Classifications

• • 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
  • E21B47/02—Determining slope or direction
  • E21B47/024—Determining slope or direction of devices in the borehole
• • 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
  • E21B7/04—Directional drilling
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means

Definitions

• the invention relates to a method for monitoring, during a drilling in the ground of a gallery of small section, the progress of a steerable drilling head, according to which one creates in the ground, around at least part of a trajectory to be followed by the drilling head, at least two different magnetic fields, and where for each of the magnetic fields created a current induced by this magnetic field created in a coil associated with the drilling head is taken, and each time the amplitude of the current induced by the magnetic field created is measured.
• magnetic fields are created in the ground by placing above the trajectory which the drilling head must follow two loops, one of which generates a magnetic field of the dipole type while the other generates a magnetic field of the quadrupole type.
• the two magnetic fields are created alternately over time, thus forming magnetic fields which differ in time, frequency and also in their geometry.
• the drilling head is equipped with a set of coils, in the present case three coils which are arranged perpendicular to one another, and which are fixed to the drilling head. When the drill head turns in the ground, the magnetic fields will induce an electric current in the coils.
• the position in the ground of the drilling head can then be deduced on the basis of the current induced in the three coils, inter alia on the basis of the amplitude of the current induced by each field in each coil.
• a disadvantage of the known method is that a fairly complex calculation is required to determine the position of the head of drilling in the ground.
• the use of a set of three coils requires fairly complex technical means for carrying out the known method, in addition it requires the use of a fourth coil, serving as a reference coil.
• the invention aims to remedy these drawbacks by presenting a simpler method.
• the method is characterized in that the phase difference between two currents induced at approximately the same place in the coil by two different magnetic fields is determined, the position of the drilling head being each time deduced by combining said amplitude measurement and said phase difference.
• a coil is sufficient and, moreover, the phase difference can easily be determined by simple measurement of the current without having to use a reference coil.
• the amplitude ratio between two currents induced at approximately the same place in the coil by two different magnetic fields is determined.
• the fluctuations on the absolute value must not be taken into account and the measurements are less sensitive to the particular composition of the soil in which the drilling is applied.
• the time difference between the moments when the two currents have an intensity equal to zero is measured. This makes it possible to easily determine said phase difference.
• two magnetic fields are created from two loops arranged one next to the other which are substantially parallel to one another and to the path as well as 'at a predetermined distance from each other.
• an alternating current is passed through the loops, which current has a frequency of at least 1 KHz. So disturbances due to the environment do not interfere with the measurements made.
• a set of setpoint positions is determined and for each determined position, the latter position is compared to the position of setpoint assigned to the instantaneous progression of the drilling head and, in the case where the determined position does not correspond to said setpoint position, the drilling head is redirected so that it reaches the setpoint position. This allows at all times to correct the course of the drilling head.
• the invention also relates to a device for implementing the method according to the invention.
• Figure 1 is a schematic plan view illus ⁇ trant the method according to the invention and the drilling device provided with means which, on the one hand, create the aforementioned magnetic field in the drilling area and, on the other hand , provide information to redirect the drill head if necessary.
• FIG. 2 is a view, in elevation and in section, of the sensor associated with the drilling head.
• FIGS 3 and * schematically represent the magnetic fields created in the ground.
• FIG. 5 is a graph representing two sinusoids, each of which represents an induced current in the coil for a determined position of the drilling head.
• Figure 6 is a view, schematic and in section in the ground, illustrating the method according to the invention.
• Figure - 7 is a schematic view of a drill head having an oblique face.
• Figure 8 is a diagram of a data processing device forming part of the drilling device according to the invention.
• FIG. 9 is a flow diagram representing an example of a program for managing the method according to the invention.
• Figure 10 is a flowchart showing an example of a program for reorienting the drill head.
• Figure lia resp. ilb illustrates the relationship between the depth in the ground and the phase difference resp. the amplitude ratio of the measured currents.
• these values are then transformed into at least one position coordinate of the drilling head 3 and, if the head deviates from its predetermined trajectory, this coordinate is used to orient the head 3 by bringing it back on said trajectory.
