 224. The processor 240 may further communicate with the first sensor 214 through a command bus 234, such as a RS-232 or RS-422 serial bus. The processor 240 may also receive information from a second sensor 212, such as a sensor located on a top block, through a communications bus 232. A
positioning data system 216, such as global positioning system (GPS) or global navigation satellite system (GNSS), may be coupled to the second sensor 212 to provide position information through a communications bus 222, such as a RS-232 or RS-422 serial, bus.
The processor 240 may receive information from the first sensor 214 and the second sensor 212 such as, for example, heave, surge, and/or sway values. The processor 240 may then calculate physical parameters based on, in part, the information received from the .first sensor 214 and the second sensor 212. The processor 240 may provide the calculated physical parameters to an external device (not shown) through a communications bus 242. According to one embodiment, a time synchronization message and pulse may be provided to the first sensor 214 and the second sensor 212 to coordinate measurement by the two sensors 212 and 214.
[0021] FIGURE 3 is a flow chart illustrating a -method for operating two sensors on a marine drill according to one embodiment of the disclosure. A method 300 begins at block 302 with receiving first information from a first sensor on a drill floor of a marine drill. The method 300 continues to block 304 to receive second information from a second sensor on a top drive of a marine drill. The method 300 the continues to block 306 to calculate a physical parameter based, in part, on the first and second information received at blocks 302 and 304, respectively. Additional details of the calculation process are presented in FIGURES 4 and 5. FIGURE 4 is a block diagram illustrating mechanization of receiving information from two sensors on a marine drill according to one embodiment of the disclosure. FIGURE 5 is a block diagram lustrating an atypical error state Kalman filter loop according to one embodiment of the disclosure 1.0022.1 According to one embodiment, the calculation at bloCk 306 may include calculatiu a high definition rate of penetration .(HDROP)õ HDROP
refers to an accurate and precise pose estimation of the top drive andlor top block. The calculation of HIDROP may use a .proportional-integral-derivative (PID) loop and/or an optimal c..stimator such as an. Ermr State K.alman Eilter (ESKF), The results of the PID loop may be compared to the ESKF for a simple single state solution of noisy heave.:
During the design and. development of the algorithm, dynamic SiintilatiOnS May be used to emulate the observables based on :known models. In another solution, calculations may start with true dynamics and then model the sensc.òr outputs and additional errors to .form new discretiz-ed data sets fed to the .optimal .estimator, The current block position calculation may be based on configurations having a draw works rotary encoder on a lac:hip, having a draw works rotary encoder on a floating .drilling platform Moater). with .passive compensation .and riser tensioners, having a draw works rotary encoder on a floater with active heave tom pensation, [00231 According to another einbodiment, the calculation at block 306 may include calculating a digital visualization of drilling level bubble. The drilling level bubble may 'be displaye.d on a scroll to pro-vide a driller andlor a rig captain a ViStlai indication of an ideal orientation fc-yr leveling, to reduce the likelihood binding of .the tubular in the rotary table, According to one embodiment, systemic errors, 'web as angular offsets, may be removed during the calculation: The calculation for a drilling level bubble may leverage inertial measurement unit (MU) data, but may be perfOrmed without an error state .Kalman filter and/or accurate time tagging.
[002.41 According to yet another embodiment, -the calculation at block 306 niay include (a..iculating an out-of-straightness tiODS.) value. The information from the two. sensors Or a Ingle sensor for a lackup) may be monitored to determine any mechanical binding of the top drive .011 the rails due to deformation -as the top drive transitions .from the rotary table to the crown. A difference in orientation along the length of the rails may be calculated based on information from the two sensors. This diffi...rence may serve as a baseline measurement to compare with .future measurements to determine if deformatiOn of the rails has occurred. An accurate instantaneOUS
posi.t.ion of the top block may be calculated for 005 monitoring from am ESICF.
[00251 According to a further embodiment,. the calculation at block 306 may include condition-based monitoring... Sensors, such as .aceelerometers, placed on machinery on a marine dr.ill may measure vibrations for that machinery.
Sensors on the top drive may measure a wide spectrum of components in the frequency doniain, ineluding IOW frequency vibrations due to Vessel motion and high frequency vibratiOns due to motor operations. By nearly simultaneously measuring vibrations at another 10CatiOn, such as the drill floor, the sensor inputs may be differentially combined to calculate the actual motion of the top drive. :By accomplishing .this, vessel motion and drill floor vibrations may be removed or reduced from the .top drive:
vibrations.
