DK2785969T3

DK2785969T3 - Automated drilling system

Info

Publication number: DK2785969T3
Application number: DK12809890.2T
Authority: DK
Inventors: Tony Pink; David Reid; Andrew Bruce
Original assignee: Nat Oilwell Varco Lp
Priority date: 2011-12-01
Filing date: 2012-11-30
Publication date: 2017-09-18
Also published as: EP2785969B1; BR112014013265A2; BR112014013265B1; WO2013082498A2; CA2857650A1; CA2857650C; EP2785969A2; WO2013082498A3

Description

DESCRIPTION

BACKGROUND

[0001] This disclosure relates generally to methods and apparatus for automating drilling processes. More specifically, this disclosure relates to methods and apparatus for automating drilling processes utilizing input data from an external surface drilling rig interface with drilling machinery from a third party source as well as interacting with third party information downhole to facilitate a single closed loop control of a plurality of drilling parameters within the drilling system using a networked control system that can be customized based on the equipment being utilized and the processes being performed to have the user drive all the machinery drilling the well in an automated fashion with the users downhole sensing devices.

[0002] To recover hydrocarbons from subterranean formations, wells are generally constructed by drilling into the formation using a rotating drill bit attached to a drill string. A fluid, commonly known as drilling mud, is circulated down through the drill string to lubricate the drill bit and carry cuttings out of the well as the fluid returns to the surface. The particular methods and equipment used to construct a particular well can vary extensively based on the environment and formation in which the well is being drilled. Many different types of equipment and systems are used in the construction of wells including, but not limited to, rotating equipment for rotating the drill bit, hoisting equipment for lifting the drill string, pipe handling systems for handling tubulars used in construction of the well, including the pipe that makes up the drill string, pressure control equipment for controlling wellbore pressure, mud pumps and mud cleaning equipment for handling the drilling mud, directional drilling systems, and various downhole tools.

[0003] The overall efficiency of constructing a well generally depends on all of these systems operating together efficiently and in concert with the requirements in the well to effectively drill any given formation. One issue faced in the construction of wells is that maximizing the efficiency of one system can have undesirable effects on other systems. For example, increasing the weight acting on the drill bit, known as weight on bit (WOB), can often result in an increased rate of penetration (ROP) and faster drilling but can also decrease the life of the drill bit, which can increase drilling time due to having to more frequently replace the drill bit. Therefore, the performance of each system being used in constructing a well must be considered as part of the entire system in order to safely and efficiently construct the well.

[0004] Many conventional automated drilling systems are "closed loop" systems that attempt to improve the drilling process by sensing a limited number of conditions and adjusting system performance, manually or automatically, based upon the sensed conditions. Often these closed loop systems don't have the ability to monitor or consider the performance of all of the other systems being used or adjust the performance of multiple systems simultaneously. It is therefore left to human intervention to ensure that the entire system operates efficiently/satisfactorily.

[0005] Relying on human intervention can become complicated due to the fact that multiple parties are often involved in well construction. For example, constructing a single well will often involve the owner of the well, a drilling contractor tasked with drilling well, and a multitude of other companies that provide specialized tools and services for the construction of the well. Because of the significant coordination and cooperation that is required to integrate multiple systems from multiple companies, significant human intervention is required for efficient operation. Integrating multiple systems and companies becomes increasingly problematic as drilling processes advance in complexity. W02010/101473 discloses a system which operates by automatically determining safe operating limits.

[0006] W02010/101473 discloses a method of imposing a safeguard during well drilling, wherein performance process control parameters are controlled through machine controllers, a driller drilling the well by controlling said process control parameters through said machine controllers with driller instructions, and wherein process values are measured and input to a safeguard calculation unit which then calculates safeguard limits for process control parameters, derived from process limits, such that at least some of said safeguard limits constitute boundary values of performance process parameter related safeguard envelopes, characterized in restricting controller output to remain within said safeguard envelopes, as said controllers are adapted to keep said controller output within said safeguard envelopes, thereby preventing driller instructions from resulting in performance process parameters beyond said safeguard envelopes; wherein said safeguard calculation unit comprises continuously calibrated drilling process models which enable calculation of safeguard limits for said performance process control parameters, the calculation being based on at least one of wellbore pressure limits, wellbore stability limits and mechanical tubing limits as constraints, as well as current process values, and wherein said safeguard calculations are performed by iterative calculations until the safeguard limits converge.

