RU2772455C1 - System and method for controlling drilling operations - Google Patents

Abstract

FIELD: controlling.

SUBSTANCE: claimed group of inventions relates to systems and methods for controlling drilling operations. System for controlling drilling operations includes a main computer and a drilling rig containing an interface apparatus, an onboard computer, a communication system, an inclinometer sensor, and a guarding module. The interface apparatus is connected to the onboard computer and the drilling rig and is configured to poll at least one of the components of the drilling rig, convert commands received from the onboard computer, and generate a control signal for the actuator mechanisms of the drilling rig. The guarding module is configured to monitor at least one of the components of the drilling rig and initiate an emergency shutdown of the system, wherein the communication system is configured to determine the coordinates and values of the azimuth of the motion vector angle. To implement the method for controlling drilling operations, a team is formed for the drilling rig by means of the main computer. A command is sent to the drilling rig by means of the main computer and a command is received by the drilling rig by means of the onboard computer. A command is sent to the interface apparatus by means of the onboard computer and a command is received by the interface apparatus. At least one of the components of the drilling rig is polled by means of the interface apparatus. The received command is converted, and a control signal is generated by means of the interface apparatus. The generated control signal is sent to the drilling rig by means of the interface apparatus, and the command is executed by means of the interface apparatus. By means of the guarding module, at least one of the components of the drilling rig is monitored during operation, and an emergency shutdown is initiated by means of the guarding module.

EFFECT: increase in the safety and efficiency of controlling drilling operations, the accuracy of navigation of the drilling rig and the possibility of unmanned control.

17 cl, 10 dwg

Description

Technical field

[1] The present invention relates to systems and methods for controlling drilling operations that provide automated operation of drilling rigs. The system provides accurate automated movement of drilling rigs through the use of high-precision positioning, and also allows you to track the movement and operation of drilling rigs, receive data from the on-board computer and process them to optimize the logistics of work and generate reports necessary for building workflows.

State of the art

[2] Drilling control systems often include a central computer or server, drilling measurement sensors, a navigation system, and a drilling rig. The central computer or server receives data from the on-board computer, processes the data, and transmits commands to the on-board computer for the drilling rig operator. Sensors serve different purposes. For example, in the case of drilling wells for mining, pressure sensors are used that are designed to measure the pressure of the drilling flow at the entrance to the well and in the annulus, mud flow sensors are designed to estimate the flow of drilling fluid at the entrance and exit of the well, and many others. And in the case of working with drilling rigs that drill for subsequent blasting, sensors are used to determine the torque, determine the pressure on the bottomhole, to determine the air pressure, etc. The navigation system is necessary for orientation among the wells, and the drilling rig itself for drilling and movement. In order to make the system automated, interface devices are often added to the drilling rig and connect to it all the controls that it takes under its control. Interface devices are programmable logic controllers and serve to transfer the corresponding commands received to the on-board computer from the central computer or server to the drilling rig using pulse-width modulation, current signals, discrete - logical - signals, commands via the CAN protocol, etc. d.

[3] US9593567B2 (publ. 03/14/2017; IPC: E21B 44/00; E21B 44/02) describes a drilling system containing a drilling parameters sensor associated with a sensor application that generates processed data from raw data received from the sensor drilling parameters. The process application interacts with the sensor application and generates an instruction based on the processed data. The priority controller is associated with the process application and evaluates the instruction to pass to the equipment controller, which then issues the command to one or more drilling components. One of the disadvantages of this system is the lack of automation of the movement of the drilling rig. Also, in the above system, there are no components that provide high-precision navigation. Moreover, due to the lack of rig movement automation, each rig requires at least two operators, one of whom will be inside the cab of the rig and the other outside. This significantly increases the number of people required in the state for drilling operations. Another disadvantage of the system is the lack of inclinometer sensors or other sensors capable of calculating the correct position of the platform and the angle of inclination of the well before drilling. The use of this kind of sensors significantly reduces possible errors in drilling operations. The third disadvantage of this system is the absence of watchdog modules - modules responsible for security. Such modules are required for installation on drilling rigs, both with automatic and manual control. The watchdog modules continuously monitor the equipment and can shut down the system in an emergency if any of its components fails. Also, the lack of high-precision positioning systems is another disadvantage, because. the use of high-precision positioning methods significantly reduce the number of errors in the operation of drilling control systems and increase its efficiency.