100261 Other applications for differential sensor configurations on a Marine drill .include seismic while drilling (SWD) and drill-break detection by determining bit movement andfor vibration returns, and fine motion control on the marine drill. The use of differential inertial sensors as described above improve the aecuracy of measurements fro.m a .marine drill and improve the operation of the marine drill, For example, vhen differential sensors are placed on the top block and the drilling floor, measurements may be taken from the sensors .and used to calculate a variety of physical parameters used in monitorinci. or operating the marine drill.
100271 One application for a differential Sen SO r contigura.tion on a marine drill include precision motion control. Once an act tirate sp.rttiai. location of the bl 0 C k and the block's dynarnics are knovai fine motion control applications may be implemented.
This provides more .accurate dynamic inforMation than what is inferred by the rotar:y.' -encoder, 100281 FIGURE 6 illustrates a computer system 600 adapted acCording to certain embodiments. AS. a 'server and/or a user interface device for procesSing -andlor displaying data frorn the differential senSors of FIGURE I and FlOURI: 2. The central 1ìrocessin2; unit ("CPU") 602 is coupled to the. system has 604, The CPU 602 may be a general purpose CPU or microprocessor,. graphics processing unit ("GPIY'.) and/or microeontroller. The present embodiments are not restricted by .the architecture of the CPU 602 so long as the CPU 602, %,t,hether directly or indirectly, supports -the modules and operations as described herein. The CPU 602 may execute the various logical instructions according to the present embodiments, such as the method illustrated in FIGURE 3.
100291 The computer system 600 also may litchi:de random access memory .608,. which may be synchronous RAM (SR...i.NM), dynamic RAM (DRAW., and/or synchronous dynamic RAM (SD RAM). The computer system 600 may utilize RAM 608 to store the various data structures used by a software application, .such as information received from the first and second sensors. The computer system 600 may aIso include read only .memory (ROM) 606 which may be PR'OM, EPROM, EEPROM, optical storage, or the :like. The ROM may store configuration intbrmation for booting the computer syste.m 600. The RAM 608 and the ROM 606 hold user and system data.
[0030] The computer system 600 may also include an input/output 0/0) adapter .610, a communications adapter 614, a .user interface adapter 616, and a display adapter 622. The 110 adapter 610 and/or the user interface adapter 616 rnay, iri certain embodiments, :0:Pable a user to interact with the computer system 600. In a further embodiment, the display adapter 622 may display a graphical user interface (GUI) associated with a software or web-based application on a display device 624, such as a monitor or touch. screen.
100311 The, I/0 adapter 610 may couple one or more storage devices (It12, such as.one or more of a hard drive, a flash drive, a compact disc (CD) lrive, =a. floppy disk drive, and a tape drive, to the computer system 600. The communications adapter 614 may be. adapted. to couple the computer system 600 to a networkõ Which may be one or more of a LAN. WAN, and/or the Internet. The communications adapter 614.
may also be adapted to ek.m.iple the computer system 600 to other networks such as a global positioning system (GP) or a. Bluetooth network. The user interface ad.apter couples user input -devices, such as a keyboard 620, a pointing device 618, and/or a touch Screen (not shown) to the computer System 600. The keyboard 620 may be an on-screen keyboard displayed on a touch panel.. Additional devices (not shown) such as a camera, microphone, video camera, aceelerometer compass, and or a gyroscope may be coupled to the user interfke adapter 616, The display adapter 622 may be driven by the CPU
602 to control the display on the display. device 624, 10032) The applications of the present (.1ise1osure are not limited to the architecture of computer .system 600. Rather the computer system 600 is provided as an example of one type of computing device that may be adapted to perform the fimetions of a server andlor a user interface device. For -example, any suitable processor-based device may be utilized including, without limitation, personal. data asSistants (PD,As), tablet computers, smartphonese computer µ,4aIric COTISC)les, and .mUlti-processor se.rvers, Moreover-, the systems and methods of the present disclosure ina../ be implemented on .applieation specific integrated eircuits WIC), Very :large scale integrated (VLSI) circuits, or other circuitry. In 'fact, persons of ordinary skill in the art may utilize any .number of suitable structures capable of executing logical operations according to the described ernbudiments.