[0007] Thus, there is a continuing need in the art for methods and apparatus for automating drilling processes that overcome these and other limitations of the prior art.

BRIEF SUMMARY OF THE DISCLOSURE

[0008] One embodiment of the disclosure provides a drilling system having a drilling parameter sensor in communication with a sensor application that generates processed data from raw data that is received from the drilling parameter sensor. A process application is in communication with the sensor application and generates an instruction based on the processed data. A priority controller is in communication with the process application and evaluates the instruction for release to an equipment controller that then issues the instruction to one or more drilling components.

[0009] According to a first aspect of the present invention therefore there is provided a drilling system comprising: a plurality of drilling parameter sensors; a plurality of sensor applications in communication with the drilling parameter sensors and operable to generate processed data from raw data received from the drilling parameter sensors; a priority controller operable to evaluate and selectively release the operating instructions; and an equipment controller in communication with the priority controller and operable to receive operating instructions from the priority controller and issue the instructions to one or more drilling components when the instruction is released by the priority controller (30) and characterized by a plurality of process applications in communication with the sensor applications and operable to generate operating instructions based on the processed data generated by the sensor applications, the priority controller being operable to evaluate a plurality of instructions issued by the plurality of process applications.

According to a second aspect of the invention there is provided a method of controlling a drilling process comprising: collecting data using a plurality of drilling parameter sensors; transmitting the data to a control system including a plurality of sensor applications and process applications; processing the data using the sensor application to provide a representation of a drilling parameter; generating an instruction by analyzing the representation of a drilling condition using the process applications; evaluating the instruction with a priority controller to determine if the instruction can be released; and transmitting the instruction to one or more drilling components when the instruction is released by the priority controller and characterized by a plurality of process applications in communication with the sensor applications and operable to generate operating instructions based on the processed data generated by the sensor applications, the priority controller being operable to evaluate a plurality of instructions issued by the plurality of process applications.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] For a more detailed description of the embodiments of the present disclosure, reference will now be made to the accompanying drawings.

Figure 1 is a simplified diagram of an automatic drilling system.

Figure 2 is a simplified schematic diagram of a drill string used as part of an automatic drilling system.

Figure 3 is a simplified diagram of a control system for an automatic drilling system.

DETAILED DESCRIPTION

[0011] It is to be understood that the following disclosure describes several exemplary embodiments for implementing different features, structures, or functions of the invention. Exemplary embodiments of components, arrangements, and configurations are described below to simplify the present disclosure; however, these exemplary embodiments are provided merely as examples and are not intended to limit the scope of the invention. Additionally, the present disclosure may repeat reference numerals and/or letters in the various exemplary embodiments and across the Figures provided herein. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various exemplary embodiments and/or configurations discussed in the various Figures. Moreover, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed interposing the first and second features, such that the first and second features may not be in direct contact. Finally, the exemplary embodiments presented below may be combined in any combination of ways, i.e., any element from one exemplary embodiment may be used in any other exemplary embodiment, without departing from the scope of the disclosure.

[0012] Additionally, certain terms are used throughout the following description and claims to refer to particular components. As one skilled in the art will appreciate, various entities may refer to the same component by different names, and as such, the naming convention for the elements described herein is not intended to limit the scope of the invention, unless otherwise specifically defined herein. Further, the naming convention used herein is not intended to distinguish between components that differ in name but not function. Additionally, in the following discussion and in the claims, the terms "including" and "comprising" are used in an open-ended fashion, and thus should be interpreted to mean "including, but not limited to." All numerical values in this disclosure may be exact or approximate values unless otherwise specifically stated. Accordingly, various embodiments of the disclosure may deviate from the numbers, values, and ranges disclosed herein without departing from the intended scope.

Furthermore, as it is used in the claims or specification, the term "or" is intended to encompass both exclusive and inclusive cases, i.e., "A or B" is intended to be synonymous with "at least one of A and B," unless otherwise expressly specified herein. For the purposes of this application, the term "real-time" means without significant delay.