• the magnetic fields can be induced either over the entire length of the trajectory or over a part of the latter, for example only around the place where the drilling head moves.
• the current which is induced by these fields is taken using a coil 7 associated with the drilling head 3.
• the two magnetic fields are for example created using two conductors 8 and 9 each forming a loop and arranged on the ground (see Figure 1).
• the loops are arranged in parallel to each other and preferably parallel to the drilling axis.
• the distance A which separates these conductors 8 and 9 and the fields they generate is chosen so as to obtain a determined value of the magnetic field in the vertical plane passing through the drilling axis 10.
• this distance A is for example equal to 1 m and the distance B between two wires of the loop is for example also equal to 1 m.
• the magnetic fields created preferably have an equivalent magnitude, but it goes without saying that these magnitudes can also be different from each other.
• the sensor illustrated in Figure 2 comprises at least one coil 7 associated with the drilling head 3 which is rotated.
• the coil 7 can be fixed on the axis 1 of the drilling head and rotate at the same speed of rotation as the latter. It is however possible to mount the coil 7 on an independent axis which is connected to the axis 1 using a gear.
• the latter solution makes it possible to rotate the coil 7 in synchronism with the head but at a different speed, thereby improving the quality of the measurements made.
• a current induced by the magnetic field passes through the coil and is transmitted to a first element 12 of an electromagnetic coupler.
• the second element 13 of the electromagnetic coupler is connected to an output of the sensor and makes it possible to send the current induced in the coil to a data processing device.
• the electromagnetic coupler allows the coupling of current from a rotating unit (the rotating coil) to a fixed unit (the output). Instead of using an electromagnetic coupler, one could also use brushes.
• FIG. 3 schematically represents the direction and the amplitude of the magnetic fields H. and H. induced in the soil.
• the magnetic fields H. and H. are created using loops 8 resp. 9 in which a current is induced alternately (I. resp. I).
• the intensity of the current induced in the loops is the same for each loop.
• each loop This is for example achieved by supplying each loop using the same current source which is connected to each loop via a switch which alternately sends the current in one and in the other loop. But we could also provide different currents in frequency and / or intensity in the different loops.
• the current induced in each loop will therefore create in the soil around the trajectory 10 a magnetic field.
• the value of each of these magnetic fields that is to say its direction and its intensity is different for each place of the self where the fields are induced.
• Each current respectively forms a magnetic field of magnitude H., H-, the direction of which is indicated in FIG. 3 and which causes a resulting field H.
• FIG. 4 illustrates an example of the different vectors of the magnetic fields H. and H - induced in the ground using two loops 8 and 9.
• an alternating electric current having a sufficiently high frequency for example of the order of 12 KHz, is induced in the loops.
• the measurements are thus less sensitive to the particular composition of the soil in which the drilling is applied.
• a frequency of 12 KHz eliminates interference and provides signal stability.
• FIG. 5 illustrates the phase difference ⁇ ⁇ between the currents C, and C 2 (see FIG. 5).
• Figure l ia illustrates the relationship between the phase difference ⁇ u? and the depth (DP) in the ground.
• FIG. 11b illustrates the relationship between the horizontal offset Ax with respect to the vertical plane 5 and the amplitude ratio A R of the currents. The way in which the phase difference ⁇ is determined between the currents C, and C.
• the measurement of the amplitude A. resp. A_ is carried out by known means. However, to determine the position of the drilling head, the absolute value of the amplitude is preferably not used, but the relative value:
• An alternative method for determining the position of the drilling head consists for example in storing in the memory of the data processing unit positions (x, y) corresponding to the measured values (A R , 4 tp).
• a set (A R , ⁇ ⁇ »p) then forms an address for addressing the memory where the corresponding position is stored.
• the set (A R , ⁇ ) is either used directly as an address or is first manipulated to form an address.
• the horizontal offset ûx is determined relative to the vertical plane 15 ( Figure 6) which is located in the middle between the loops
• the loops 8 and 9 are at a distance from each other which allows to create magnetic fields having a large range for the phase difference between them and thus allowing to correctly determine the position to large depths, for example 5 meters.