[4] Patent US8131510B2 (publ. 03/06/2012; IPC: G06F 19/00) discloses a method and structure for automating drilling rig supervisory control, which includes replication and aggregation of drilling rig supervisory control panels, a mechanism for managing control panel parameters control using one or more intelligent algorithms, as well as a method and technique for accessing supervisory control. control panels from a remote location. The system and method further includes recording, editing, and reproducing a sequence of rig supervisory parameters during any typical operation of the rig. Such a sequence includes a record of all activities associated with a particular operation of the drilling rig operator. This sequence is saved and can be edited to optimize the sequence and later played back on the setup it was recorded on or any other setup on the network. One of the disadvantages of this system is the lack of use of high-precision positioning methods when the drilling machine is operating on autopilot, because its use significantly reduces the number of possible errors in automatic navigation and increases the efficiency of the drilling rig. The second drawback is the lack of an independent watchdog module on board the drilling rig. Such modules are required for installation on drilling rigs, both with automatic and manual control. The watchdog modules continuously monitor the equipment and can shut down the system in an emergency if any of its components fails. Another disadvantage of the system is the lack of inclinometer sensors or other sensors capable of calculating the correct position of the platform and the angle of inclination of the well before drilling. The use of this kind of sensors significantly reduces possible errors in drilling operations and speeds up a number of operations.

[5] Patent US9404356B2 (publ. 02.08.2016; IPC: E21B 44/02; E21B 47/024) proposes a system and method for surface controlled drilling. In one example, the system receives feedback information from a drilling rig and calculates an estimated position of the drill bit in the formation based on the feedback information. The system compares the calculated position with the desired position along the planned wellbore trajectory. The system calculates multiple solutions if the comparison shows that the calculated position is outside a certain error with respect to the desired position. Each decision defines a path from the intended position to the planned path. The system calculates the cost of each solution and chooses one of the solutions at least in part based on the cost. The system outputs control information representing the selected solution and outputs control information for the drilling rig. This system serves as an assistance to the operator when placing the machine over the well in order to correct the actions of the operator if he has not set the machine accurately enough. The first difference is that in the present invention, the drilling rig is first calculated and then exposed. And if after the performed operations it turns out that the machine is not level, the position correction subalgorithm is automatically worked out. With the help of an interface device, information is collected mainly from end sensors, all the rest transmit data either directly to the CAN bus or via a network protocol. One of the disadvantages of this system is the lack of use of high-precision positioning methods when the drilling machine is operating on autopilot, because its use significantly reduces the number of possible errors in automatic navigation and increases the efficiency of the drilling machine. Another drawback is the lack of a watchdog module on board the drill. Such modules are required for installation on drilling rigs, both with automatic and manual control. The watchdog modules continuously monitor the equipment and can shut down the system in an emergency if any of its components fails.

[6] Patent RU2667545C1 (published on September 21, 2018; IPC: E21B 44/00; G05B 19/4184 G06F 19/00) describes an invention related to drilling rig control. EFFECT: technical result is coordination of control of multiple subsystems of the drilling rig. The system comprises a first level containing a plurality of subsystem controllers connected to a plurality of drilling rig subsystems, wherein the plurality of subsystem controllers are configured to control the operating parameters of the plurality of drilling rig subsystems, the second level is configured to obtain information from the first level based on the operation of the plurality of drilling rig subsystems. rig, and providing control of a plurality of rig subsystems, and a third layer configured to execute one or more process applications and provide a task-based command to the second layer. One disadvantage of this system is the use of separate controllers for each rig subsystem. The use of different controllers for each of the rig subsystems is expensive and requires a lot of computing resources. This system is designed for drilling rigs, in which the control controllers are physically separated in space. The interface device within the framework of the present invention is made in a modular form, due to which the interface device can be easily connected both to drilling rigs, the control controllers of which are physically separated in space, and to machines with a single control controller. Also, the drilling rig does not have a watchdog module on board. Such modules are required for installation on drilling rigs, both with automatic and manual control. The watchdog modules continuously monitor the equipment and can shut down the system in an emergency if any of its components fails. Another disadvantage of this system is the lack of use of high-precision positioning methods when the drilling machine is operating on autopilot, because its use significantly reduces the number of possible errors in automatic navigation and increases the efficiency of the drilling machine.