[0013] Referring initially to Figure 1, automated drilling system 10 can include a drilling parameter sensor 12 that is in bidirectional communication with a control system 14 via a highspeed communication system 16 that can be capable of real-time, or near real-time communication. The drilling parameter sensor 12 can be any sensor operable to sense at least one drilling parameter and provide raw data regarding the drilling parameter to the control system 14. The drilling parameter sensor 12 may also be configured to receive operating instructions from the control system 14.

[0014] The drilling parameter sensor 12 can be mounted to any location necessary to sense the drilling parameter being monitored. For example, drilling parameter sensor 12 may be a downhole sensor or a rig-mounted sensor. A downhole drilling parameter sensor 12 may be disposed at the bottom hole assembly (BHA) or at any location along a drillstring and may include sensors for measuring downhole drilling parameters including, but not limited to, WOB, torque, revolutions per minute (RPM), temperature, vibration, acceleration, pressure, formation characterization, borehole condition, and drilling fluid condition. A rig-mounted drilling parameter sensor 12 may be configured to monitor a component of the drilling system, including, but not limited to, top drives, draw works, pipe handling equipment, pressure control equipment, mud cleaning equipment, pumps, blow out preventers, iron roughnecks, pipe rackers, centrifuges, shakers, heave compensators, dynamic positioning systems, accumulators, and valves, to measure one or more drilling parameters including, but not limited to, WOB, torque, revolutions per minute (RPM), temperature, vibration, acceleration, and pressure.

[0015] The control system 14 can also be in bidirectional communication with the drilling components 18 via a networked (wired or wireless is not specifically relevant) communication system. The control system 14 can provide operating instructions to the drilling components 18 in response to drilling parameters sensed by the drilling parameter sensors 12. The drilling components 18 can include, but are not limited to, top drives, draw works, pipe handling equipment, pressure control equipment, mud cleaning equipment, pumps, blowout preventers, iron roughnecks, pipe rackers, centrifuges, shakers, heave compensators, dynamic positioning systems, accumulators, and valves. The drilling components 18 can include one or more sensors that can monitor the performance of the equipment and provide feedback of the performance of the equipment to the control system 14.

[0016] The sensor application 22 and process application 24 can be in bidirectional communication with the control system 14. The sensor application 22 and the process application 24 are operable to work with the control system 14 to process data received from the drilling parameter sensor 12, and other sensors, and provide operating instructions to one or more drilling component 18. In this manner, automated drilling system 10 allows the drilling process to be controlled and executed as well as adjusted and adapted using verification or command data collected by the drilling parameter sensor 12 or third party system.

[0017] In operation, the raw data collected by the drilling parameter sensor 12 is relayed by the communication system 16 to the control system 14. This data then enters the control system 14 where it is prioritized and distributed to one or more sensor applications 22. The data from a single drilling parameter sensor 12 may be provided to one or more sensor applications 22. Likewise, a single sensor application 22 may receive data from one or more drilling parameter sensors 12. The sensor application 22 can process the data received by the drilling parameter sensor 12, or by other sensors, and communicate the processed data back to the control system 14.

[0018] The control system 14 prioritizes and distributes the processed data to one or more process applications 24. The processed data can be received by one or more process applications 24 that can generate an instruction to modify an operating parameter of one or more drilling components 18. The process applications 24 receive data, including, but not limited to, data processed by the sensor applications 22, and analyze that data in order to evaluate the performance of the drilling components and issue instructions to modify the operating parameters of one or more drilling components 18 as needed. For example, a process application 24 can be configured to provide instructions to the drilling components 18 to manage surface WOB, torque, and RPM in response to downhole WOB, downhole torque and downhole vibration data collected by the drilling parameter sensor 12. Other process applications 24 can include, but are not limited to applications for managing control hole cleaning, equivalent circulating density (ECD) management, managed pressure drilling (MPD), kick detection, directional drilling, and drilling efficiency.

[0019] The control station 20 can be in bidirectional communication with the control system 14 and provide a user interface that can be accessed by an operator on the rig or in a remote location. The control station 20 provides a location for providing manual input to the control system 14 and for manual override of the control system 14 if needed. The control station 20 can provide visual representation of the operation of the system including the status of one or more drilling components 18 and a real-time representation of data received from the drilling parameter sensors 12.