[0033] If implemented in firmware and/or software, the functions described above m.ay be stored as one or more instructions or code on a .computer-readable medium. Examples .inc I tide non-transitory computer-readable -media encoded 'with a data structure and computer-readable media encoded .with a computer .program.
Computer-readable media includes physical eomputer storage media. A storage medium may be any available medium that can be accessed by a computer. 13y way of example, and not limitation,: such computer-readable media can comprise PeAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, Or any other medium that ean be used to sto.re desired program code in the form of instructioi s. or data structures and that can be accessed by a .computer, disk and disc, as used herein, includes compact disc (CD), laser diseõ..optical disc, digital .versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data maLjnetically, while disesleproduce data optically with lasers. Combinations of the abOve .should also be included NVithin the scope of computer-readable media..
[00341 In additiori to storage on computer :readable medium, instructions and/or data may be provided as signals on transmission media included in a -cornmunication apparatus. For example., a communication. apparatus .may include a transceiver having signals indicative of instructions and data. The 'instructions and data are configured to cause one or more processors to implement the functions outlined. in the claims.
[00351 Although the present disclosure and its advantages have been de.seribed in detail, it should be understood that various changes, substitution's and .alterations can be .made herein without departing -from the spirit and scope of the disclosure as. defined by the appended .claims. Moreover, the scope of the present application is not intended to be liatited to the particular embodiments of the process, machine, manufacture,. composition of matter, means, methods and steps described in the specification. As one tyf ordinary skill in the art will readily appreciate from the present filselosure, machinesõ inanufactureõ compositions of .matter, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present disclosure. Accordingly, the .appended claims are intended to include within their scope such processes, machines, manufacture, emtriQsitions of matter, means, methods,. or steps.
[0020] FIGURE 2 is a block diagram illustrating a communications system 200 for coupling two sensors on a marine drill according to one embodiment of the disclosure. A
processor 240 may receive information from a first sensor 214. such as a sensor located on a drill floor, through a communications bus 224. The processor 240 may further communicate with the first sensor 214 through a command bus 234, such as a RS-232 or RS-422 serial bus. The processor 240 may also receive information from a second sensor 212, such as a sensor located on a top block, through a communications bus 232. A
positioning data system 216, such as global positioning system (GPS) or global navigation satellite system (GNSS), may be coupled to the second sensor 212 to provide position information through a communications bus 222, such as a RS-232 or RS-422 serial, bus.
The processor 240 may receive information from the first sensor 214 and the second sensor 212 such as, for example, heave, surge, and/or sway values. The processor 240 may then calculate physical parameters based on, in part, the information received from the .first sensor 214 and the second sensor 212. The processor 240 may provide the calculated physical parameters to an external device (not shown) through a communications bus 242. According to one embodiment, a time synchronization message and pulse may be provided to the first sensor 214 and the second sensor 212 to coordinate measurement by the two sensors 212 and 214.
[0021] FIGURE 3 is a flow chart illustrating a -method for operating two sensors on a marine drill according to one embodiment of the disclosure. A method 300 begins at block 302 with receiving first information from a first sensor on a drill floor of a marine drill. The method 300 continues to block 304 to receive second information from a second sensor on a top drive of a marine drill. The method 300 the continues to block 306 to calculate a physical parameter based, in part, on the first and second information received at blocks 302 and 304, respectively. Additional details of the calculation process are presented in FIGURES 4 and 5. FIGURE 4 is a block diagram illustrating mechanization of receiving information from two sensors on a marine drill according to one embodiment of the disclosure. FIGURE 5 is a block diagram lustrating an atypical error state Kalman filter loop according to one embodiment of the disclosure 1.0022.1 According to one embodiment, the calculation at bloCk 306 may include calculatiu a high definition rate of penetration .(HDROP)õ HDROP
refers to an accurate and precise pose estimation of the top drive andlor top block. The calculation of HIDROP may use a .proportional-integral-derivative (PID) loop and/or an optimal c..stimator such as an. Ermr State K.alman Eilter (ESKF), The results of the PID loop may be compared to the ESKF for a simple single state solution of noisy heave.:
During the design and. development of the algorithm, dynamic SiintilatiOnS May be used to emulate the observables based on :known models. In another solution, calculations may start with true dynamics and then model the sensc.òr outputs and additional errors to .form new discretiz-ed data sets fed to the .optimal .estimator, The current block position calculation may be based on configurations having a draw works rotary encoder on a lac:hip, having a draw works rotary encoder on a floating .drilling platform Moater). with .passive compensation .and riser tensioners, having a draw works rotary encoder on a floater with active heave tom pensation, [00231 According to another einbodiment, the calculation at block 306 may include calculating a digital visualization of drilling level bubble. The drilling level bubble may 'be displaye.d on a scroll to pro-vide a driller andlor a rig captain a ViStlai indication of an ideal orientation fc-yr leveling, to reduce the likelihood binding of .the tubular in the rotary table, According to one embodiment, systemic errors, 'web as angular offsets, may be removed during the calculation: The calculation for a drilling level bubble may leverage inertial measurement unit (MU) data, but may be perfOrmed without an error state .Kalman filter and/or accurate time tagging.