• the use of two magnetic fields also makes it possible to determine the orientation of the drill head in the ground. This is particularly advantageous when using an asymmetrical head, such as for example the drilling head described in German patent n ° 30 27 990 and illustrated in FIG. 7.
• This drilling head has an oblique face and a rounded face.
• the oblique face 25 makes it easier to raise or lower the drilling head. It is therefore important to be able to properly orient the oblique face of the drilling head in order to send this head in the desired direction.
• the orientation of this drill head can now be carried out using magnetic fields.
• the coil 7, when it is integral with the axis of the drilling head, has a well-defined orientation relative to the oblique face of the drilling head.
• the axis of the latter will be an instant parallel to the vector of the H field, and a current of zero intensity is then detected. in the coil.
• a current of zero intensity is then detected. in the coil.
• we now bring this coil by rotating it until it has reached this position where the current induced by the H field is equal to zero we know, to within 180 °, the position of the oblique face. Since we know the position of the drilling head in the self, we also know the values of the magnetic fields H. and H_ at this location, as well as the angle 0 between H. and H ⁇ .
• the data processing device 16 illustrated in FIG. 8 comprises a data processing unit 17, for example a microprocessor.
• This microprocessor is connected to a bus 20 for transporting information (addresses and data).
• the data processing device also comprises an input / output interface 21 , a read only memory 18 (R OM) and a working memory 19 (RAM) which are each connected to the bus 20.
• the interface 21 is connected to a conversion unit 22 which comprises a measuring element 23 equipped for measuring the amplitude of the current induced in the coil and a detection element 24 equipped to detect the phase difference of the currents C. and C, induced in the coil 7.
• the measuring element is equipped with an analog / digital converter (A / D) to convert the analog value of the amplitude measured into a digital value which can be processed by the microprocessor.
• An output of this measurement element 23 is connected to the interface 21.
• the detection element 24 has an output connected to a counter 26 which is controlled by a clock.
• the detection element is equipped to detect a zero level of the current. When the current passes the zero level, the detection element sends a start signal to the counter 26 which has been reset beforehand by the microprocessor. The counter is stopped when the current returns to zero level again.
• the counter is also equipped to measure the period P of the current. Thus, the phase difference ⁇ to of the currents can be determined.
• An output of the counter 26 is connected to a second input of the interface 21.
• the conversion unit 22 also includes a control element 27 of the drilling head and which is equipped to translate the instructions from the microprocessor into controls to orient the drill head. To this end, this conversion element further comprises a digital / analog converter (D
• the input / output interface 21 is also connected to a data input unit 28, for example a keyboard or a floppy disk reader.
• This data entry unit is used to introduce, among other things, the path that the drilling head must follow in the self. This path can, beforehand, be completely described on a flexible disk.
• FIG. 9 illustrates, using a flowchart, an example of a management program for the execution of the method according to the invention. The execution of this management program makes it possible to determine, during drilling, the position in the ground of the drilling head and also makes it possible to reorient the drilling head when it has deviated from the trajectory which is imposed on it. The program management is carried out under the control of the data processing unit.
• the microprocessor starts (STRT; 30) the execution of the management program as soon as the magnetic field has been created.
• the different instructions of this management program are for example stored in the read-only memory 18. The different steps of this management program will now be described below.
• 31 LD DT The microprocessor asks the user to enter the path (length, depth, orientation, etc.) and stores this data after having received it in working memory 19. The microprocessor also loads into this memory of working of the data relating to the magnetic field and the coil.
• the drilling head position is detected by sampling, for example at a frequency of 1/3 Hz.
• the microprocessor checks whether the start of a new sampling period has been reached and for this purpose it is for example equipped with a clock and detects for example the rising edges of a clock signal calibrated at the sampling frequency. When the start of a new period has been reached (Y), the microprocessor proceeds to the next step.
• 33 STR CL The microprocessor starts another clock, set at a predetermined time, for example two seconds.
• the microprocessor will read and store the value ⁇ t indicated by the counter 26 as well as the value P. After reading these values, the microprocessor resets the counter 26 to zero so that a new measurement cycle can begin.
• the values ⁇ t, P are transformed into digital values before being transmitted to the microprocessor.