[7] The closest analogue is RU2713072C2 (publ. 02/03/2020; IPC: E21B 44/00; G05B 19/418; G06F 17/50), which describes the invention related to drilling rigs and, more specifically, to a single system controls for drilling rigs. The technical result is the control of the drilling rig by several objects. The method includes receiving, at the rig controller, data from a plurality of rig subsystems, determining, at the rig controller, a first command based at least in part on data from the plurality of rig subsystems, wherein the first command relates to an operating parameter of the first device of the first of the plurality of subsystems. the drilling rig, and transmitting the first command to the first subsystem controller of the first of the plurality of drilling rig subsystems, the first subsystem controller being configured to control the first device and implement said command. One disadvantage of this system is the use of separate controllers for each rig subsystem. The use of different controllers for each of the rig subsystems is expensive and requires a lot of computing resources. Also, the drilling rig does not have a watchdog module on board. Such modules are required for installation on drilling rigs, both with automatic and manual control. The watchdog modules continuously monitor the equipment and can shut down the system in an emergency if any of its components fails. Another disadvantage of this system is the lack of use of high-precision positioning methods when the drilling machine is operating on autopilot, because its use significantly reduces the number of possible errors in automatic navigation and increases the efficiency of the drilling machine.

The essence of the invention

[8] The object of the present invention is to provide and develop a system and method for controlling drilling operations that provide efficient and safe control of drilling operations with high-precision navigation of an unmanned drilling rig.

[9] This task is achieved due to such a technical result as the safety and efficiency of drilling operations management, the accuracy of navigation of the drilling rig and the possibility of unmanned control of the drilling rig, including:

• provision of unmanned control of a drilling rig of any type;

• ensuring the security of the system by monitoring its components and initiating an emergency shutdown of the system in case of failure of at least one of them;

• improving the accuracy of determining the location of the drilling rig, as well as its subsequent navigation.

[10] The technical result is achieved by a drilling control system, including a main computer and at least one drilling rig, including an interface device, an on-board computer, at least one communication system, at least one inclinometer sensor and a watchdog module, and the interface device connected to the on-board computer and the drilling rig and controls the drilling rig by generating special signals, and the watchdog module is configured to monitor at least one of the components of the drilling rig and initiate an emergency shutdown of the system.

[11] In this case, the main computer is needed to generate commands for the drilling rig and send them to the drilling rig, as well as to receive feedback from the drilling rig. The feedback received from the drilling rig includes information about the state of the equipment, the current status of work, the coordinates of the drilling rig, etc. A drilling machine is required to carry out the drilling process. An interface device is required to control the drilling rig in unmanned mode. It is designed to communicate with each of the components of the drilling rig and generate signals to control the drilling rig. The on-board computer is required to receive commands from the main computer, transmit them to the interface device, as well as to send feedback on the status of work and information on the state of the drilling rig. The communication system is necessary to establish the location of the drilling rig in real time, as well as to establish communication between the drilling rig and the host computer. An inclinometer sensor is required to calculate the correct position of the platform before performing the drilling process and to calculate the angle of inclination of the well. A watchdog module connected to at least one component of the drilling rig is needed to monitor the status of at least one of the components of the drilling rig, as well as to initiate an emergency stop if at least one of them fails. In particular, the most important components of the drilling rig are the interfacing device and the on-board computer, in the event of the exit of any of them, an emergency stop of the drilling control system is necessarily initiated.

[12] Moreover, the main computer can additionally be located remotely to control the operation of the drilling rig at any distance, and can also be a server.

[13] The ability to use a high-precision positioning system as a communication system allows you to determine high-precision coordinates and values of the azimuth of the motion vector in real time. Moreover, high-precision positioning systems may include antennas and/or industrial standard networks and/or a backup channel for determining all of the above.

