EP3696369A1 - Dispositif de forage du sol pour un forage dirigé par câble, procédé de forage du sol dirigé par câble et utilisation lors du forage du sol dirigé par câble - Google Patents
Dispositif de forage du sol pour un forage dirigé par câble, procédé de forage du sol dirigé par câble et utilisation lors du forage du sol dirigé par câble Download PDFInfo
- Publication number
- EP3696369A1 EP3696369A1 EP20157358.1A EP20157358A EP3696369A1 EP 3696369 A1 EP3696369 A1 EP 3696369A1 EP 20157358 A EP20157358 A EP 20157358A EP 3696369 A1 EP3696369 A1 EP 3696369A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cable
- rod
- drill
- guided
- supply
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims description 12
- 239000007788 liquid Substances 0.000 claims description 4
- 238000011010 flushing procedure Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 229910000278 bentonite Inorganic materials 0.000 description 1
- 239000000440 bentonite Substances 0.000 description 1
- SVPXDRXYRYOSEX-UHFFFAOYSA-N bentoquatam Chemical compound O.O=[Si]=O.O=[Al]O[Al]=O SVPXDRXYRYOSEX-UHFFFAOYSA-N 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Images
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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/084—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods with flexible drawing means, e.g. cables
-
- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/003—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings with electrically conducting or insulating means
-
- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/02—Couplings; joints
- E21B17/03—Couplings; joints between drilling rod or pipe and drill motor or surface drive, e.g. between drilling rod and hammer
-
- 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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary 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
- E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
-
- 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
- E21B7/046—Directional drilling horizontal drilling
Definitions
- the invention relates to an earth drilling device for cable-guided drilling with a drive for connecting and / or moving rod sections of a drill rod along a drill rod axis, a method for cable-guided earth drilling in which a rod section is part of a drill rod drilled in the ground and in which a cable is present, is connected to a further rod section and a use in cable-guided earth drilling, in which rod sections are used in which a cable is arranged, with cables of adjacent rod sections are connected to one another.
- the position of the drill head can be determined by a transmitter in the drill head by means of an electromagnetic field through the ground, for this purpose a method known as the walk-over method is used.
- the walk-over method enables quick location and uncomplicated handling.
- the boring head Above the ground, the boring head is localized with a reception strength measuring device (receiver), the maximum signal strength of the transmitter signal from the transmitter in the boring head being determined as a function of the position of the reception strength measuring device above the ground.
- the signal strength depends on the Transmitter depth in the ground, which also enables depth determination. With increasing drilling depths, however, the deviation tolerance increases.
- each section of the drill rod in particular each rod section, is provided with an internal cable which is connected to the adjacent sections of the drill rod, in particular to further rod sections.
- the cable is led to the outside after each addition of a rod section and connected to a slip ring, on which data from a probe on the drill head or a position adjacent to the drill head can be picked up.
- the data can be displayed to an operator, in particular in a control cabin.
- the cable is connected to the cable of the adjacent rod section, which has already been drilled, or to another section of the drill rod, with the connection being protected manually in an electrically insulating manner and the free end of the cable of the newly added rod section through the drill rod to the outside and connected to the slip ring.
- the process used so far and the devices used so far are time-consuming and costly.
- the object of the present invention is therefore to create an earth drilling device, a method and a use with which the effort in terms of time and / or costs can be reduced.
- the core idea of the invention is to provide a cable supply with a length of at least the length of two rod sections, in which one end of the cable supply is in constant contact with a contact device for electrically contacting the end of the cable in order to at least one of the electrical contacts not having to repeatedly disconnect and reconnect when adding a rod section or changing rods.
- the inventors have broken with the idea that for a newly added section of the drill rod, ie in particular a rod section, a cable section must be used which, for each newly added rod section, is connected at one end to the end of the cable in the drill rod that has already been drilled must be and on the other hand at the other end with the sliding contact provided on the earth auger to pick up the signals of the cable must be connected.
- the drive When adding a rod section or when changing rods, the drive is released from the drill rod that has already been drilled and a drill rod is inserted into the drill rod axis and connected to the drive.
