EP3414418B1 - Directional drilling tool and methods for calibration of the tool - Google Patents

Description

The invention relates to a cost-effective method for calibrating magnetic field sensors in a highly precise directional drilling device for the early, reliable and real-time determination of the borehole, specifying a selectable directional course of the borehole for deep drilling, and a directional drilling device which has a housing, a chisel drive shaft rotating in the housing , end preferably protruding from the housing, carries a rotary drill bit, a control device arranged in the housing and magnetic field sensors connected to the same, several directional control devices arranged in the housing for generating directional forces with radially alignable force components for aligning the directional drilling device during drilling operation.

Directional drilling is also used to describe drilling processes that enable the direction of a hole to be influenced. With complex systems, the borehole course is changed and determined in every direction. For this purpose, values for inclination and magnetic north are measured, among other things. The sensors for the detection of magnetic north are arranged in non-magnetizable steels at a sufficient distance from all parts that cause a magnetic influence. Only in this way can magnetic north be detected without being influenced and steered in the correct, ie predetermined, direction. When using directional drilling devices, it is advantageous to have the inclination and direction measured as close as possible behind the chisel in order to ensure a controlled and planned target course of the hole. Modern rotary steerable systems only have the inclination measurement directly built into their system and the direction sensors in a sector that is clearly several meters behind, which is not magnetic, in order to determine magnetic north with the required accuracy. The installation of the direction sensors and the detection of magnetic north in the directional drilling rig together with the inclination sensors would without corresponding corrections lead to magnetic misalignments and allow great inaccuracies in determining the direction.

Conventional directional drilling rigs include a tubular housing. The housing accommodates the drill pipe string, also called the drill string, at least with its foot section facing away from the rotary drill bit. the rotary drill bit is disposed in the head portion of the housing; at least a portion of the bit drive shaft to which the rotary drill bit is coupled is also rotatably disposed in the head portion of the housing. The foot section merges into the body section of the housing, which merges into the head section. The magnetic field sensors are - as far away as possible from the head section and the body section of the housing - arranged in the foot section of the housing of conventional directional drilling devices in order to try to eliminate the magnetic deflections that occur even when the rotary drill bit is in operation, as a result of the head section and body section of the housing built-in devices, components, etc. generated magnetic deflections and their influences on the magnetic field sensors by the spatial distance or spacing of the magnetic field sensors from the head portion of the housing of the conventional directional drilling device at least to reduce. Despite the spatial distance of the magnetic field sensors from the head section and body section, the influence on the determination of the position data of the conventional directional drilling devices determined by magnetic field sensors is evident, so that the directional deep drilling with the conventional directional drilling devices does not correspond to the desired course of the drilled hole.

US 2014/0138157 A1 discloses a drilling apparatus comprising a bearing housing defining a longitudinal axis and upper and lower portions. The upper portion of the bearing housing is configured for connection to a drill string and at least one annular bearing pack is disposed within the bearing housing. A drill is coupled to the bearing housing and rotatable about the longitudinal axis. The drill bit includes a leading body that supports a plurality of cutters for engaging a subterranean rock formation bring a shaft portion that protrudes from the leading body, and a dome portion that engages the shaft portion and defines an inseparable connection therewith. The mandrel section extends in the longitudinal direction into the bearing housing and through the at least one annular bearing assembly.

EP 1 008 717 A1 discloses an actively controlled rotatably steerable drilling system for directional drilling of boreholes, the system including a rotatable drive component rotatable within a tubular slide tool collar containing resilient anti-rotation elements to maintain a coupled relationship with the borehole wall during drilling. Hydraulic cylinder and piston assemblies, actuated by solenoid valves responsive to the tool position signal, control the angular position of an offset mandrel with respect to a tool collar. The hydraulic pistons are servo-controlled and respond to signal inputs from tool position sensing systems such as magnetometers and accelerometers, which provide real-time position signals to the hydraulic control system.

US 2004/0149004 A1 discloses an apparatus for improving the accuracy of directional measurements using magnetometers and accelerometers. The method corrects errors in bias, scaling factor, misalignment of cross-axial magnetometers, and bias or scaling factor of axial magnetometers. The method also corrects accelerometers in a similar manner. The calibration parameters obtained at one survey point are applied to measurements at other survey points to improve the accuracy of the surveys and the efficiency of the drilling operations.

In addition, a further relevant disadvantage occurs when using conventional directional drilling devices due to the spacing of the magnetic field sensors from the head section of the housing; Due to the large spacing of the magnetic field sensors from the head section, there are slight deviations of the conventional directional drilling devices with their head sections not determined early in three spatial directions, for example, so that these early deviations in direction can only be determined at a later point in time by means of the magnetic field sensors arranged in the foot section. Due to the directional deviations determined only after a certain period of time, subsequent corrections of the directional courses of the depths are necessary, which, the later the directional deviations of the rotary drill bit are determined, the more time-consuming and costly the corrections of the directional drilling turn out to be. Efforts in the prior art to reduce the deviations in the direction of the head sections of the directional drilling devices by installing the magnetic field sensors at least close to the head section in the conventional directional drilling devices, as listed below, failed due to the significant increase in the occurrence of the deflections with the decreasing spatial distance of the magnetic field sensors from the head section.

Another object of the invention relates to a reliably working, high-precision directional drilling device for continuous operation with automatic, finely controlled monitoring of targeted drilling at great depths, specifying a selectable directional course of the borehole with a housing, one, preferably rotating in the housing, on its out of the housing protruding end a rotary drill bit carrying bit drive shaft, a control device, preferably several direction control devices arranged in the housing for generating directional forces with radially alignable force components for aligning the directional drilling device during drilling operation and magnetic field sensors connected to the control device, which is characterized in that the magnetic field sensors in a front , the area facing the rotary drill bit, the area close to the drill bit, of the housing and calibrated by means of a homogeneous magnetic field generated by Helmholtz coils.

In the state of the art, devices for drilling vertical bores or bores with a course of curvature, primarily large hole bores, are known, which meet the requirements of practice, in particular with regard to economy and safety, but in particular also with regard to the accuracy of the orientation of the borehole, inadequately taken into account. It is essential that holes for directional drilling at great depths can be checked and controlled. The controllability is essential in order to check the position of the borehole and the course of the borehole and, if necessary, to correct undesired deviations. The controllability is also essential, for example, to maintain both the verticality of the deep borehole and its curvature and, if possible, to intervene in the borehole during operation. Deviations from boreholes occur especially in the deep rock of the rock formations, also due to the occurrence of different hardnesses of solid rock or loose rock. Deviations also occur when drilling due to the excess length of the drill pipe string, also called drill pipe, and the variable force that is exerted on the drill pipe.