[14] The fact that the drilling rig can additionally include a video surveillance system makes it possible to implement machine vision that provides control of movement, technological operations, the surrounding space, the state of the drilling rig and its components, and the safety of maneuvers.

[15] The fact that the drilling rig can additionally include a collision avoidance system, including radars and/or sonars and/or lidars, allows the on-board computer to be notified in a timely manner that the drilling rig may collide with an obstacle if it does not reroute itself. At the same time, radars make it possible to detect objects, as well as determine their range, speed and geometric parameters, sonars make it possible to detect objects using acoustic radiation, and lidars make it possible to detect distant objects using an active optical system that uses the phenomena of absorption and scattering of light in optically transparent media, such as air.

[16] The satellite receiver, which can optionally be included in the on-board computer, allows you to receive, process and transmit satellite signals and correction signals from the base station if necessary.

[17] The software computing module, which can be additionally included in the on-board computer, allows you to calculate the route, divide it into segments and generate a sequence of commands for the interface device. The computing module also has navigation and computing functions.

[18] The fact that the interface device can be configured to generate pulse-width modulation and / or current signals and / or discrete signals and / or commands over the CAN protocol allows the interface device to control any known drilling rig, as well as its individual control components.

[19] Also, the claimed technical result is achieved by the method of controlling drilling operations, according to which, using the main computer, a command for the drilling rig is formed and the command is sent to the drilling rig. After that, using the on-board computer, they receive a command to the drilling rig and send the command to the interface device. Further, using the interface device, a command is received, a control signal is generated, and the generated control signal is sent to the drilling rig. Then the command is executed by generating control signals by the interface device to the actuators of the drilling rig. At the same time, at least one of the components of the drilling rig is monitored using the watchdog module during operation and an emergency stop is initiated using the watchdog module.

[20] Moreover, the stage of generating a command for the drilling rig is necessary to determine what the drilling rig should do to achieve the goal. The step of sending a command to the drilling rig and receiving the command by the drilling rig is necessary for the drilling rig to receive the generated commands. The step of sending a command to the interface device and receiving the command by the interface device is necessary for the interface device to receive the generated commands. The stage of generating control signals by the interface device is necessary to transform the generated commands into control signals that are understandable to the actuators of the drilling rig. The stage of executing the command using the interface device is necessary to achieve the goal set by the command. Monitoring by the watchdog of at least one of the components of the drilling rig and initiating an emergency installation, in the event of failure of at least one of them, is necessary to prevent accidents and ensure the safety of the system.

[21] That the commands sent to the drilling rig may be travel and/or drill commands allows the host computer to send commands to move the drilling rig along a route and/or drill the drill rig into a well.

[22] The fact that, at the stage of receiving the movement command, the route can first be determined using the computing module, allows the calculation of the optimal route to the destination. The fact that after the stage of determining the route, they can divide the route into separate passage segments and generate a sequence of commands for the interface device using a computing module, allows you to determine and generate a set of commands such as "drive" / "turn" necessary for the drilling rig to travel a certain route. The fact that, after the step of generating a sequence of commands for the interface device, the generated commands can be sent to the interface device, allows the interface device to receive the generated commands for their subsequent execution by generating control signals for the actuators of the drilling rig.

[23] The fact that simultaneously with the stage of determining the route, dividing it, generating a sequence of commands and sending the generated commands can continuously calculate the current position of the drilling rig in real time using antennas and correction data from the base station, allows additional corrections to be made to the route in during the movement of the drilling rig. The fact that, after calculating the current position of the drilling rig in real time, corrections can be made to the sequence of commands using the computing module, it makes it possible to make corrections to the route of the drilling rig in real time, if the predetermined route was not sufficiently accurate and effective. Efficiency is compared by the estimated travel time of the calculated route with the one that was set when the task was created.

[24] The fact that, before the step of initiating commands to move the drilling rig, the interface device can interrogate high-precision navigation antennas, inclinometer sensors, a collision avoidance system and a computing module, and the computing module is interrogated about the route parameters, allows the drilling control system to form the most accurate and safe route, such that there will be no obstacles in the way of the drilling rig.