- the rod section connected to the drive is then connected to the drill rod that has already been bored in the ground, so that, according to previous considerations, the two ends of the rod section to be added also have to be re-contacted. So far, this consideration has been carried over to the newly added cable. It is to the merit of the inventors to have recognized that this idea has been broken.
- the inventors have thus broken away from the notion that the cable must be introduced into the drill rod as well as the connection of the rod section to be inserted into the drill rod.
- the invention provides an earth drilling device for cable-guided drilling with a drive for connecting and / or moving rod sections of a drill rod along a drill rod axis.
- a cable store for receiving a cable with a length of at least two rod sections and a contact device for electrically contacting one end of the cable of the cable store are provided. This creates the possibility of only providing a connection to the cable already in the drilled drill pipe in order to connect it to the cable of the cable store when the drill pipe that has already been drilled into the ground is extended by a further pipe section in which a cable must be arranged and electrically isolate.
- an "earth boring device” is any device that moves in particular a drill pipe having a rod section in an existing or to be created channel in the ground in order to create a bore, in particular a horizontal bore (HD), or to widen or pipe or other long Pulling bodies into the ground.
- the earth drilling device can in particular be an HD device.
- An earth boring device can thus be a device driving a drill pipe, which works in a soil-displacing manner and brings the drill pipe into the earth in a translatory and / or rotary manner in the longitudinal axial direction of the drill pipe.
- a borehole can be drilled into the ground by applying tension or pressure to the drill pipe.
- rod section does not exclusively include rigid, individual force transmission elements that can be connected directly or indirectly to one another and that can be used in an earth boring device.
- HD horizontal drilling
- horizontal drilling includes in particular an at least partially horizontally arranged bore or a horizontally arranged channel or pipeline.
- the drill rod can have a drill head and an optionally present drill head tip at one end, in particular at the front.
- the drill string may have a front drilling tool.
- the term “drive” in the sense of the description comprises a drive means which can be moved to and fro and which can be designed in particular for a connection to one end of a rod section that is to be newly drilled.
- the drive means can be connected to one end of the rod section, while the other end of the rod section can be connected to the drill rod that has already been drilled.
- An extension of the drill rod can thus be carried out by adding a rod section or changing the rod.
- the connection between the drive means and the rod section can be force-fit and / or form-fit.
- the drive means can be moved back and forth on a drill carriage, for example by means of a slide, in order to apply a tensile force or a pressure force to the drill rod connected to the drive means.
- drill rod axis includes in particular the axis that can be formed by the longitudinal axes of the individual rod sections of the drill rod, with the longitudinal axes of the rod sections being considered that are present in the drill rod in the closer area of the earth boring device.
- the rod section that was drilled last or the rod section that is next to be drilled or connected to the drill rod can be considered.
- the drill rod axis is in particular the axis with which the drive picks up the rod section to be drilled and can thus correspond to the longitudinal axis of the rod section to be drilled.
- the drill pipe axis can essentially coincide with the longitudinal axis of the drive means of the auger.
- connection point in the sense of the description comprises a single-core or multi-core combination of lines sheathed with an insulating material, which is used in particular to transmit energy and / or information.
- Electrical signals can be transmitted via a cable. If the cable has several lines or wires, there is a parallel or simultaneous transmission of several signals possible. Cables can be connected by stripping one end of a cable with a further stripped end of a cable in that the cables are clamped together or otherwise mechanically and / or cohesively connected to one another. To protect the connection, the connection point can be insulated, in particular with a shrink tube.
- the term “contact device” in the context of the description comprises a contact element with which one end of the cable of the cable supply is in electrically conductive contact.
- the contact device accordingly has an electrically conductive contact element.
- the contact element can be in constant contact with a display and / or a data processing unit, which can be designed as a computer and has a controller or the like.
- the signals can be displayed on the display, in particular in an operator's cabin, particularly preferably after processing by means of the controller.
- the cable supply has a length of at least twice the length of a rod section, this includes a preferred embodiment that ensures that a further rod section is first connected to the drill rod that has already been drilled and a cable is arranged in the rod section to be added can be.
- the cable supply has a cable with a length which corresponds at least to the length of three, four or more rod sections.