[0020] Automated drilling system 10 provides a customizable, open concept control system where customized sensor applications 22 and/or process applications 24 allow the drilling process to be tailored to meet the specific needs of drilling contractors and rig operators. Automated drilling system 10 allows a plurality of sensor applications 22 and/or process applications 24 to be developed and selectively integrated into the control system 14 as needed. This enables the automated drilling system 10 to be easily adapted for a variety of implementations.

[0021] Referring now to Figure 2, an exemplary BHA40 can include a bit 42, a drive system 44, a sensor module 46, and a communication sub 48. The BHA 40 can be coupled to the rotating system, 52, or other surface equipment, via drill pipe 50. The bit 42, the drive system 44, the sensor module 46, and the drill pipe 50 can each include one or more drilling parameter sensors 12 to measure a selected drilling parameter, including, but not limited to, WOB, torque, RPM, temperature, vibration, acceleration, and pressure.

[0022] The drilling parameter sensors 12 can be in bidirectional communication with the communication sub 48 via a wired or wireless connection. The communication sub 48 can be operable to receive data collected from each of the drilling parameter sensors 12 and transmit the data to the surface via communication system 16. The communications sub 48 can also be operable to receive control signals and other signals from the surface and relay those signals to one or more sensors 12 or other tools within the BHA40.

[0023] The communication system 16 can be any system suitable for the transmission of data and other signals between the BHA 40 to the surface at relatively high rates of speed. In certain embodiments, the communication system 16 supports continuous, real-time communication between the BHA 40 and the surface. Suitable communication systems 16 can utilize communication methods that include, but are not limited to, electric signals along wired drill pipe, mud-pulse telemetry, fiber optics, wireless signals, acoustic signals, and electromagnetic signals.

[0024] The data transmitted from the BHA 40 can be received at the surface by surface communications link 54. The surface communications link 54 may be integrated into a component such as a swivel, internal blow out preventer (IBOP), or into an instrumented saver sub coupled to the drill string. The surface communications link 54 can be configured to transmit data to the communication controller 56 via a wired or wireless link 58. The communication controller 56 can be coupled to the control system 14 and operable to manage the flow of data between the control system 14 and the surface communications link 54. The communications controller 56 can also be in bidirectional communication with other sensors located at the surface, including sensors mounted on drilling components 18.

[0025] Referring now to Figure 3, the control system 14 can include an internal communication bus 26, a network interface 28, a priority controller 30, data storage 32, a simulator interface 34, and a hardware controller 36. The internal communication bus 26 can also be in bidirectional communication with one or more sensor applications 22, one or more process applications 24, a control station 20, and communication controller 56. The network interface 28 can also be in bidirectional communication with external sources and users of information so that drilling operations and rig performance can be remotely monitored and controlled.

[0026] In operation, raw data from drilling parameter sensors 12, and other sources, is received by internal communication bus 26 via communication controller 56. The internal communication bus 26 sends the data to the network interface 28. The network interface 28 receives raw data from the plurality of drilling parameter sensors 12, other sensors, and from external sources, such as offsite engineering or technical experts. The network interface 28 categorizes and sorts this data and then distributes the data back through the internal communication bus 26 to the sensor applications 22 and/or process applications 24 that can process that data.

[0027] In order to provide flexibility and support the use of the control system 14 with a variety of drilling and completion operations, the control system 14 can be configured with customized sensor applications 22 and process applications 24 as needed for the particular operation. This allows control system 14 to be easily customized for use with specific drilling parameter sensors and the equipment available on a specific rig. If the rig equipment or drilling parameter sensors are changed, the corresponding applications on the control system 14 can also be changed without having to reprogram the entire control system.

[0028] The sensor application 22 can be operable to receive raw data from one or more drilling parameter sensors 12, or other sensors, and generate processed data. The sensor application 22 can be operable to generate processed data representing downhole conditions including, but not limited to, WOB, torque, RPM, temperature, vibration, acceleration, and pressure. The processed data is then transmitted by internal communication bus 26 to the process applications 24 that can utilize the processed data to generate an instruction.