[25] The fact that before the step of initiating the command to move the drilling rig, using the interface device, high-precision navigation antennas can be interrogated and correction data from the base station, inclinometer sensors, a collision avoidance system and a computing module can be interrogated, and the computing module is interrogated about the parameters of the well, allows the drilling control system to most accurately slew the hole so that the drill rig will subsequently drill more efficiently.

[26] The fact that before the step of initiating commands to move the drilling rig using the interface device can interrogate the sensors-inclinometers, allows the drilling control system to most accurately position the drilling rig horizontally to the well so that the drilling rig will subsequently drill more efficiently.

[27] The fact that inclinometer sensors, pressure sensors, end sensors, pulse sensors and motor sensors can be interrogated by the interface device before the step of initiating a command to drill a well by a drilling rig allows drilling a well in an efficient and safe way for the drilling rig and drilling tool.

[28] The fact that oil pressure sensors and / or speed sensors can be used as engine sensors makes it possible to control the operation of the drilling rig engine and monitor its efficiency and performance in real time with the possibility of making changes to the operation parameters in automatic mode according to a given algorithm, or by the operator remotely, as well as automatically stop the operation of the machine in the event that the sensor values go beyond the allowable values

[29] The fact that pressure sensors, end sensors, pulse sensors and motor sensors can be interrogated by the interface device before the step of initiating a command to drill a well by a drilling rig allows the drill string to be safely extended for the drilling rig and drilling tool to initiate the drilling process in compliance with and maintaining optimal parameters without exceeding the allowable values.

Description of drawings

[30] FIG. 1A is a diagram of a drilling control system according to the present invention.

[31] FIG. 1B is a diagram of a drilling control system with additional elements according to the present invention.

[32] FIG. 2 is a block diagram illustrating the method of controlling drilling operations according to the present invention.

[33] FIG. 3A is a flowchart illustrating the sequence of generating a move command according to the present invention.

[34] FIG. 3B is a flowchart illustrating additional steps occurring concurrently with the move command generation sequence of the present invention.

[35] FIG. 4A is a block diagram illustrating additional steps prior to initiating a move command.

[36] FIG. 4B is a flowchart illustrating additional steps prior to initiating a pointing command.

[37] FIG. 4B is a block diagram illustrating additional steps prior to initiating a leveling command.

[38] FIG. 4D is a block diagram illustrating additional steps prior to initiating a drilling command.

[39] FIG. 4D is a block diagram illustrating additional steps prior to initiating the grow and/or parse command.

Detailed description

[40] In the following detailed description of the implementation of the invention, numerous implementation details are provided to provide a clear understanding of the present invention. However, it will be obvious to one skilled in the art how the present invention can be used, both with and without these implementation details. In other cases, well-known methods, procedures and components are not described in detail so as not to obscure the features of the present invention.

[41] In addition, from the foregoing it is clear that the invention is not limited to the above implementation. Numerous possible modifications, alterations, variations, and substitutions that retain the spirit and form of the present invention will be apparent to those skilled in the art.

[42] In FIG. 1A shows a drilling control system. The drilling control system includes a host computer 100 and a drilling rig 200 . The drilling rig in turn includes an on-board computer 201 , interface 202 , a watchdog module 203 , at least one communication system 204 , actuators 205 of the drilling rig 200 , and at least one inclinometer sensor 206 . Meanwhile, host computer 100 is connected to on-board computer 201 ', and on-board computer 201 is connected to interface device 202 and communication system 204 '. The interface device 202 is connected to the communication system 204 , the actuators 205 of the drilling rig 200 and to the inclinometer sensors 206 . The watchdog module 203 attaches to at least one of the components of the drilling rig 200 . On FIG. 1A, the watchdog module 203 is connected to the on-board computer 201 and interface device 202 '.

[43] The drilling control system shown in FIG. 1A works as follows. The host computer 100 generates commands for the drilling rig 200 and sends them to the onboard computer 201 of the drilling rig 200 . The on-board computer 201 interrogates the communication system 204 , generates a command for the interface device 202 , and sends the command to the interface device 202 . The interface device 202 in turn interrogates at least one of the components of the drilling rig 200 and then translates the command into a control signal and sends the control signal to the actuators 205 of the drilling rig 200 .