In order to avoid the borehole deviations, a conventional device with a rotary bit, e.g. directional drilling device, for drilling vertical or curvature-related bores, which includes a drilling tool, has control ribs, also skids, clamping pieces, sliding ribs, etc., which can be pivoted circumferentially outward on the outside of the device , arranged, which are applied against the wall of the borehole with force. The application of force against the wall of the borehole, hereinafter referred to as the borehole wall for short, causes the rotary drill bit of the conventional device to be deflected in the opposite direction. It turns out, however, that the conventional device can only be controlled from the outside from a control station above ground. However, the control of the direction control devices of the conventional directional drilling rig via the above-ground control station leads to the delayed reaction of the pivoting of the control ribs, so that, among other things, valuable time is costly lost in order to influence the orientation of the borehole underground.

The deviation of the borehole from the predetermined direction may also be due to the torque and forward drilling force exerted on the formation by the rotary drill bit. Therefore, the size and direction of the borehole deviation is according to DE 602 07 559 unpredictable and always requires the control of the rotary drill bit via the drilling tool or directional drilling device.

In a conventional device for producing targeted bores with a measured value device with a measured variable pick-up, the control ribs attached to the device are controlled in accordance with the deflections of the measured value variables of the same. It turns out, however, that the orientation of the course and the checking of the borehole are inadequate, since the measured values of the inclinometers and magnetic field sensors used as measuring devices are not processed in real time, but only offset in time via an above-ground control station, compared with setpoint specifications and control signals the control ribs that are electrically connected to cables are passed on.

The conventional methods and devices disclosed by Schlumberger Technology BV recognized the problem of the delayed reaction of the intervention of corrective measures and the long-known but hitherto unsolved problem of the occurrence of magnetic deviations, so that only the disadvantageous arrangement of the magnetic field sensors remote from the drill bit mentioned above was implemented . Therefore Schlumberger Technology BV was not able to solve both problems in a satisfactory way at the same time, because the determination of the borehole inclination and borehole azimuth taking place during drilling on the basis of a discrete number of longitudinal points along the axis of the borehole by estimating at least two local magnetic field components using cross-axial magnetic field sensors and cross-axial accelerometers complicates the construction of the device and makes the conventional method susceptible to failure and does not realize the magnetic field measurement to be carried out close to the rotary drill bit, let alone the magnetic field measurement to be carried out next to the rotary drill bit or directly adjacent to the rotary drill bit.

Therefore, the measurement devices continued to be far removed from the rotary drill bit, so that Schlumberger Technology B.V. regretted that the technique of magnetic field measurements for deviations close to the drill bit was unsuitable.

The arrangement of the magnetic field sensors close to the drill bit in the conventional device, such as directional drilling tools and devices, was technically impracticable, but urgently required, especially since it would open up completely new applications and great possibilities for deep directional drilling; Schlumberger Technology BV recognized that the axial magnetic field measurements remained particularly sensitive to magnetic interferences or misalignments emanating from the nearby drill pipe string components, for example the drill bit, mud motor, extension drilling tool, and the like the arrangement of the magnetic field measurements in the conventional directional drilling device according to conventional teaching, which is remote from the rotary drill bits, was advised. Close to the drill bit is also understood to mean close to the drill bit.

Therefore, this state of the art accepts, since the magnetic field measurements only determine changes in direction of the rotary drill bit very late due to their large distance from the rotary drill bit, that the deep directional drilling proves to be costly due to the late reaction of the intervention of corrective measures and deep drilling with conventional directional drilling devices or - tools because of the lengthening of the deep drilling distance, which occurs as a result of a late reaction, is not economically advisable in today's times, considering the steadily growing relevance of the cost-benefit analysis of deep drilling with the conventional devices recommended by Schlumberger Technology BV.

Especially in the case of the development of new gas or oil fields using conventional directional drilling rigs or tools, for which Schlumberger Technology BV, nonetheless, advises that the operation of deep boreholes is time-consuming and costly in view of the processing of already developed fields using fracking processes.

The method known in the prior art, in which a borehole measuring device is inserted into a borehole and the conventional borehole measuring device is adapted by means of an inclination coil built into the conventional borehole measuring device to generate a predetermined magnetic field for displaying inclination values, does not help either further, since the measurement of the borehole and its course only takes place after it has been sunk and the conventional borehole measuring device has been inserted into the borehole that has already been sunk, even if the conventional borehole measuring device is able to determine directional values of a location in the borehole in to determine three spatial directions.

The conventional method also does not solve the disadvantage of directional drilling devices with the arrangement of the magnetic field sensors remote from the rotary drill bit in conventional directional drilling devices.

The object of the invention should also be to provide a directional drilling device which, among other things, eliminates or equalizes the deviations or misalignments generated by the use of different materials in the directional drilling device - already and immediately during deep drilling and despite the magnetic interference fields occurring during deep drilling Deep directional drilling maintains the predetermined depth in relation to the three spatial directions and the inclination without, in contrast to the prior art, the need for above-ground intervention even during ongoing drilling operations, especially since above-ground intervention is only possible as a result of the introduction of the conventional borehole measuring device into the borehole is.

Such a directional drilling device is also to be provided, which makes both the introduction of the conventional borehole measuring device into the borehole and the subsequent above-ground intervention superfluous.

In addition, the directional drilling device should be equipped with magnetic field sensors in its front area facing the rotary drill bit, i.e. in the area adjacent to the rotary drill bit, in order to avoid even the slightest deviations of the directional drilling device in inclination and azimuth that are measurable in the vicinity of the rotary drill bit, e.g. due to the occurrence of different rock hardnesses.

The calibration of conventional magnetic field sensors is disclosed in a large number of publications, a finding that is nothing new to the person skilled in the art. Thus, in a further prior art, a conventional borehole sensor is provided which is able to determine the spatial directions of a location in a borehole and to determine deviations of the same from setpoint values, but the conventional borehole sensor does not allow the sinking on the one hand and the constant control of the Monitoring of the directional variables on the other hand during the drilling process on site, ie the directional variables belonging to the conventional rotary drilling rig and to be assigned to it during drilling.

This state of the art also confirms the knowledge of Schlumberger Technology B.V. the elimination of the disadvantages of the delayed reaction of the above-ground intervention, considered impossible in the state of the art, by corrective measures in the sinking carried out by the conventional directional drilling device, so that constant monitoring with regard to azimuth and inclination due to the occurrence of e.g. magnetic measurement deviations continues to be costly has existed.

It is therefore the task of the directional drilling device to be provided to provide both a directional drilling device which, for example, during the sinking, measures the deviations of the deep drilling directly by means of magnetic field sensors next to the rotary drill bit of the directional drilling device, which compares the deviations with setpoints, and which generates corresponding actuating signals to control the directional drilling device and regardless of the Control from the outside, i.e. outside of the directional drilling device, without time and expense, at an early stage -without time delay- forwards to the actuators, such as clamping pieces, of the directional drilling device.

To increase the accuracy of the determination of magnetic flux densities, magnetic field sensors can be used in a borehole measuring method, which are arranged rotating around the longitudinal axis of the device and deliver signals to the control station above ground due to the existing geomagnetism, but the magnetic field sensors remain at a large distance from the rotary drill bit, see above that one can neither detect minor changes in the course of the borehole nor intervene early in the operation of the deep directional drilling for the purpose of correction.

In addition, the directional drilling device to be provided should be able to easily detect slight deviations from the desired course of the borehole when drilling at great depths.