[0029] The processed data can be received by one or more process applications 24 that can generate an instruction that may modify an operating parameter of one or more drilling components 18, display a status of the drilling operation, or cause another function to be performed. The process applications 24 receive data, including, but not limited to, data processed by the sensor applications 22, and analyze that data in order to evaluate the performance of the drilling components and issue instructions to modify the operating parameters of one or more drilling components 18 as needed. For example, a process application 24 can be configured to provide instructions to the drilling components 18 to manage surface WOB, torque, and RPM in response to downhole WOB, downhole torque and downhole vibration data collected by a drilling parameter sensor 12. Other process applications 24 can include, but are not limited to applications for managing control hole cleaning, equivalent circulating density (ECD) management, managed pressure drilling (MPD), kick detection, directional drilling, and drilling efficiency.

[0030] Multiple sensor applications 22 and process applications 24 can simultaneously be in bidirectional communication with the control system 14. As described above, the sensor applications 22 and/or the process applications 24 can analyze and/or process collected data to generate an answer, which can include an instruction, measurement, operating condition, data point, or other information. Instructions generated by the process applications are then transmitted to the priority controller 30.

[0031] The priority controller 30 monitors the performance of the entire drilling process and determines if the instructions generated by the process applications 24 can be implemented. For example, if a process application 24 generates an instruction for a drilling component to perform a certain function, the priority controller 30 determines if that function can be safely performed. Once an instruction has been cleared by the priority controller 30, that answer released by the priority controller 30 and can be sent to the hardware controller 36 or other component of the control system. The needs of the drilling operation will be given priority after the system has assessed priority, solely as an example a priority plan could be listed as follows: (1) safety considerations as defined by on site conditions; (2) machine limitations (could be assessed based on work yet to be done before maintenance is to be performed and available materials to maintain) as may be defined by equipment suppliers and supply chain; (3) well restrictions to avoid collapse or fracture as may be defined by the geologist and verified by defined on site personnel; (4) formation target accuracy as may be defined by the directional driller; (5) rate of penetration as may be defined by the company man; and (6) quality of well as may be defined by the petrophysicist.

[0032] Once the instruction has been released by the priority controller 30, it can be routed to one or more of the hardware controller 36, simulator interface 34, data storage 32, or other system components. The hardware controller 36, which can include one or more primary logic controllers and/or single board controllers, can provide operating instructions to one or more drilling components 18. Data storage 32 can store both raw and processed data as well as any instructions sent to the drilling components 18. The simulator interface 34 may receive all the instructions that hardware controller 36 sends to the drilling components 18 so that those instructions can be provided to a drilling simulator that can replicate the instructions and predict the outcome of the operation.

[0033] In one embodiment, a sensor application 22 can monitor one or more drilling parameter sensors 12 to compute a mechanical specific energy (MSE) and ROP. This data can be transmitted to a process application 24 that can vary one or more drilling parameters including, but not limited to, surface WOB, surface torque, and mud motor pressure. The process application 24 then can continue to receive information from the sensor application and adjust the drilling parameters in order to optimize the drilling process as desired by either minimizing MSE or maximizing ROP. Other sensor applications 22 can provide real time downhole measurements of downhole WOB, downhole torque, and downhole RPM that the process application 24 can use to optimize the drilling process.

[0034] In another embodiment, a sensor application 22 can receive data from one or more drilling parameter sensors 12 to determine downhole vibrations, oscillations, stick-slip movement, or other dynamic movement in the drill string that can reduce the efficiency of the drilling process. The processed data can be sent to a process application 24 that will vary drilling parameters including, but not limited to, surface RPM and surface WOB, in order to reduce any undesired movements.

[0035] In yet another embodiment, a process application 24 may be a pump pressure management application that utilizes processed data generated by one or more sensor applications 22 that acquire raw data from drilling parameter sensors monitoring downhole pressure, pump pressure, annulus pressure, and other wellbore pressures. The pump pressure management application can control the fluid pressure being pumped into the wellbore, by varying pump pressure, and then monitor the pressure returning to the surface to evaluate a variety of drilling conditions including, but not limited to, kick detection, hole cleaning, wellbore stability, and other flow issues.