[44] The host computer 100 may further be located remotely, for example, be configured as a server.

[45] Interface device 202 may be configured to generate pulse width modulation and/or current signals and/or discrete signals and/or commands over the CAN protocol. Because different actuators 205 receive different types of signals as commands, the interface device 202 needs to convert the received commands into signals appropriate for the particular actuator 205 . Thus, this interface device 202 can issue commands to all actuators 205 of the drilling rig 200 , as well as receive feedback from them.

[46] As shown in FIG. 1B, the drilling management system may include additional modules, some of which are implemented in software. Additional components of the drilling control system according to the present invention are described below.

[47] The communication system 204 can be a high-precision positioning system including high-precision positioning antennas 2041 , industry standard networks 2042 , and a backup channel 2043 . The components of the high-precision positioning system are designed to determine high-precision coordinates and azimuth values of the angle of the motion vector. They send this data to the on-board computer 201 and interface device 202 for processing.

[48] The drilling management system may additionally include a video surveillance system207which is connected to the onboard computer201 for the introduction of machine vision, which provides control of movement, technological operations, the surrounding space, the state of the drilling rig and its components and the safety of maneuvers. On-board computer201 can take into account the data collected from the video surveillance system207 when generating commands for the interface device202. Video surveillance system207also can connect to the communication system204 to send it the necessary data.

[49] The drilling control system may also further include a collision avoidance system 208 including radars 2081 and/or sonars 2082 and/or lidars 2083 . The collision avoidance system 208 is connected to the on-board computer 201 and interface device 202 to correct the route of the drilling rig 200 in order to avoid collisions. At the same time, radars 2081 are used for radio detection of objects that interfere with the route, as well as to determine their range, speed and geometric parameters. Sonars 2082 are used for sound detection of underwater objects using acoustic radiation, and lidars 2083 are based on the technology of obtaining and processing information about distant objects using active optical systems that use the phenomena of absorption and scattering of light in optical transparent media such as, for example, air. Thus, the on-board computer 201 , when building the route of the drilling rig 200 and its correction, can communicate with the collision avoidance system 208 and receive data from it about obstacle objects found by radars 2081 and/or sonars 2082 and/or lidars 2083 . A video surveillance system 207 is connected to the collision avoidance system 208 to transmit the necessary data.

[50] The on-board computer 201 may further include a satellite receiver 2011 to receive data to the drilling rig 200 via satellite communications. For example, the high-precision positioning antennas 2041 transmit their position to the on-board computer 201 ', which receives them via the satellite receiver 2011 '. The satellite receiver 2011 can also receive correction signals from the base station.

[51] Also, the on-board computer 201 may include a computing module 2012 implemented in software and having navigation functions. The computing module 2012 is responsible for constructing the optimal route for the drilling rig 200 and adjusting this route as it travels. Also, the computing module 2012 determines the effective drilling parameters, in the event that the on-board computer 201 receives a command to drill.

[52] Each of the components of the drilling rig 200 can be connected to the watchdog module 203 , which can not only monitor their status, but also have the ability to control their parameters. For example, a high-precision navigation antenna 2041 can be connected to the watchdog module 203 , in particular, this connection can be made on the same bus. In this case, the watchdog module 203 not only monitors the state of the high-precision navigation antennas 2041 but also monitors their parameters.

[53] In FIG. 2 is a flowchart illustrating the drilling control method according to the present invention. In the first step, a command is generated for the drilling rig 200 by the host computer 100 '. Next, a command is sent via a wireless network to the drilling rig 200 by the host computer 100 '. An onboard computer 201 included in the drilling rig 200 receives the command and sends it to the interface device 202 . After interface device 202 receives a command from onboard computer 201 , interface device 202 generates a control signal and sends the generated control signal to drilling rig 200 , in particular to its actuators 205 . Then the command is executed. At the same time, during the operation of the drilling rig 200 , the watchdog module 203 monitors at least one of its components and initiates an emergency stop if at least one of them fails. Primarily, the watchdog module 203 monitors the on-board computer 201 and interface device 202 , but also has the ability to monitor each component of the drilling rig 200 .