Furthermore, the directional drilling device to be provided should have magnetic field sensors in an arrangement close to the drill bit.

Likewise, the directional drilling device should not only recognize minor deviations from the desired course of the borehole, but also take corrective measures at an early stage to maintain the desired course of the borehole.

In addition, the directional drilling device to be provided should correct the deep directional drilling in the event of changes in the course of the borehole without the risk of magnetic interference fields influencing the position determination.

In addition, the control of the directional drilling device via an above-ground control station should be superfluous as this is due to the implementation of corrective measures unwanted borehole deviations are relieved and is only responsible for controlling the deep borehole as such.

In addition, the directional drilling device to be provided should control itself in real time in order to avoid the costly extension of the drilling distance as a result of deviations that are introduced later.

In addition, the method to be provided should be able to carry out the calibration of the directional drilling device in a cost-effective manner, so that the problem of arranging magnetic field sensors close to the drill bit in directional drilling devices, which was also recognized by Schlumberger Technology BV but unsolved by Schlumberger Technology BV, and the complicated and fault-prone method proposed by Schlumberger Technology BV is eliminated is avoided.

Smart Drilling GmbH arranges the sensors, such as magnetic field sensors, for inclination and direction in the directional drilling device according to the invention and carries out a correction to maintain the required accuracy. The invention solves the problem by using a Helmholtz coil. In the center of the Helmholtz coil, the existing magnetic field including the earth's magnetic field is neutralized, ie there is no magnetic field. The directional drilling device according to the invention is then positioned with the direction sensors, such as magnetic field sensors, in the neutral magnetic field of the coil. Since the directional drilling device according to the invention contains various components which generate a magnetic influence, the direction sensors in the Helmholtz coil now display the magnetic declination in the x, y and z axes. This influencing is then advantageously compensated until a neutral magnetic field is present again and is stored as correction values in the electronic memory of the directional drilling device according to the invention. All operating functions of the directional drilling device according to the invention can then be run through in the Helmholtz coil, the magnetic misalignments can be measured and compensated, and the correction factors can be stored in the directional drilling device. So can the invention Directional drilling rig compensate itself during operation and meet the high required directional accuracy.

The objects are achieved by the main claim and the subsidiary claim, the subclaims relate to preferred configuration and further development of the invention.

The invention relates to a method according to claim 7.

The invention is also directed to a directional drilling device according to claim 1.

The directional drilling device according to the invention can comprise a housing whose foot section facing away from the head section is provided for receiving a drill pipe string and / or a coupling to a drill pipe string, a housing arranged in the head section, preferably rotating in the same or at least partially in the housing, on its, e.g. from the Housing protruding, end of a rotary drill bit carrying a chisel drive shaft, a control device arranged in the housing, preferably in its body and / or foot section, preferably several direction control devices arranged in the housing, preferably in its body and / or foot section, for generating directional forces with radial alignable force components for aligning the directional drilling device during drilling operation and a plurality of magnetic field sensors, the magnetic field sensors being arranged in the head section of the housing, namely in the region of the housing near the drill bit, and using the method according to the invention in egg n the frame having the Helmholtz coil are introduced and calibrated by the homogeneous magnetic field generated by the Helmholtz coil. The invention also relates to a method for calibrating magnetic field sensors in a highly precise directional drilling device for the early, reliable, real-time determination of the borehole and the orientation of the rotary bit relative to the earth's magnetic field vector, specifying a selectable, as predetermined, directional course of the borehole for the Deep drilling, the calibration being carried out in a magnetic field generated by means of a Helmholtz coil.

The method according to the invention, which includes the directional drilling device with a housing, a chisel drive shaft rotating in the housing, the end of which protruding from the housing carries a rotary drill bit, a control device arranged in the housing and magnetic field sensors connected to it, a plurality of directional control devices arranged in the housing for generating directional forces radially alignable force components used for aligning the directional drilling rig during drilling operations, comprises the following steps:
the magnetic field sensors are arranged in a front area of the housing facing the rotary drill bit, that is to say in the area close to the drill bit, and are calibrated by means of a homogeneous magnetic field generated by the Helmholtz coil.

In the context of the invention, the arrangement in the head section of the housing is also understood to mean the arrangement in the area close to the drill bit, also called the area close to the drill bit
is next to the rotary drill bit in the directional drilling device according to the invention or
directly adjoins the rotary drill bit in the directional drilling device according to the invention or
is arranged in the immediate vicinity of the rotary drill bit without the rotary drill bit and the magnetic field sensors interfering with each other when the directional drilling device according to the invention is in operation, in contrast to the prior art. This also means in the context of the invention that the rotary drill bit and the magnetic field sensors - in contrast to the prior art - are not spaced from one another, an arrangement which is in contrast to the spacing of the magnetic field sensors from the head section previously required in the prior art, and that of the regulation of the conventional teaching, magnetic field sensors in the area of conventional directional drilling devices facing away from the rotary drill bit in order to avoid mutual influencing or to avoid the obstruction of the magnetic field sensors For example, it does not follow to arrange the misalignments occurring in the area of the rotary drill bit when sinking.

Another object of the invention relates to a reliably working, high-precision directional drilling device for continuous operation with automatic, finely controlled monitoring of targeted drilling at great depths, specifying a selectable directional course of the borehole with a housing, one, preferably rotating in the housing, on its out of the housing protruding end a rotary drill bit carrying bit drive shaft, a control device, preferably several direction control devices arranged in the housing for generating directional forces with radially alignable force components for aligning the directional drilling device during drilling operation and magnetic field sensors connected to the control device, which is characterized in that the magnetic field sensors in a front , the area facing the rotary drill bit, the area close to the drill bit, of the housing and are calibrated by means of a homogeneous magnetic field generated by the Helmholtz coil.

The invention is also based on compensating, also called balancing in the sense of the invention, of the influence of the magnetic deflections caused by magnetic interference fields or their magnetic flux densities from the magnetic flux densities without interference fields in the magnetic field generated by the Helmholtz coil, so that their influence is eliminated and the subsequent compensation of the operating functions, such as various orientations or arrangements of the directional drilling device in the magnetic field generated by the Helmholtz coil, which differ from a predetermined position of the directional drilling device, also referred to as the reference normal, in order to reset the directional drilling device to the predetermined position can; these steps are also called calibration in the context of the invention.

With the method according to the invention, the magnetic field sensors of the directional drilling device according to the invention, which are advantageously in the front, the Area of the housing facing the rotary drill bit, that is to say next to the rotary drill bit or directly adjacent to it, are calibrated by means of a magnetic field generated by the Helmholtz coil. In the context of the invention, the term Helmholtz coil or Helmholtz coils is also understood to mean the arrangement of two coils for generating a homogeneous magnetic field, at least one largely homogeneous magnetic field sufficient for calibrating the directional drilling device according to the invention; The superposition of the magnetic fields of both coils of the Helmholtz coils advantageously results in the homogeneous magnetic field near the axis. Simply put, the conditions underground, which can correspond to the operational functions, for example, can also be simulated by means of a magnetic field.