• 35 FT AMP L / R The microprocessor sends, via the input / output interface, a control signal to the measuring element 23, in order to take the values of amplitudes A, and A ? induced C, and C ⁇ currents.
• the measured amplitude values are converted to digital values using the analog / digital converter (A / D) of the measuring element and then sent to the microprocessor.
• the microprocessor checks whether said predetermined time (step 33) has elapsed. To this end, it receives from said other clock a signal indicating that the predetermined time has elapsed. After reception of this last signal, the microprocessor checks if during this predetermined time the current induced in the coil has not passed the zero level, this means that the drilling head does not rotate pffl? and therefore that there is no longer any induced current in the coil. 37 ALM: In case the zero level has not been crossed (N) during said predetermined time, the microprocessor generates an alarm signal which will stop drilling.
• the microprocessor generates a first correction signal and sends it to the control unit of the drilling head.
• the microprocessor also sends the value X tillto the control unit. After reception of this first control signal and of the value X r . the control unit will, on the basis of this value X ⁇ , redirect the drill head in the horizontal plane.
• the microprocessor compares the Y coordinate indicating the position in the vertical plane where the drilling head is located, to the set position Y-.
• the microprocessor generates a second correction signal and sends it to the control unit of the drilling head.
• the micro ⁇ 0 processor also sends the value Y to the control unit. After receiving this second control signal and the value Y_. the control unit will, on the basis of this value Y nie, reorient the drilling head in the vertical plane.
• the microprocessor checks whether the coordinates X tractY. -5 do not approach the limits within which the measurement of the current induced in the coil remains reliable. For example X, 1 m, Y ⁇ 2.50 m.
• 60 INT When the microprocessor 17 which determines the position 0 (X réelleY of the drill head as well as if necessary, generates the correction signals, generated a correction signal, for example in the form of r an interrupt signal (iNTERRUPT), it sends the interrupt signal to control processor which manages the conduct in the soil of the forging head (if necessary it can be the same microprocessor 17). When this management processor has received the signal of interruption, it will stop the progression of the drilling head and will start a program allowing to reorient the drilling head. 61 CRR X? : The processor! ⁇ Management checks whether this is a first correction signal. 62 ST X warmth: If this is a first correction signal, the management processor stores the value X p which accompanies the first correction signal.
• iNTERRUPT interrupt signal
• the management processor checks whether it is a second correction signal.
• 64 ST Y p In the case of a second correction signal, the management processor stores the value Y p .
• the management processor checks whether the amplitude of the current induced by the H field. in the coil equals zero (indicating that the coil is parallel to the H field.).
• the management processor checks whether the amplitude A ⁇ of the current induced by the field H- in the coil equals zero.
• 71 RTT 2 J If the amplitude A- of the current does not equal zero, this means that the direction of rotation was not the right one, and the drilling head is then moved over a 360 ° angle -2 o ⁇ by rotating it in the same direction of rotation.
• 72 DT OR Based on the Xp and Yp values and starting from the position in which the drill head has just been turned, the processor management calculates the new orientation to give to the drill head.
• the management processor directs the drilling head according to the new orientation that it has just calculated.
• the management processor sends a signal to the microprocessor which monitors the progress of the drilling head indicating that it is restarting the drilling process.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• Mining & Mineral Resources (AREA)
• Environmental & Geological Engineering (AREA)
• Fluid Mechanics (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Geochemistry & Mineralogy (AREA)
• Electromagnetism (AREA)
• Geophysics (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Geophysics And Detection Of Objects (AREA)
• Earth Drilling (AREA)
• Excavating Of Shafts Or Tunnels (AREA)
• Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

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• 1989
  • 1989-04-19 PT PT90316A patent/PT90316A/pt not_active Application Discontinuation
  • 1989-04-19 EP EP89905600A patent/EP0373205A1/de not_active Withdrawn
  • 1989-04-19 WO PCT/BE1989/000016 patent/WO1989010464A1/fr not_active Application Discontinuation
  • 1989-04-19 EP EP89870065A patent/EP0343140A3/de not_active Withdrawn
  • 1989-12-18 FI FI896061A patent/FI896061A0/fi not_active IP Right Cessation

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