- the cable supply can have a cable with a length of at least 50 m, preferably at least 60 m, preferably at least 70 m, preferably at least 80 m, preferably at least 90 m, preferably at least 100 m.
- lengths of a cable of a cable store of more than 100 m are also possible.
- the cable supply has a reel which is arranged on the auger. This brings the cable stock into a manageable, compact form and prevents the cable from becoming tangled or knotted. It is also possible to determine the length when the cable is reeled onto the reel and / or to determine the amount of cable used when the cable is unwound.
- the reel is arranged around the drill pipe axis. This makes it possible to create a particularly simple structure and a particularly simple arrangement in which handling is simpler.
- the term "arranged around the drill pipe axis" is to be understood such that the central axis of the reel of the cable supply is concentric to the central axis of the connection, which coincides with the drill pipe axis, is aligned.
- the axis of rotation of the reel ie the central axis, coincides with the axis of the drill pipe.
- a simple design with a simple construction is possible.
- the cable supply or the reel can be arranged on the outside and surround the drill rod axis. Such a supply from the outside can be preferred and enables a simple construction with little effort when replacing or refilling the reel with a supply of cables, since access from the outside facilitates handling. A space-saving structure is thus possible. Few components are required, which can simplify the construction and reduce costs. The mass of the parts / elements moving when the cable is fed in can be kept low. A complex hydraulic rotary feedthrough is not absolutely necessary.
- a cable feed with at least one guide roller, which can be designed as a deflection roller, which is used for an orderly supply of the cable.
- the cable feed in particular in the form of a rotary leadthrough, is designed for an axial feed into the drill rod axis.
- several guide rollers can be present that deflect the cable into the desired orientation and / or position.
- the supply of cables or the cable feed can also be present outside an axial axis, in particular an opening on the drive means for manual passage of a cable can be dispensed with . Flexibility in the arrangement of the cable supply and / or the position of the contact device is possible.
- a seal is provided on the cable feed for sealing against flushing fluid that can be fed to the drill rod.
- a seal can be used which essentially permanently closes a feed opening for the cable from the cable store.
- the opening can be an opening arranged in a rotary leadthrough which is coaxial with the rod section to be drilled, which is connected to the drive means.
- the drive means can be supplied with rinsing liquid - even under pressure - which does not exit from the drive means.
- a rotary feedthrough can be used that aligns the cable axially with the drill pipe axis.
- the cable can be guided through the rotary leadthrough in an essentially centered manner, in particular aligned essentially with the central axis of the drill rod.
- the rotary leadthrough can have an opening at one end for the cable coming from the cable store.
- the rotary leadthrough can have a connection that is connected to a rod section of the drill rod or a new rod section that is to be connected to the drill rod that has already been drilled.
- the connection can, in particular, rotate with the drill rod if a rotational movement is impressed on the drill rod.
- the connection can be connected directly or indirectly to the drill pipe.
- connection can be connected to a drive means, in particular in the form of a hollow shaft, which can be rotated externally by a drive; and the drive means can be connected on the other side to the drill string.
- the drill rod can in particular be the inner rod of a double pipe rod.
- the drill pipe can be a "simple" pipe in which there is no internal pipe.
- the connection to the rotary leadthrough can in particular be designed to form a form fit with the drill rod or the drive means or an adapter.
- the cable supply is arranged at the end on a rotary leadthrough at a distance from the connection, which is indirectly or directly connected to a rod section.
- the cable of the cable supply can reach through the rotary leadthrough or the connection from behind or extend at least partially or completely through the rotary leadthrough.
- the inventors are pursuing a previously unrealistic approach that the cable can extend completely through a rotary feedthrough, although the cable can be accessed continuously. In particular, access can be reduced to access only in the area of the end of the newly added or to be added rod section which is spaced apart from the drill head.
- the cable can extend through the rotary feedthrough and a drive means in the form of a hollow shaft, which is driven in rotation by a drive, without the need to separate or break the connection in and through the areas mentioned.
- a traction means is present, which can in particular be designed in the form of a hydraulic motor.
- the traction means can be configured as a hydraulic cylinder, electric motor, electric cylinder, motor or cylinder operated by compressed air.