The method according to the invention also relates to the calibration of magnetic field sensors in a homogeneous magnetic field generated by the Helmholtz coil, since these are arranged in the directional drilling device according to the invention in the region of the housing of the directional drilling device according to the invention near the drill bit. The magnetic interference fields, such as hard or soft iron effects, are usually mentioned, which are generated, for example, by the rotary drill bit, possibly the mud motor, the extension drilling tool and can superimpose or at least influence the earth's magnetic field, by means of the method according to the invention in the directional drilling device according to the invention compensated. The extent of the compensation can be measured qualitatively and quantitatively and stored in the control device.

For the method according to the invention, the directional drilling device according to the invention is used, which comprises a housing, a chisel drive shaft being arranged in a rotating manner in the housing. The bit drive shaft can be coupled to a drill pipe string at its upper end protruding from the housing. The control device, which is connected to the magnetic field sensors arranged directly on the rotary drill bit, is arranged in the housing. The conventional control device can. as is well known to those skilled in the art, comprise a measured value device and / or a programmable measured value receiving device and / or a programmable measured value processing device, etc., which can be connected to one another for the purpose of forwarding, exchange and / or processing of data, signals, declination values, signals, correction values, position values, signals, correction factors are generated by the control device for moving the directional drilling device back into the predetermined position and the correction factors are stored in the electronic memory of the control device of the directional drilling device. The magnetic field sensors are part of the control device as a measured value device.

1. a. das Richtbohrgerät mit Magnetfeldsensoren in das durch Helmholtz-Spule erzeugte Magnetfeld eingeführt und in einer vorbestimmten Lage als Bezugsnormal zentral in demselben angeordnet wird,
2. b. zur Kompensation magnetischer Störfelder die von magnetischen Störfeldern beeinflussten magnetischen Missweisungen als magnetische Flussdichten in Richtung der X-, Y-, Z-Achsen von den Magnetfeldsensoren bestimmt und mit diesen korrespondierende Mess-werte als Missweisungswerte/-signale an die Steuervorrichtung weitergeleitet werden,
   mit den Missweisungswerten oder -signalen korrespondierende Korrekturwerte von der Steuervorrichtung erzeugt werden, die dem Ausmaß der Messwerte von durch die Störfelder erzeugten Abweichungen der magnetischen Flussdichten von den Messwerten der magnetischen Flussdichte bei Bezugsnormal entsprechen, und die Korrekturwerte in einem elektronischen Speicher der Steuervorrichtung des Richtbohrgerätes hinterlegt werden, und/oder
3. c. danach in dem durch die Helmholtz-Spule erzeugten Magnetfeld das Richtbohrgerät in von der vorbestimmten Lage sich unterscheidenden Ausrichtungen/Betriebsfunktionen angeordnet wird,

die von diesen Ausrichtungen beeinflussten magnetischen Missweisungen als magnetische Flussdichten in Richtung der X-, Y-, Z- Achsen von Magnetfeldsensoren bestimmt und die mit diesen magnetischen Missweisungen wegen verschiedener Ausrichtungen/Betriebsfunktionen bedingten korrespondierenden Messwerte als Positionswerte oder - Signale an die Steuervorrichtung weitergeleitet werden,
mit den Positionswerten oder -signalen korrespondierende Korrekturfaktoren durch die Steuervorrichtung zum Verbringen des Richtbohrgeräts zurück in die vorbestimmte Lage erzeugt sowie die Korrekturfaktoren in dem elektronischen Speicher der Steuervorrichtung des Richtbohrgerätes hinterlegt werden.The steps of the method of the invention include.

1. a. the directional drilling device with magnetic field sensors is introduced into the magnetic field generated by the Helmholtz coil and arranged in a predetermined position as a reference normal in the center of the same,
2. b. To compensate for magnetic interference fields, the magnetic deflections influenced by magnetic interference fields are determined by the magnetic field sensors as magnetic flux densities in the direction of the X, Y, and Z axes and the corresponding measured values are forwarded to the control device as deflection values / signals,
   Correction values corresponding to the declination values or signals are generated by the control device, which correspond to the extent of the measured values of deviations of the magnetic flux densities generated by the interference fields from the measured values of the magnetic flux density at the reference standard, and the correction values are stored in an electronic memory of the control device of the directional drilling device be, and / or
3. c. then, in the magnetic field generated by the Helmholtz coil, the directional drilling device is arranged in orientations / operating functions that differ from the predetermined position,

the magnetic deflections influenced by these orientations are determined as magnetic flux densities in the direction of the X, Y, Z axes of magnetic field sensors and the corresponding measured values resulting from these magnetic deflections due to different orientations / operating functions are forwarded to the control device as position values or signals,
Correction factors corresponding to the position values or signals are generated by the control device for moving the directional drilling device back into the predetermined position and the correction factors are stored in the electronic memory of the control device of the directional drilling device.

In the context of the invention, a connection is also understood to mean a conventional electrical control connection, e.g. between the magnetic field sensors and the control connection, the direction control devices and the control device for the purpose of exchanging or at least forwarding data, measured values or signals. In the context of the invention, the term control device is also understood to be a conventional one with a programmable measured value receiving device, a programmable measured value processing device, etc. which are well known to those skilled in the art. The connection can be wireless, by means of wire, ultrasound, infrared, data communication by means of Bluetooth, etc. in analog and / or digital form and / or coded.

For the purposes of the invention, magnetic field sensors are also understood to be conventional, e.g. measured value receiving devices, which are just as well known to the person skilled in the art. Furthermore, a plurality of directional control devices arranged in or on the housing for generating directional forces with radially alignable force components for aligning the directional drilling device according to the invention during drilling operation are located in the housing. In the directional drilling device according to the invention, the housing is advantageously arranged so that it can rotate around the drill pipe support edge and / or the chisel drive shaft.

In a first step, here a., The directional drilling device according to the invention with its magnetic field sensors can be introduced into the homogeneous magnetic field generated by the Helmholtz coil and arranged in a predetermined position as a reference standard centrally in the homogeneous magnetic field.

In a particular embodiment of the method according to the invention and the directional drilling device according to the invention, the directional drilling device according to the invention is retracted into the Helmholtz coil or into a, preferably cage-like, frame with at least retracted a Helmholtz coil, which has the two coils. In one embodiment of the method according to the invention, a homogeneous magnetic field is conventionally generated by means of the Helmholtz coil, the coils, such as toroidal coils, of the Helmholtz coil being advantageously arranged on the same axis, in particular having an identical radius and / or the axial spacing of the coils from one another corresponds to the coil radius. The coils are each connected to a generator via a feed device, and the coils can be connected electrically in series for current flow in the same direction. The generation of homogeneous magnetic fields by means of Helmholtz coils, which a directional drilling device centered and calibrate, are known to those skilled in the art, so that information about the number of turns N, the radius of the two coils, the frequency, magnetic flux density, the current strength 1 for the operation of the same be unnecessary; the two coils of the Helmholtz coil can also, as is customary at times, be referred to as Helmholtz coils.