[002.41 According to yet another embodiment, -the calculation at block 306 niay include (a..iculating an out-of-straightness tiODS.) value. The information from the two. sensors Or a Ingle sensor for a lackup) may be monitored to determine any mechanical binding of the top drive .011 the rails due to deformation -as the top drive transitions .from the rotary table to the crown. A difference in orientation along the length of the rails may be calculated based on information from the two sensors. This diffi...rence may serve as a baseline measurement to compare with .future measurements to determine if deformatiOn of the rails has occurred. An accurate instantaneOUS
posi.t.ion of the top block may be calculated for 005 monitoring from am ESICF.
[00251 According to a further embodiment,. the calculation at block 306 may include condition-based monitoring... Sensors, such as .aceelerometers, placed on machinery on a marine dr.ill may measure vibrations for that machinery.
Sensors on the top drive may measure a wide spectrum of components in the frequency doniain, ineluding IOW frequency vibrations due to Vessel motion and high frequency vibratiOns due to motor operations. By nearly simultaneously measuring vibrations at another 10CatiOn, such as the drill floor, the sensor inputs may be differentially combined to calculate the actual motion of the top drive. :By accomplishing .this, vessel motion and drill floor vibrations may be removed or reduced from the .top drive:
vibrations.
100261 Other applications for differential sensor configurations on a Marine drill .include seismic while drilling (SWD) and drill-break detection by determining bit movement andfor vibration returns, and fine motion control on the marine drill. The use of differential inertial sensors as described above improve the aecuracy of measurements fro.m a .marine drill and improve the operation of the marine drill, For example, vhen differential sensors are placed on the top block and the drilling floor, measurements may be taken from the sensors .and used to calculate a variety of physical parameters used in monitorinci. or operating the marine drill.
100271 One application for a differential Sen SO r contigura.tion on a marine drill include precision motion control. Once an act tirate sp.rttiai. location of the bl 0 C k and the block's dynarnics are knovai fine motion control applications may be implemented.
This provides more .accurate dynamic inforMation than what is inferred by the rotar:y.' -encoder, 100281 FIGURE 6 illustrates a computer system 600 adapted acCording to certain embodiments. AS. a 'server and/or a user interface device for procesSing -andlor displaying data frorn the differential senSors of FIGURE I and FlOURI: 2. The central 1ìrocessin2; unit ("CPU") 602 is coupled to the. system has 604, The CPU 602 may be a general purpose CPU or microprocessor,. graphics processing unit ("GPIY'.) and/or microeontroller. The present embodiments are not restricted by .the architecture of the CPU 602 so long as the CPU 602, %,t,hether directly or indirectly, supports -the modules and operations as described herein. The CPU 602 may execute the various logical instructions according to the present embodiments, such as the method illustrated in FIGURE 3.
100291 The computer system 600 also may litchi:de random access memory .608,. which may be synchronous RAM (SR...i.NM), dynamic RAM (DRAW., and/or synchronous dynamic RAM (SD RAM). The computer system 600 may utilize RAM 608 to store the various data structures used by a software application, .such as information received from the first and second sensors. The computer system 600 may aIso include read only .memory (ROM) 606 which may be PR'OM, EPROM, EEPROM, optical storage, or the :like. The ROM may store configuration intbrmation for booting the computer syste.m 600. The RAM 608 and the ROM 606 hold user and system data.
[0030] The computer system 600 may also include an input/output 0/0) adapter .610, a communications adapter 614, a .user interface adapter 616, and a display adapter 622. The 110 adapter 610 and/or the user interface adapter 616 rnay, iri certain embodiments, :0:Pable a user to interact with the computer system 600. In a further embodiment, the display adapter 622 may display a graphical user interface (GUI) associated with a software or web-based application on a display device 624, such as a monitor or touch. screen.