- the traction means can be designed as a spring or spring means or have a spring or a spring means, by means of which a spring preload is exerted on the cable in order to keep the cable under tension.
- the traction means is functionally connected to the cable supply and is designed to hold the cable under tension. In this way, it can be largely avoided that the cable is squeezed when connecting the rod sections.
- the cable can be kept outside the area which is relevant for the mechanical connection of the rod sections or the sections of the drill rod.
- a concentric feed of the cable through the drive means with a tensile load on the cable of the cable supply, in particular connected with an essentially concentric arrangement of the cable in the drill rods that have already been drilled, can advantageously be used to keep the cable outside the elements provided for connecting the rod sections; Cable breaks and / or cable tears can be avoided.
- the invention also provides a method for cable-guided earth drilling, the method comprising the step of connecting a pipe section, which is part of a drill pipe which is drilled in the ground and in which a cable is present, to a further pipe section.
- a cable with a length of at least two rod sections is provided.
- continuous electrical contact is established at one end of the cable with a length of at least twice the length of a rod section during the connection of rod sections.
- the invention also provides use in cable-guided earth drilling, in which rod sections are used in which a cable is arranged, with cables of adjacent rod sections being connected to one another.
- a cable store for receiving a cable with a length of at least twice the length of a rod section and a contact device for constant electrical contact with one end of the cable of the cable store are used.
- Figures 1 and 2 show in isometric representation from two sides a section in the area of a rotary leadthrough 1 for drilling fluid of an earth drilling device.
- the rotary feedthrough 1 has a connection 2 which rotates with it and which can be brought into connection with a rod section to be drilled.
- the connection 2 can be connected to a rear end of a rod section to be drilled again and connect the rod section to the drill rod that has already been drilled.
- the connection 2 defines a drill pipe axis L, which is indicated by a dashed line in the Figure 1 is shown.
- a cable 3 used for cable-guided drilling is available as a cable store 4.
- a contact device 5 is provided on the cable store 4, which has an electrical contact that is electrically connected to one end of the cable 3 of the cable store 4.
- the contact device 5 is also connected to an electrical connection which forms a connection to a display or a unit processing a signal that is present on the cable 3.
- the cable supply 4 is designed as a reel 6 which can accommodate a cable 3 with a length of at least two rod sections. One end of the cable 3 of the cable supply 4 is guided into the axis L of the connection 2 via a cable feed 7.
- the cable feed 7 has guide rollers 8 designed as deflection rollers, by means of which the cable 3 can be fed to the connection 2 from behind.
- the reel 6 is arranged on the rotary feedthrough 1 or the connection 2.
- the central axis of the reel 6 is aligned concentrically to the central axis of the connection 2, which coincides with the drill rod axis L.
- the cable 3 is passed through the connection 2 and can protrude from the connection 2 at the other end in order to be connected to a cable of a drill rod that has already been drilled.
- a seal 9 which can close an opening 10.
- a cylinder 15 connected to the seal 9 can be subjected to pressure.
- a traction means 11 is provided, with which the cable supply 4 is functionally connected by means of two meshing gear wheels 12, 13.
- the traction means 11 is functionally connected to the cable store in such a way that it can hold the cable 3 of the cable store 4 under tension.
- the traction means 11 is designed as a hydraulic motor.
- a rinsing liquid feed 14 is provided on the rotary leadthrough 1.