In order to compensate for the magnetic interference fields, the determination of magnetic flux densities takes place in the following step, as in step b. The determination of the same is known to the person skilled in the art; so in step b. for example, the minimum and maximum magnetic flux density in the direction of each axis, such as in the direction of the X, Y and Z axes, are determined by the magnetic field sensors. In the step, the deviations of the magnetic flux densities measured by magnetic field sensors as measured values or quantities from those measured values of magnetic flux densities without magnetic interference fields as normal reference or reference normal are determined and documented, e.g. stored in the control device, as a result of magnetic interference fields. If necessary, the extent of the measured values as deviations in the magnetic flux densities in the presence of magnetic interference fields compared with those measured values of magnetic flux density in the absence of magnetic interference fields can also be calculated or compared and stored in the control device, as in its electronic memory.

The magnetic field sensors generate the declination values or declination signals corresponding to the measured values and transmit them to the input via their outputs the control device further. The control device generates correction values which correspond to the declining values or signals. These correspond to the extent of the changes or deviations of the measured variables of the magnetic flux densities generated by the interference fields from the measured variables for magnetic flux density with reference standard without interference fields. The correction values are stored in the control device, preferably in its electronic memory, of the directional drilling device according to the invention.

In a further step, as c., The directional drilling device according to the invention is arranged centrally in the magnetic field generated by the Helmholtz coil in different orientations which differ from the predetermined position, here referred to as the normal position.

The magnetic deflections influenced by these alignments as measured variables of magnetic flux densities can be determined in the direction of each axis, such as in the direction of the X, Y, Z axes, by the magnetic field sensors of the directional drilling device according to the invention. For the processing of measured values, the regulation of the direction control devices of the directional drilling device according to the invention, a control circuit for multivariable regulation is provided in the control device of the same. The various orientations can correspond to the operational functions of the directional drilling device according to the invention on site, which can therefore occur on site in deep drilling in the rock. The corresponding measured values of magnetic flux densities resulting from the most varied of orientations are forwarded as position values, also called position signals, via the outputs of the magnetic field sensors to the input of the control device. The correction factors corresponding to the position values are generated by the control device, which can serve to bring the directional drilling device according to the invention from its various orientations back into its predetermined position. The position values can also usually be compared as controlled variables with setpoint specifications; in the event of deviations, changed output variables can be passed on as actuating signals to the direction control devices for the purpose of changing, for example, inclinations, azimuths. The position values can be used as actual values deviate from the position of the directional drilling device according to the invention predetermined by the setpoint value as a normal reference or reference normal, so that the correction values correspond to manipulated variables or the output variables determined after adjustment of the position values by correction values in the event of a deviation can correspond to adjustment factors as adjustment factors which are passed on to the direction control devices of the directional drilling device according to the invention can be.

The measured variables to be assigned to the normal position or reference normal can also be regarded as the setpoint specification for the position values entered in the control device, as in the event of deviations from these the correction factors are passed on as manipulated variables to the directional control devices of the directional drilling device according to the invention to generate directional forces with radially alignable force components against the borehole wall . The measured values determined by the magnetic field sensors in step 0 can be compared, as it were, adjusted by the control device by the correction values. The correction factors are stored in an electrical or electronic memory of the control device of the directional drilling device according to the invention, so that, if necessary, the position values are compared with setpoint specifications in real time - without recourse to a control station above ground - and the correction factors corresponding to the position values are displayed as control signals corresponding to the position values the direction control devices of the directional drilling device according to the invention are forwarded.

By calibrating the magnetic field sensors of the directional drilling device according to the invention in the homogeneous magnetic field, all magnetic interference fields caused by external influences, such as hard and soft magnetic materials in the vicinity of the magnetic field sensors, are effectively recorded qualitatively and their extent is quantitatively determined, so that the cumbersome calibration the same is unnecessary, for example, in conventional field stations without the influence of other disruptive magnetic deflections.

Furthermore, in step c. the correction factors are adjusted by the correction values for generating adjustment factors, so that the adjustment factors correspond to the actual values of the alignments differing from the predetermined position. The adjustment factors can be compared with target value specifications, e.g. which correspond to the target value specifications of the predetermined position in the magnetic field, and output variables changed as a result of the deviations from the target value specifications can be generated as actuating signals or control signals that are used to control the direction control device.

In a further embodiment of the method according to the invention and the directional drilling device according to the invention, further measured value devices, in particular temperature sensors, inclination sensors, acceleration sensors, gamma radiation sensors, gyroscope sensors and / or other WOB sensors for the precise determination of the position of the directional drilling device according to the invention can also be added to the housing of the directional drilling device according to the invention be connected to the control device at a certain point in time.

The method according to the invention ensures that the directional drilling device according to the invention is calibrated in a simple and inexpensive manner.

Magnetic interference fields, which are caused by the ferromagnetic materials present in the directional drilling device according to the invention, which influence the magnetic flux density, are taken into account and compensated for at an early stage.

In further embodiments of the directional drilling device according to the invention, the measured variables for determining the direction of the borehole can also be forwarded via cables, telemetrically and / or in the form of pressure signals and / or pulses such as sound waves from an above-ground control station to the control device and back. The transmission of control signals or other data, such as measured value variables, to the control device or from the same to the control station can also be transmitted, as will be explained below.

In further embodiments of the method according to the invention, the above. Steps can also be carried out in the presence of predetermined temperatures or temperature ranges, since the transmission properties in the magnetic field sensors, within the directional drilling device according to the invention, etc. can be temperature-dependent.

The advantage of the directional drilling device according to the invention is also based on the fact that the magnetic field sensors located in the head section not only determine early on deviations in the borehole, but also minor deviations in the rotary drill bit located in the head section, via the control device of the directional drilling device according to the invention, the corrective measures in real time - without External intervention based on the setpoint specifications programmed into the control device, for example in relation to the inclination and direction of the borehole, and / or correction values, correction factors, adjustment factors, can take place.

Due to the arrangement of further measured value devices, these can determine further measured values or variables and forward them to the control device, which has a control loop for multi-variable control to regulate the directional control devices, to which the controlled variables are fed as actual values of the measured value devices, and in which these controlled variables are compared with setpoint specifications so that, in the event of deviations, the manipulated variables are fed to the direction control devices as so-called control signals, as in FIG DE 199 50 040 disclosed.

The skilful cooperation of the measured value devices with one another via the control device avoids any distortions or misalignments that may occur between the individual measured value devices and their measured variables, and they are coupled to one another via the control loop for multivariable control in such a way that proper control and modification of the programmed setpoint values in the directional drilling device is guaranteed.

