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
  • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
  • E21B44/005—Below-ground automatic control systems
• • 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
• • 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
  • E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
• • 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
  • E21B7/06—Deflecting the direction of boreholes
• • 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
  • E21B47/06—Measuring temperature or pressure
  • E21B47/07—Temperature
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B47/00—Survey of boreholes or wells
  • E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
  • E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
  • E21B47/18—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry

Definitions

• 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.
• the borehole course is changed and determined in every direction.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• drill pipe string also called drill pipe
• 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.
• 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.
• 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 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.
• 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.
• a conventional borehole sensor 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.
• 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.
• 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.
• 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.
• the directional drilling device to be provided should have magnetic field sensors in an arrangement close to the drill bit.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• the directional drilling device 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• the housing is advantageously arranged so that it can rotate around the drill pipe support edge and / or the chisel drive shaft.
• 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.
• 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.
• 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.
• step b 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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 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 ⁇ 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.
• 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
• the printing medium can have a volume expansion coefficient ⁇ 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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 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
• a predetermined position here called a normal or predetermined position
• the directional drilling device according to the invention 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.
• 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.
• 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 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.
• 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 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.
• 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.
• 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.
• 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.
• 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.
• 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
• the directional course of the borehole for deep drilling can be selected at any time.

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