100311 The, I/0 adapter 610 may couple one or more storage devices (It12, such as.one or more of a hard drive, a flash drive, a compact disc (CD) lrive, =a. floppy disk drive, and a tape drive, to the computer system 600. The communications adapter 614 may be. adapted. to couple the computer system 600 to a networkõ Which may be one or more of a LAN. WAN, and/or the Internet. The communications adapter 614.
may also be adapted to ek.m.iple the computer system 600 to other networks such as a global positioning system (GP) or a. Bluetooth network. The user interface ad.apter couples user input -devices, such as a keyboard 620, a pointing device 618, and/or a touch Screen (not shown) to the computer System 600. The keyboard 620 may be an on-screen keyboard displayed on a touch panel.. Additional devices (not shown) such as a camera, microphone, video camera, aceelerometer compass, and or a gyroscope may be coupled to the user interfke adapter 616, The display adapter 622 may be driven by the CPU
602 to control the display on the display. device 624, 10032) The applications of the present (.1ise1osure are not limited to the architecture of computer .system 600. Rather the computer system 600 is provided as an example of one type of computing device that may be adapted to perform the fimetions of a server andlor a user interface device. For -example, any suitable processor-based device may be utilized including, without limitation, personal. data asSistants (PD,As), tablet computers, smartphonese computer µ,4aIric COTISC)les, and .mUlti-processor se.rvers, Moreover-, the systems and methods of the present disclosure ina../ be implemented on .applieation specific integrated eircuits WIC), Very :large scale integrated (VLSI) circuits, or other circuitry. In 'fact, persons of ordinary skill in the art may utilize any .number of suitable structures capable of executing logical operations according to the described ernbudiments.
[0033] If implemented in firmware and/or software, the functions described above m.ay be stored as one or more instructions or code on a .computer-readable medium. Examples .inc I tide non-transitory computer-readable -media encoded 'with a data structure and computer-readable media encoded .with a computer .program.
Computer-readable media includes physical eomputer storage media. A storage medium may be any available medium that can be accessed by a computer. 13y way of example, and not limitation,: such computer-readable media can comprise PeAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, Or any other medium that ean be used to sto.re desired program code in the form of instructioi s. or data structures and that can be accessed by a .computer, disk and disc, as used herein, includes compact disc (CD), laser diseõ..optical disc, digital .versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data maLjnetically, while disesleproduce data optically with lasers. Combinations of the abOve .should also be included NVithin the scope of computer-readable media..
[00341 In additiori to storage on computer :readable medium, instructions and/or data may be provided as signals on transmission media included in a -cornmunication apparatus. For example., a communication. apparatus .may include a transceiver having signals indicative of instructions and data. The 'instructions and data are configured to cause one or more processors to implement the functions outlined. in the claims.
[00351 Although the present disclosure and its advantages have been de.seribed in detail, it should be understood that various changes, substitution's and .alterations can be .made herein without departing -from the spirit and scope of the disclosure as. defined by the appended .claims. Moreover, the scope of the present application is not intended to be liatited to the particular embodiments of the process, machine, manufacture,. composition of matter, means, methods and steps described in the specification. As one tyf ordinary skill in the art will readily appreciate from the present filselosure, machinesõ inanufactureõ compositions of .matter, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present disclosure. Accordingly, the .appended claims are intended to include within their scope such processes, machines, manufacture, emtriQsitions of matter, means, methods,. or steps.
Claims (18)
1. A method, comprising:
receiving first information from a first sensor located on a drill floor of a marine drill;
receiving second information from a second sensor located on a top drive of the marine drill;
generating a time synchronization pulse to co-ordinate receiving the first information from the first sensor and receiving the second information from the second sensor; and calculating a physical parameter based, in part, on the co-ordinated first information received from the first sensor and the second information received from the second sensor.
receiving first information from a first sensor located on a drill floor of a marine drill;
receiving second information from a second sensor located on a top drive of the marine drill;
generating a time synchronization pulse to co-ordinate receiving the first information from the first sensor and receiving the second information from the second sensor; and calculating a physical parameter based, in part, on the co-ordinated first information received from the first sensor and the second information received from the second sensor.
2. The method of claim 1, in which the marine drill is a mobile offshore drilling unit.
3. The method of claim 1, in which the step of calculating comprises calculating a rate of penetration for the marine drill.