The direction control devices of the directional drilling device according to the invention are designed as bracing devices with adjusting devices to which radially outwardly and inwardly movable, shield-like clamping pieces, which can be inserted into grooves of the housing and are distributed over the circumference in the housing at least on a bracing plane, are coupled, the mobility of which by means of the at least one through heat expandable pressure medium having actuating devices is temperature-controlled, the pressure medium is a liquid, the liquid has a volume expansion coefficient γ at 18 ° C of 5.0 to 20.0 x 10 ^-4 K ^-1 , for example, the clamping pieces articulated to the actuating devices are, the actuating device is designed as a piston-cylinder device, the cylinder chamber has a heating device for heating the pressure medium, the piston is coupled with its outer end to the clamping piece, the cylinder chamber is filled with the liquid or gas as the pressure medium is. Thus, the clamping pieces can be articulated to the actuating devices, the actuating device being designed as a piston-cylinder device, the cylinder space of which is continuously connected to a chamber of a chamber housing, the cylinder space and the chamber with the liquid or the gas as the pressure medium are filled, a heating device is arranged on at least part of the inner and / or outer walls of the chamber housing for heating the same and the pressure medium, the piston is coupled with its outer end to the clamping piece, the cylinder space of the piston-cylinder device has a heating device for heating the pressure medium, the piston is coupled with its outer end to the clamping piece, the cylinder space is filled with the liquid or the gas as the pressure medium and / or the piston is subjected to force as a result of the heating of the pressure medium radially to the center longitudinal axis of the housing Position the clamping piece against a wall of the borehole tion is shifted at the transition from the starting position to the end position and as a result of the cooling of the pressure medium radially to the center longitudinal axis of the housing for attaching the clamping piece to the same at the transition from the end position to the starting position. The printing medium can have a volume expansion coefficient γ at 18 ° C. of 7.2 to 16.3 × 10 ^-4 K ^-1 , even more preferably 12 to 15 × 10 ^-4 K ^-1 . The piston-cylinder device can be designed as double-acting, the opposite piston surfaces of which can be acted upon by temperature-controlled pressure media.

In a further embodiment of the directional drilling device according to the invention, the pressure pulses can be transmitted in flowing media for the transmission of information from the control device, in particular when drilling bores, in underground mining and tunneling, through the flushing channel of the drill pipe string that can be coupled to the chisel drive shaft, with a The impeller is arranged, which is designed to be switchable in generator and motor mode and can be operated alternately accordingly. In this case, the impeller with the coils assigned to the drill pipe string can have magnets attached in a manner corresponding to it. The coils can be connected to energy storage devices, the winding wheel advantageously being arranged axially. In addition, the impeller can be mounted via guides that support itself against the inner wall of the mud channel of the drill pipe string, as in FIG DE 41 34 609 disclosed.

In another embodiment of the directional drilling device according to the invention, information can be transmitted from the control device via the drill pipe string within the same by means of pressure pulses in a flowing liquid, preferably called drilling mud or drilling fluid, the directional drilling device according to the invention having a device connected to the control device for transmitting the information, in particular when producing bores, by means of pressure signals in flowing liquid, preferably drilling fluid, includes; The device has an information generation device, a transmission device connected to the information generation device for generating the pressure pulses in the liquid and a receiving device for receiving and evaluating the information transmitted by the pressure pulses in the control station, the transmission device having an elastic flow resistance body in the liquid flow and an adjusting device for changing the Has flow cross-section of the flow resistance in the cycle of the pressure pulses to be generated, as in DE 196 07 402 disclosed.

To generate the pressure pulses, the transmission device can have an elastic flow resistance body in the liquid flow and an adjusting device for controlling the flow cross-section of the flow resistance body in time with the pressure pulses to be generated. The advantage of this transmission is the compact and cost-saving design as well as the low-wear and low-energy work of the pressure pulse transmission and, despite the easy replacement of the moving parts, a flawless transmission of the information is guaranteed. This measure ensures that a flow resistance body with a variable flow cross section is located in the flow of liquid or in the flow of drilling fluid. By changing the flow cross-section of the flow resistance body, pressure pulses can be generated in the flow direction in the area of the flow resistance body and behind it, which they can propagate in the flow direction of the fluid flow or drilling fluid flow. These pressure fluctuations or pressure pulses can be traced back to the fact that with a reduced flow cross-section and the same liquid flow, the flow velocity around the flow resistance body increases and consequently the liquid pressure partially decreases. A reduction in the flow cross-section consequently leads to a partial pressure increase in the liquid flow. In this way, pressure fluctuations or pressure pulses can be generated in the liquid flow in a targeted manner. This is achieved in a reproducible manner due to the elasticity of the flow resistance body, and the aforementioned process can be repeated as often as desired and with almost no wear. In addition, the reaction times of the elastic flow resistance body are advantageously so short that perfect rising and falling edges of the pressure pulses can be generated. In this way, an undisturbed transmission of information is still possible, since the pressure pulses generated have a sufficient edge steepness to be able to control subsequent, for example, digital evaluation devices.

Finally, in another embodiment of the directional drilling device according to the invention, the control device of the same is provided with a device for transmitting information connected within the drill pipe string by means of pulses such as sound waves; A transmission device for generating the pulses can be connected to an information generating device downstream of the rotary drill bit, e.g. as part of the control device, a receiving device for receiving and evaluating the information transmitted via pulses also comprising the device, the pulses generated by the transmission device being designed as sound waves and forwarded to the receiving device, as in FIG DE 10 2012 004 392 disclosed. The sound waves can be triggered by means of mechanically, hydraulically, electrically and / or pneumatically actuated pulses.

Deviations of the directional drilling device according to the invention from a predetermined position, here called a normal or predetermined position, are not only detected early, but in real time - without the involvement of an above-ground control station and the delay caused by the activation of the same - immediately corrective measures for the purpose of correcting the position of the invention Directional drilling rig with rotary drill bit.

The intervention of corrective measures takes place during deep drilling operation without interruption.

Due to the arrangement of the magnetic field sensors in the area of the directional drilling device according to the invention near the drill bit, the directional drilling device according to the invention, in contrast to the methods and devices advertised by Schlumberger Technology BV, is able to detect even the slightest deviations from the borehole course and in a corresponding manner with the help of the control device to correct controlled direction control devices of the directional drilling device according to the invention as well as their control ribs by extending them while the drilling operation is in progress.

Furthermore, it should be noted that in the prior art in the conventional directional drilling devices, the magnetic field sensors are arranged so far away from the rotary drill bit in the directional drilling device that they only detect changes in the curvature of the borehole when the changes in the azimuthal angle are far advanced, so that not only the drilling distance is significantly lengthened but, disadvantageously, additional considerable, albeit unnecessary, operating costs occur.