[54] The commands for the drilling rig 200 received from the host computer 100 may be travel and/or drilling commands.

[55] In FIG. 3A is a flowchart illustrating the process that occurs when the on-board computer 201 receives a move command. When a command is received to move to a specific point, the computing module 2012 of the on-board computer 201 first determines the route of movement with the final position of the drilling rig 200 , then divides this route into separate passage segments and generates a sequence of commands to the interface device 202 , and then transmits these commands to the interface device 202 .

[56] FIG. 3B is a flowchart illustrating additional steps occurring concurrently with the move command generation sequence of the present invention. Simultaneously with determining the route, dividing the route, generating a sequence of commands and sending the generated commands, the current position of the drilling rig 200 is continuously calculated in real time using the high-precision navigation antennas 2041 , receive data from the high-precision navigation antennas 2041 to the satellite receiver 2011 , and make corrections to the command sequence when help of the Compute Module 2012 . Also, corrections in the sequence of commands are made using the computing module 2012 based on data received from the radars 2081 and/or sonars 2082 and/or lidars 2083 of the collision avoidance system 208 and data received from the video surveillance system 207 . For example, if the cameras of the video surveillance system 207 detect an obstacle in the way of movement, the route is recalculated to the intended point and a subalgorithm is executed, followed by a return to the main movement algorithm.

[57] As a move command, the host computer 100 may command to "move" and/or "point" and/or "level" the drilling rig 200 .

[58] FIG. 4A is a block diagram illustrating additional steps prior to initiating a "move" command. By "move" is meant the movement of the drilling rig 200 from its current position to a target position, such as the next well. Before initiating the "move" command, the interface device 202 interrogates the high-precision navigation antennas 2041 , the inclinometer sensors 206 , the collision avoidance system 208 and the computing module 2012 . Computing module 2012 in this case is polled about the route parameters.

[59] FIG. 4B is a flowchart illustrating the additional steps prior to initiating the hover command. After reaching the coordinates of the well, it is necessary to correctly position the drilling rig 200 above it at the correct angle, azimuth, having previously calculated the position of the drilling string after leveling. Before initiating the pointing command, interface device 202 interrogates high-precision navigation antennas 2041 , inclinometer sensors 206 , collision avoidance system 208 , and computer module 2012 . The computing module 2012 in this case is interrogated about the parameters of the well.

[60] FIG. 4B is a block diagram illustrating additional steps prior to initiating the "level" command. Under the command "leveling" refers to raising the platform on jacks in order to align with the horizon for a stable position of the drilling rig 200 during drilling. Before initiating the level command, interface 202 interrogates inclinometer sensors 206 .

[61] As a command to drill, the host computer 100 may command "drill" and/or "build-up" and/or "parse".

[62] In FIG. 4D is a block diagram illustrating the additional steps prior to initiating the "drill" command. The “drilling” command is understood as the direct deepening of the drilling tool to a predetermined depth by rotation, blowing the well with air or water and pressure on the bottom, i.e. lowering the rotator with force. Before initiating the "drill" command, interface device 202 interrogates inclinometer sensors 206 , pressure sensors, end sensors, pulse sensors, and motor sensors. Engine sensors are part of the engine control system, which is a regular computer engine system. Oil pressure sensors and/or RPM sensors, etc. may be present as engine sensors.

[63] FIG. 4D is a block diagram illustrating the additional steps prior to initiating the grow and/or parse command. In the event that after the completion of the “drilling” command it turns out that a deeper well is needed, the “build-up” and “parsing” commands are sent. “Build-up” is the operation of extending the drill string by unwinding the rotator and the first rod after fixing the latter with the breakaway key, lifting the rotator up, winding the second, third, etc. rods from the carousel drum to the rotator and then to the first rod, after which drilling continues further. It may happen that the second rod is not drilled to its full length, and in some wells it is not required at all. This may be due either to the peculiarities of the occurrence of rocks, or to the slope of the block itself. "Parse" is the reverse operation, when the lower rod, i.e. the second one from the rotator is also fixed, the top one is unscrewed and installed back into the carousel drum. If there were more than 2 rods, then the operation is repeated until the very first rod remains in the breaking key, on which the cone or chisel is wound. She does not understand, but remains on the rotator. Before initiating the "growth" and/or "dismantling" command, interface device 202 interrogates pressure sensors, end sensors, pulse sensors, and motor sensors.