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Geophysics (AREA)
- Earth Drilling (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019001109.0A DE102019001109A1 (de) | 2019-02-15 | 2019-02-15 | Erdbohrvorrichtung für ein kabelgeführtes Bohren, Verfahren zum kabelgeführten Erdbohren und Verwendung beim kabelgeführten Erdbohren |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3696369A1 true EP3696369A1 (fr) | 2020-08-19 |
EP3696369B1 EP3696369B1 (fr) | 2023-10-25 |
Family
ID=69593610
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20157358.1A Active EP3696369B1 (fr) | 2019-02-15 | 2020-02-14 | Dispositif de forage du sol pour un forage dirigé par câble, procédé de forage du sol dirigé par câble et utilisation lors du forage du sol dirigé par câble |
Country Status (4)
Country | Link |
---|---|
US (1) | US11359443B2 (fr) |
EP (1) | EP3696369B1 (fr) |
AU (1) | AU2020200988B2 (fr) |
DE (1) | DE102019001109A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019001109A1 (de) * | 2019-02-15 | 2020-08-20 | TRACTO-TECHNlK GmbH & Co. KG | Erdbohrvorrichtung für ein kabelgeführtes Bohren, Verfahren zum kabelgeführten Erdbohren und Verwendung beim kabelgeführten Erdbohren |
CN113830611B (zh) * | 2021-11-25 | 2022-02-22 | 徐州徐工基础工程机械有限公司 | 一种有线导向自动放线装置和方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5105878A (en) * | 1990-02-09 | 1992-04-21 | Sharewell, Inc. | Electrical system including a connector, cable and cartridge for slant hole drilling |
EP0900317B1 (fr) * | 1996-04-18 | 2001-02-21 | Sandia Corporation | Dispositif et procede de communication avec le fond-de-trou pendant un forage |
US20020104661A1 (en) * | 2000-11-30 | 2002-08-08 | Xl Technology Ltd And Tsl Technology | Telemetering system |
US20050167121A1 (en) * | 2002-05-21 | 2005-08-04 | Philip Head | Telemetering system |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2370818A (en) * | 1942-07-30 | 1945-03-06 | Stanolind Oil & Gas Co | Well measurement |
DE20202395U1 (de) * | 2002-02-15 | 2002-06-06 | Prime Drilling GmbH, 57482 Wenden | Haspel zum Einbringen eines Datenführungsstrangs in einen Bohrstrang einer Bohranlage |
AU2003206775A1 (en) * | 2002-04-22 | 2003-11-03 | Eni S.P.A. | Telemetry system for the bi-directional communication of data between a well point and a terminal unit situated on the surface |
WO2007121510A1 (fr) * | 2006-04-20 | 2007-11-01 | Digga Australia Pty Ltd | Appareil de forage et unité d'entraînement améliorés |
NO333503B1 (no) * | 2011-09-08 | 2013-06-24 | Capwell As | Vaierlineenhet |
WO2014025335A1 (fr) * | 2012-08-06 | 2014-02-13 | Halliburton Energy Services, Inc. | Gestion de câble de puits |
DE102019001109A1 (de) * | 2019-02-15 | 2020-08-20 | TRACTO-TECHNlK GmbH & Co. KG | Erdbohrvorrichtung für ein kabelgeführtes Bohren, Verfahren zum kabelgeführten Erdbohren und Verwendung beim kabelgeführten Erdbohren |
EP3828375A1 (fr) * | 2019-11-28 | 2021-06-02 | Prime Drilling GmbH | Enrouleur de câble pour insérer un câble de données dans une corde de forage, en particulier un perçage horizontal |
-
2019
- 2019-02-15 DE DE102019001109.0A patent/DE102019001109A1/de active Pending
-
2020
- 2020-02-07 US US16/784,873 patent/US11359443B2/en active Active
- 2020-02-12 AU AU2020200988A patent/AU2020200988B2/en active Active
- 2020-02-14 EP EP20157358.1A patent/EP3696369B1/fr active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5105878A (en) * | 1990-02-09 | 1992-04-21 | Sharewell, Inc. | Electrical system including a connector, cable and cartridge for slant hole drilling |
EP0900317B1 (fr) * | 1996-04-18 | 2001-02-21 | Sandia Corporation | Dispositif et procede de communication avec le fond-de-trou pendant un forage |
US20020104661A1 (en) * | 2000-11-30 | 2002-08-08 | Xl Technology Ltd And Tsl Technology | Telemetering system |
US20050167121A1 (en) * | 2002-05-21 | 2005-08-04 | Philip Head | Telemetering system |
Also Published As
Publication number | Publication date |
---|---|
AU2020200988A1 (en) | 2020-09-03 |
AU2020200988B2 (en) | 2022-01-27 |
DE102019001109A1 (de) | 2020-08-20 |
US20200263509A1 (en) | 2020-08-20 |
EP3696369B1 (fr) | 2023-10-25 |
US11359443B2 (en) | 2022-06-14 |
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