The directional drilling device according to the invention and the method according to the invention for calibrating the same are also distinguished by the advantages as follows
the measurement of the borehole and its course only immediately during the sinking of the same - without delay -,
no introduction of a borehole measuring device into the borehole that has already been sunk,
Determination of actual values as directional and inclination values not by means of drill bits as far as possible - as in the prior art - but by magnetic field sensors arranged in the head section of the housing of the directional drilling device according to the invention, i.e. next to the rotary drill bit of the directional drilling device according to the invention,
Detection of deviations or misalignments at an early stage - already and immediately during deep drilling,
Maintaining the predetermined inclination and direction of the borehole despite the magnetic interference fields that usually occur during deep drilling, e.g. caused by rock,
no above-ground intervention by a control center, which intervention in the state of the art leads to loss of time and costs,
Early, i.e. very sensitive, reaction to the slightest in the head section, i.e. in the vicinity of the rotary drill bit, measurable deviations of the directional drilling device according to the invention in inclination and azimuth, e.g. due to the occurrence of different rock hardnesses,
simultaneous combination of sinking on the one hand and constant control of the monitoring of the directional variables on the other hand during the sinking on site,
Avoiding the time-delayed reaction of the above-ground intervention by means of corrective measures that respond immediately as a result of measurements of the deviations in the direction of the head section in inclinations and azimuths
conditional prevention of the increase in borehole length and deep drilling duration that was consciously accepted in the state of the art due to corrective measures taking place later,
Early and therefore cost-saving extension of the clamping pieces of the directional drilling rig against the borehole wall, regardless of the above-ground control.

Embodiment

In the exemplary embodiment, the method according to the invention for calibrating magnetic field sensors in a highly precise directional drilling device for the early, reliable, real-time determination of the borehole in layers of earth, specifying a selectable directional course of the borehole for deep drilling and the reliably operating directional drilling device according to the invention for continuous operation, is shown in a schematic manner automatic, finely controlled monitoring of targeted drilling at great depths, specifying a selectable directional course of the borehole.

The directional drilling device according to the invention comprises a housing, the magnetic field sensors arranged in the housing, arranged in the immediate vicinity of the rotary drill bit, i.e. in the head section of the housing, thus arranged near the drill bit, the control device arranged in the trunk or foot section, the input of which is electrically controlled with the outputs of the magnetic field sensors and is connected or connected to the inputs of the direction control devices arranged on or in the trunk or foot section of the housing, the bit drive shaft, which is at least partially rotatably mounted in the head section of the housing, with the rotary drill bit.

Arranged in the head section of the housing is also in the immediate vicinity of the rotary drill bit or next to the rotary drill bit or adjacent to it in the front, The area facing the rotary drill bit, adjacent to the rotary drill bit or near drill bit can also be understood in the context of the invention that no spacing - as required and unavoidable in the prior art - and thus distance of the magnetic field sensors from the rotary drill bit is required, but, as far as technically possible, the magnetic field sensors adjoin the rotary drill bit so that
On the one hand, the movements, such as rotary movements, of the rotary drill bit are unable to damage the magnetic field sensors through, for example, milled rock,
on the other hand, the magnetic field sensors are not able to restrict the rotary drill bit during its movements due to its spatial proximity and thus its freedom of rotation.

The directional drilling device according to the invention is placed in a frame with the Helmholtz coil in order to arrange this in accordance with the method in the homogeneous magnetic field generated by the Helmholtz coil in a predetermined position as a reference normal centrally in the magnetic field in step a. In a further step, as in b., The magnetic deflections, which are also influenced by the magnetic interference fields, are determined as magnetic flux densities in the direction of the X, Y, and Z axes by the magnetic field sensors as measured values or variables, in order to transfer the measured values as deflection values or signals forward their outputs to the input of the control device. Correction values corresponding to the declination values are generated by the control device, which reflect the deviations as declination values from the measured values of magnetic flux densities without interference fields or the extent of the measured variables of the deviations of the magnetic flux densities generated by the interference fields from the measured variables of magnetic flux densities without, in particular magnetic, interference fields as a reference standard after matching. The correction values are stored in an electronic memory of the control device of the directional drilling machine.

In a further step, as c., The directional drilling device according to the invention is arranged in the magnetic field generated by the Helmholtz coil and in orientations or operating functions that differ from the predetermined position as the reference normal and that of These alignments influenced magnetic deflections as magnetic flux densities in the direction of the X, Y, Z axes determined by the magnetic field sensors of the directional drilling device according to the invention as measured variables; the corresponding measured values or quantities resulting from these different orientations as position values or position signals are forwarded to the input of the control device via the outputs of the magnetic field sensors. The correction factors corresponding to the position values are generated by the control device, with the aid of which the directional drilling device according to the invention can be brought from its various orientations back into a predetermined position as the reference normal.

The correction factors can be stored in the electronic memory of the control device. The correction factors can correspond to a specific control signal or manipulated variable for the direction control devices for moving the directional drilling device according to the invention into a predetermined position. With the aid of the stored correction factors, the control device can return the directional drilling device according to the invention with its directional control devices to a predetermined position by means of the control signals corresponding to the correction factors. The correction factors can correspond to the actual values of the orientations differing from the predetermined position, so that after comparing the correction factors with the setpoint values corresponding to the predetermined position, the control device brings the direction control devices into a predetermined position by means of the control signals communicated to them.

In a further exemplary embodiment, the correction factors are adjusted by the correction values for generating adjustment factors to such an extent that with their help the directional drilling device according to the invention can also be brought from the different orientations back into the predetermined position as the reference standard. The adjustment factors can correspond to the actual values of the orientations differing from the predetermined position, so that after comparing the adjustment factors or correction factors with the setpoint values corresponding to the predetermined position of the directional drilling device according to the invention the control device, the directional drilling device according to the invention with its directional control devices is brought back to a predetermined position by means of the control signals communicated to them by means of generated output or manipulated variables. It is also possible that control signals corresponding to the correction factors and / or adjustment factors for activating the direction control devices are generated by the control device, for example as manipulated variables, for automatically aligning the directional drilling device according to the invention in a predetermined position.

The method according to the invention and the directional drilling device according to the invention make it possible
calibration in a simple way,
the early detection of deviations in the deep drilling process,
the first realization of the previously technically recognized unsolved task,
which has long been known, namely
the arrangement of magnetic field sensors in an arrangement close to the drill bit in the directional drilling device according to the invention,
the early intervention of corrective measures,
the detection of even minor deviations from the desired course of the borehole when drilling at great depths,
the monitoring of very narrow curvatures of the borehole when drilling at great depths,
the implementation of corrective measures in the event of minor deviations from the desired course of the borehole at great depths,
Correction for changes in the course of the bore without the risk of magnetic interference fields influencing the determination of the position,
the elimination of the control of the directional drilling rig via an above-ground control station,
the automatic control of the directional drilling rig in real time without costly extension of the drilling distance,
the provision of magnetic field sensors close to the drill bit in the directional drilling rigs,
the elimination of complicated and fault-prone processes in contrast to von Schlumberger Technology BV in US 13/323 116 and 13/429 173 disclosed methods and devices
as
the simple and robust construction of the directional drilling device according to the invention
and
thus cost-effective production method.

Also, due to the interference-free wireless transmission of signals from the above-ground control station to the directional drilling device according to the invention, the directional course of the borehole for deep drilling can be selected at any time.