REFERENCES CITED IN THE DESCRIPTION

This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

Patent documents cited in the description • wo?n 1 n 1 η 1473A rooosi Γ0.006Ι

Claims

A drilling system comprising: several drill parameter sensors (12); several sensor applications (22) which communicate with the drill parameter sensors (12) and are adapted to generate processed data from raw data received from the drill parameter sensors (12); a priority control (30) adapted to evaluate and selectively release operating instructions; and an equipment controller (36) which communicates with the priority controller and which is adapted to receive operating instructions from the priority controller and deliver the instructions to one or more drill components when the instruction is released by the priority controller (30) and characterized by several process applications (24) which communicates with the sensor applications (22) and is adapted to generate operating instructions based on the processed data generated by the sensor applications (22), the priority control (30) being adapted to evaluate several instructions issued by the several process applications (24).

The system of claim 1, further comprising a control station (20) connected to the equipment controller (36) and arranged to display the status of one or more drilling components.

The system of claim 1 or 2, further comprising a network interface (28) adapted to control data transmission between the drill parameter sensors (12), the process applications (24), and the sensor applications (22).

The system of claim 3, further comprising a data store (32) connected to the network interface (28).

The system of any one of claims 1 to 4, further comprising a simulator interface (34) adapted to receive instructions from the priority controller.

A system according to any one of the preceding claims and comprising a bottom hole arrangement (BHA) (40) wherein a borehole sensor (12) is located at the bottom hole arrangement (40).

A system according to any one of the preceding claims and wherein the system further comprises a bit (42), a drive system (44), a sensor module (46) and a drill pipe (50), each of which may comprise one or more drill parameter sensors (12). for measuring a selected drilling parameter, including, but not limited to, weight per bit (WOB), torque, rpm. minute (RPM), temperature, vibration, acceleration and pressure.

A system according to any one of the preceding claims and wherein the several drill parameter sensors (12) comprise at least one drill rig mounted sensor and are configured to monitor such equipment as top drives, traction systems, pipe handling equipment, pressure control equipment, mud cleaning equipment, pumps, blowout preventers, iron roughnecks, pipe stands, centrifuges, shakers, sea-going compensators, dynamic positioning systems, accumulators and valves.

A method of controlling a drilling process comprising: collecting data using several drill parameter sensors (12); transmitting the data to a control system comprising several sensor applications (22) and process applications (24); processing the data using the sensor application (22) to provide a representation of a drilling parameter; generating an instruction by analyzing the representation of a drill state using the process applications (24); evaluating the instruction with a priority control (30) for determining whether the instruction can be released; and transmitting the instruction to one or more drill components when the instruction is released by the priority controller (30) and characterized in that several process applications (24) which communicate with the sensor applications (22) and which are adapted to generate operating instructions based on the processed data, which is generated by the sensor applications (22), the priority control (30) being adapted to evaluate several instructions issued by the several process applications (24).

The method of claim 9, further comprising transmitting additional data to the control system from a network interface (28).

The method of claim 9 or 10, further comprising connecting data store (32) to the network interface.

The method of any one of claims 9 to 11, further comprising transmitting the instruction to a simulator interface (34).

A method according to any one of claims 9 to 12, further comprising displaying a status of one or more drilling components at a control station (20).

A method according to any of claims 9 to 13, comprising a bit system (42), a drive system (44), a sensor module (46) and a drill pipe (50), wherein the several drill parameter sensors (12) comprise several drill hole sensors and at least one drill rig mounted sensor; and wherein the bit (42), drive system (44), sensor module (46) and drill pipe (50) may each comprise one or more drill parameter sensors (12) for measuring a selected drilling parameter, including, but not limited to, weight of bit ( WOB), torque, rpm. minute (RPM), temperature, vibration, acceleration and pressure, and at least one drill rig-mounted sensor is configured to monitor such equipment as top drives, traction systems, pipe handling equipment, pressure control equipment, dredging equipment, pumps, blow out preventers, iron roughnecks, pipe racks, centrifuges , shakers, sea-going compensators, dynamic positioning systems, accumulators and valves.