[64] The present application materials provide a preferred disclosure of the implementation of the claimed technical solution, which should not be used as limiting other, private embodiments of its implementation that do not go beyond the requested scope of legal protection and are obvious to specialists in the relevant field of technology. The present invention can be made on existing equipment from known materials.

Claims (51)

1. A drilling control system, including a host computer and at least one drilling rig, including an interface device, an on-board computer, at least one communication system, at least one inclinometer sensor and a watchdog module, and the interface device is connected to the on-board computer and drilling rig and is configured to: • interrogation of at least one of the components of the drilling rig; • conversion of commands received from the on-board computer, and • generation of a control signal for the actuators of the drilling rig, and the watchdog module is configured to monitor at least one of the components of the drilling rig and initiate an emergency stop of the system, while the communication system is configured to determine the coordinates and azimuth values of the motion vector angle. 2. Drilling management system according to claim 1, characterized in that the main computer is located remotely. 3. The drilling management system according to claim 1, characterized in that a high-precision positioning system is used as a communication system, including antennas, and / or industrial standard networks, and / or a backup channel. 4. Drilling management system according to claim 1, characterized in that the drilling rig additionally includes a video surveillance system. 5. Drilling control system according to claim 1, characterized in that the drilling rig additionally includes a collision avoidance system, including radars and/or sonars and/or lidars. 6. Drilling management system according to claim 1, characterized in that the on-board computer additionally includes a satellite receiver. 7. Drilling management system according to claim 1, characterized in that the on-board computer additionally includes a computing module. 8. Drilling control system according to claim 1, characterized in that the interface device is configured to generate pulse-width modulation and/or current signals and/or discrete signals and/or commands via the CAN protocol. 9. A method of managing drilling operations, according to which: • form a command for the drilling rig using the main computer; • send a command to the drilling rig using the main computer; • receive a command to the drilling rig using the on-board computer; • send a command to the interface device using the on-board computer; • receive a command to the interface device; • interrogate at least one of the components of the drilling rig using the interface device; • transform the received command and generate a control signal using the interface device; • sending the generated control signal to the drilling rig using an interface device; • execute the command using the interface device; at the same time, at least one of the components of the drilling rig is monitored using the watchdog module during operation and an emergency stop is initiated using the watchdog module. 10. Method for controlling drilling operations according to claim 9, characterized in that a command is sent to the drilling rig to move and/or to drill. 11. The method of managing drilling operations according to paragraphs. 9 and 10, characterized in that upon receipt of a command to move: • determine the route using the computing module; • divide the route into separate passage segments using a computing module; • form a sequence of commands for the interface device using the computing module; • send the generated commands to the interface device using the on-board computer. 12. The method of managing drilling operations according to paragraphs. 9-11, characterized in that, simultaneously with the route definition, route division, formation of a sequence of commands and sending of the generated commands: • continuously calculate the current position of the drilling rig in real time using antennas included in the high-precision positioning system; • make corrections in the sequence of commands using the computing module. 13. The method of controlling drilling operations according to claim 9, characterized in that when initiating a command to move using the interface device, first: • interrogate high-precision navigation antennas; • interrogate sensors-inclinometers; • interrogate the collision avoidance system; • polling the computing module about the route parameters. 14. The method of controlling drilling operations according to claim 9, characterized in that when initiating a command to move using the interface device, • interrogate sensors-inclinometers. 15. The method of controlling drilling operations according to claim 9, characterized in that when initiating a drilling command using an interface device, first: • interrogate sensors-inclinometers; • interrogate pressure sensors; • interrogate end sensors; • interrogate impulse sensors; • interrogate engine sensors. 16. The drilling operation control method according to claim 15, characterized in that the engine sensors are oil pressure sensors and/or speed sensors. 17. The method of controlling drilling operations according to claim 9, characterized in that when initiating a drilling command using an interface device, first: • interrogate pressure sensors; • interrogate end sensors; • interrogate impulse sensors; • interrogate engine sensors.

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