Claims (13)

1. Directional drilling apparatus for continuous operation with automatic finely controlled monitoring of directional drilling at great depths under specification of a selectable directional course of the borehole with a housing comprising a head section, a body section and a foot section,
   a bit drive shaft rotating at least partially in the head section of the housing, the lower end of which projecting from the housing supports a rotary drill bit in the head section, and
   a plurality of directional control devices disposed in the body section or the foot section of the housing for generating directional forces having radially alignable force components for aligning the directional drill rig in a drilling operation,
   wherein a control device is disposed in the body section of the housing having a plurality of magnetic field sensors connected thereto, the magnetic field sensors being disposed in the head section of the housing and being configured such that magnetic declinations influenced by magnetic interference fields are detected as magnetic flux densities in the directions of the X, Y, Z axes by the magnetic field sensors, and
   wherein the magnetic field sensors are further configured such that the measured values corresponding to these magnetic declinations are transmitted to the control device as declination values or signals,
   wherein the control unit is configured in such a way that correction values corresponding to the declination values or signals are generated by the control device and the correction values are stored in an electronic memory of the control device of the directional drilling apparatus,
   wherein the control unit is configured in such a way that correction factors corresponding to the position values or signals are generated for moving the directional drilling apparatus back into the predetermined position and the correction factors are stored in the electronic memory of the control device,
   the directional control devices are designed as tensioning devices with adjusting means
   to which tensioning elements are coupled which can be moved radially outwards and inwards, are shield-like, can be inserted into grooves of the housing and are arranged distributed over the circumference in the housing on at least one tensioning plane, the movability of the tensioning elements being temperature-controlled by means of actuating devices which have at least one pressure medium which is expandable by heat,
   the pressure medium being a liquid,
   the liquid having a volume expansion coefficient γ at 18 °C of 5.0 to 20.0 x 10^-4K^-1, wherein the adjusting means are designed as piston-cylinder devices, the cylinder chamber of which having a heating device for heating the pressure medium,
   the piston being coupled with its outer end to the tensioning piece, and
   the cylinder chamber being filled with the liquid as pressure medium.
2. Directional drilling apparatus according to claim 1, characterised in that data, in particular position data, detected by magnetic field sensors as measurement devices of the control apparatus are transmittable to the control station located above ground in the form of pressure signals, wherein the directional drilling apparatus comprises a device for generating pressure signals for transmitting the information in a flushing channel of the drill pipe string by means of an impeller which is acted upon by the flushing and drives a generator with an accumulator connected thereto, the generator including the accumulator, the coupling and the mount of the impeller shaft being arranged in an axially extending housing which is filled with oil and forms a cylindrical annular gap with respect to the drill pipe string, and the flushing for driving the impeller running in the annular gap, and in that a pressure compensation piston which is acted upon by the flushing is provided above an oil accumulator in the housing, and the seal provided at the lower end between the housing and the impeller shaft is designed as a smooth-running seal, e.g. a lip seal or a ceramic seal.
3. Directional drilling apparatus according to claim 1, characterised in that the data detected by the measurement devices, in particular position data, are transmittable to a control station located above ground in the form of pressure signals, the directional drilling apparatus comprises a device for generating pressure signals in flowing media for transmitting the information, in particular during the drilling of boreholes in underground mining and tunnelling, through a flushing channel of the drill pipe, wherein an impeller is arranged in the flushing channel of the drill pipe string, the impeller being designed so that it can be switched between generator and motor operation and can be operated alternately accordingly.
4. Directional drilling apparatus according to claim 1, characterised in that the directional drilling apparatus comprises a device for transmitting the information, in particular during the drilling of boreholes, by means of pressure pulses in a flowing liquid, preferably drilling fluid, having an information generating device, a transmission device connected to the information generating device for generating the pressure pulses in the liquid and a receiving device for receiving and evaluating the information transmitted by the pressure pulses in the control station, wherein the transmission device includes an elastic flow resistance body in the liquid flow and an adjusting device for changing the flow cross-section of the flow resistance in time with the pressure pulses to be generated.
5. Directional drilling apparatus according to claim 4, characterised in that the data detected by the measurement devices, such as position data, are transmittable to a control station located above ground in the form of pressure signals, the control device being connected to a device for transmitting information within the drill pipe string by means of pulses, such as sound waves; wherein the control device is connected to a transmission device for generating the pulses, the device comprising a receiving device for receiving and evaluating the information transmitted via pulses, the pulses generated by means of the transmission device being in the form of sound waves and being transmitted to the receiving device.
6. Method for calibrating the directional drilling apparatus according to any one of claims 1 to 5 by inserting the directional drilling apparatus into a rack having at least one Helmholtz coil and by calibrating by a homogeneous magnetic field generated by the Helmholtz coil.
7. Method using the directional drilling apparatus according to any one of claims 1 to 5 for calibrating the same, the method comprising:

   a. calibrating the magnetic field sensors by means of a homogeneous magnetic field generated by a Helmholtz coil, wherein

   b. the directional drilling apparatus is introduced into the magnetic field generated by the Helmholtz coil and centrally arranged in the same in a predetermined position as a reference standard;

   c. for compensation of magnetic interference fields, the magnetic declinations influenced by magnetic interference fields are detected as magnetic flux densities in the direction of the X, Y, Z axes by the magnetic field sensors and measured values corresponding to these are transmitted to the control device as the declination values or signals,
   wherein the correction values correspond to the extent of the measured values of deviations of the magnetic flux densities generated by the interference fields from the measured values of the magnetic flux density with respect to the reference standard;

   d. subsequently, in the magnetic field generated by the Helmholtz coil, the directional drilling apparatus is disposed in orientations different from predetermined position;
   the magnetic declinations influenced by these orientations are detected as magnetic flux densities in the direction of the X-, Y-, Z-axes by magnetic field sensors and the corresponding measured values caused by these magnetic declinations due to different orientations are transmitted to the control device as position values or signals, and
   so that correction factors corresponding to the position values or signals are generated by the control device for moving the directional drilling apparatus back into the predetermined position, and

   e. so that magnetic interference fields caused by ferromagnetic materials present in the directional drilling apparatus which influence the magnetic flux density are taken into account and compensated for at an early stage.
8. The method according to claim 7, characterised in that in step c) the measured values detected by the magnetic field sensors are adjusted by the correction values by the control device to represent the reference standard.
9. A method according to claim 7 or 8, characterised in that in step d) the correction factors are adjusted by the correction values to produce adjustment factors, preferably the adjustment factors corresponding to the actual values of the orientations differing from the predetermined position, such as operating functions.
10. Method according to any one of claims 7 to 9, characterised in that the predetermined position corresponds to the selectable directional course of the borehole for deep drilling.
11. Verfahren nach einem der Ansprüche 7 bis 10, dadurch gekennzeichnet, dass zumindest einer der Schritte a) bis c) bei vorbestimmten Temperaturen durchgeführt wird.
12. Method according to one of claims 6 to 11, characterised in that temperature sensors, inclination sensors, acceleration sensors, gamma radiation sensors, gyroscope sensors and/or other WOB sensors are connected to the control device as measurement devices in the housing and can selectively be activated.
13. Method according to at least one of claims 6 to 12, characterised in that measured variables such as those for determining the directional course and/or the predetermined position are transmitted from a control station located above ground to the control device via a cable arranged in a drill pipe string and/or by means of telemetry and/or in the form of pressure signals and/or pulses, such as sound waves.