4. The method of claim 1, in which the step of calculating comprises calculating a drilling level bubble for the marine drill.
5. The method of claim 1, in which the step of calculating comprises calculating an out-of-straightness value for the marine drill.
6. The method of claim 1, in which the step of calculating comprises calculating vibration motion for the marine drill.
7. The method of claim 1, in which the step of calculating comprises calculating a spatial location and dynamics of a block of the marine drill.
8. A computer program product, comprising:
a non-transitory computer readable medium comprising:
code to receive first information from a first sensor located on a drill floor of a marine drill;
code to receive second information from a second sensor located on a top drive of the marine drill;
code to generate a time synchronization pulse to co-ordinate receiving the first information from the first sensor and receiving the second information from the second sensor; and code to calculate a physical parameter based, in part, on the first information received from the first sensor and the second information received from the second sensor.
a non-transitory computer readable medium comprising:
code to receive first information from a first sensor located on a drill floor of a marine drill;
code to receive second information from a second sensor located on a top drive of the marine drill;
code to generate a time synchronization pulse to co-ordinate receiving the first information from the first sensor and receiving the second information from the second sensor; and code to calculate a physical parameter based, in part, on the first information received from the first sensor and the second information received from the second sensor.
9. The computer program product of claim 9, in which the medium further comprises code to calculate a rate of penetration for the marine drill.
10. The computer program product of claim 9, in which the medium further comprises code to calculate a drilling level bubble for the marine drill.
11. The computer program product of claim 9, in which the medium further comprises code to calculate an out-of-straightness value for the marine drill.
12. The computer program product of claim 9, in which the medium further comprises code to calculate vibration motion for the marine drill.
13. The computer program product of claim 9, in which the medium further comprises code to calculate a spatial location and dynamics of a block of the marine drill.
14. An apparatus, comprising:
a first sensor located on a drill floor of a marine drill;
a second sensor located on a top drive of the marine drill, in which the first sensor and the second sensor are set-up in a differential configuration; and at least one processor coupled to the first sensor and the second sensor, in which the at least one processor is configured to:
generate a time synchronization pulse to co-ordinate receiving first information from the first sensor and receiving second information from the second sensor; and calculate a physical parameter based, in part, on the first information received from the first sensor and the second information received from the second sensor.
a first sensor located on a drill floor of a marine drill;
a second sensor located on a top drive of the marine drill, in which the first sensor and the second sensor are set-up in a differential configuration; and at least one processor coupled to the first sensor and the second sensor, in which the at least one processor is configured to:
generate a time synchronization pulse to co-ordinate receiving first information from the first sensor and receiving second information from the second sensor; and calculate a physical parameter based, in part, on the first information received from the first sensor and the second information received from the second sensor.
15. The apparatus of claim 16, in which the processor is further configured to calculate a rate of penetration for the marine drill.
16. The apparatus of claim 16, in which the processor is further configured to calculate a drilling level bubble for the marine drill.
17. The apparatus of claim 16, in which the processor is further configured to calculate an out-of-straightness value for the marine drill.
18. The apparatus of claim 16, in which the marine drill is a mobile offshore drilling unit.
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| PCT/IB2013/000763 WO2013121299A2 (en) | 2012-01-23 | 2013-01-17 | High definition drilling rate of penetration for marine drilling |
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| US9783199B2 (en) * | 2015-03-12 | 2017-10-10 | Transocean Sedco Forex Ventures Limited | Dynamic positioning (DP) drive-off (DO) mitigation with inertial navigation system |
| CN106351648B (en) * | 2016-09-13 | 2023-10-31 | 中国石油天然气集团公司 | Device and method for monitoring deep water drilling pipe while drilling |
| KR20190048101A (en) | 2017-10-30 | 2019-05-09 | (주)일흥 | Welding guide system for monitoring |
| CN109820879A (en) * | 2018-11-14 | 2019-05-31 | 永腾生技有限公司 | Antrodia camphorata extract, the preparation method of Antrodia camphorata composition and medical composition |
| KR102294384B1 (en) * | 2020-12-31 | 2021-08-26 | 동아대학교 산학협력단 | Method for constructing drilling driving guide model to predict drilling rate using machine learning and system for predicting drilling rate using thereof |
| CN113236233B (en) * | 2021-03-25 | 2022-10-14 | 西南石油大学 | Displacement measuring device for drilling traction robot |
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| EP2807333B1 (en) | 2016-11-02 |
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