WO2001023911A1 - Method and apparatus for multi-dimensional data modelling and analysis using a haptic interface device - Google Patents

Method and apparatus for multi-dimensional data modelling and analysis using a haptic interface device Download PDF

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Publication number
WO2001023911A1
WO2001023911A1 PCT/EP2000/009643 EP0009643W WO0123911A1 WO 2001023911 A1 WO2001023911 A1 WO 2001023911A1 EP 0009643 W EP0009643 W EP 0009643W WO 0123911 A1 WO0123911 A1 WO 0123911A1
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WIPO (PCT)
Prior art keywords
dimensional
data
haptic
volume
geophysical
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PCT/EP2000/009643
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French (fr)
Inventor
Andres Cesar Callegari
Chung-King Chan
Richard Wayne Cook
Ian Haggard
Ronald Aaron Lawson
James Carl Roberts
Bret Verde
Elaine Wong
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Shell Internationale Research Maatschappij B.V.
Shell Canada Limited
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Application filed by Shell Internationale Research Maatschappij B.V., Shell Canada Limited filed Critical Shell Internationale Research Maatschappij B.V.
Priority to AU79118/00A priority Critical patent/AU7911800A/en
Publication of WO2001023911A1 publication Critical patent/WO2001023911A1/en

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/28—Processing seismic data, e.g. analysis, for interpretation, for correction
    • G01V1/34—Displaying seismic recordings or visualisation of seismic data or attributes

Definitions

  • This invention relates generally to the field of computer data modelling and analysis. More in particular the invention relates to a method and apparatus for modelling and analyzing multi-dimensional geophysical data, including geophysical volumes represented by seismic and other geophysical data.
  • Raw seismic data is typically obtained through the use of seismic sources and receivers. This acquisition may take place on land or off-shore.
  • So-called “processed” seismic data is derived from the raw seismic data by applying such conventional processing techniques as static correction, amplitude recovery, band-limiting or frequency filtering, stacking, and migration.
  • the processed seismic data may be of either the so-called reflection coefficient data type or the integrated trace data type.
  • this data and other geophysical data can be correlated with such physical characteristics as reservoir continuity, reservoir thickness, pore fill fluid type (oil, gas, water, ands so on) , lithologic variation, and pay thickness.
  • This correlation is commonly accomplished using seismic data (two or three dimensional) in conjunction with electric well logs.
  • Other ways of making this correlation can include analysis of surface outcrops and statistical modelling exercises.
  • Well planning is determining desired locations, depths and trajectories of oil wells to be drilled.
  • Well planning involves petrophysical correlation, estimation of pore pressure, estimation of fracture gradients and determination of casing points, all based on the available seismic data.
  • Well planning often further involves determination of well bore courses, including straight hole criteria and directional criteria, as well as optimizing the hole size for productive capacity and drilling efficiency for both hydropressured and geopressured wells. Additional factors to be considered in the process of well planning include choice of materials for the tubulars, tubular goods design, cementing and completion design. Economic, safety, health and environmental concerns, including regulations and codes, must all be considered.
  • Another class of problems where it is desirable to optimize a number of variables at the same time relates to the simultaneous detection of an attribute and a quality measure for that attribute in a three-dimensional volume. Specific examples of this are velocity and coherency measures, porosity and permeability, and velocity and pore pressure. With conventional technology it is difficult if not impossible to sense simultaneously in three dimensions these data and consequently render a judgement .
  • the present invention is directed in one respect to a method of presenting multi-dimensional geophysical data, comprising : (a) defining a first mapping of a first set of the geophysical data to visual responses and defining a second mapping of a different second set of geophysical data to haptic responses;
  • the invention further relates to a method of planning the trajectory of a well bore to be drilled by drilling equipment through a three-dimensional subsurface volume, comprising :
  • the invention further relates to an apparatus for modelling three-dimensional geophysical data of a subsurface volume, comprising: a data processor for deriving from the geophysical data a wire frame model approximating a three-dimensional geophysical body present in the volume and for tessellating the wire frame model to define a three- dimensional surface of the wire frame model; a graphics display for displaying a two-dimensional rendering of the surface; and a haptic interface device to the data processor for manipulating the rendering of the surface's topology.
  • the invention further relates to an apparatus for planning the trajectory of a well bore to be drilled by drilling equipment through a three-dimensional sub- surface volume, comprising: a data processing system for processing volumetric data corresponding to properties of the volume at a plurality of locations in the volume; a graphics display for generating a visual display of the volumetric data; means for defining a mapping of the volumetric data to visual and haptic responses reflecting the properties of the volume; means for defining a preliminary trajectory of the well bore through the volume, the preliminary trajectory being displayed on the graphics display; and a haptic interface device to the data processing system for enabling a user to manipulate the displayed preliminary trajectory; wherein the haptic responses reflecting the properties of the volume are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the volume.
  • Figure 1 is a schematic block diagram of a computer processing apparatus in accordance with one embodiment of the invention
  • Figure 2 is an illustration of a haptic interface device from the apparatus of Figure 1 being manipulated by a user;
  • Figure 3 is an illustration of a portion of the apparatus from Figure 1 including the haptic interface device from Figure 2 being manipulated by a user;
  • Figure 4 is a flow diagram illustrating stages in a method for computer modelling of geophysical data in accordance with one embodiment of the invention;
  • Figure 5 is an image of cross-sectional geophysical data displayed on a graphics display in the apparatus of Figure 1;
  • Figure 6 is an image of a plurality of cross- sectional outlines of a modelling of the geophysical data from Figure 5 provided with a wire mesh modelling as displayed on the graphics display in the apparatus of Figure 1;
  • Figure 7 is an image of a tessellated modelling of the geophysical data from Figure 5 as displayed on the graphics display in the apparatus of Figure 1;
  • Figure 8 is an image of a graphic rendering of the geophysical data from Figure 5 as displayed on the graphics display in the apparatus of Figure 1.
  • Processing unit 12 is a general-purpose computer such as an ULTRA 60 workstation (ULTRA is a trademark) commercially available from Sun Microsystems, Palo Alto, California. Other general purpose computers may be equally suitable for the purposes of practising the present invention, for example workstations available from Silicon Graphics, Inc., Mountain View, California, or personal computers, often based on an Intel Corp. PENTIUM (PENTIUM is a trademark) microprocessor running at clock speeds of 300 MHz or so.
  • a data storage device 14 which may take the form of an internal or external hard disk drive, writeable compact disk, JAZZ
  • graphics display 16 which in the presently disclosed embodiment is a conventional cathode ray tube capable of displaying high-resolution colour graphic images.
  • user interface device 18 comprises, by way of example, a conventional alphanumeric keyboard
  • user interface device 20 is a mouse or equivalent cursor control device for facilitating user control of a cursor or pointer displayed on display 16.
  • User interface device 22 is a haptic interface device for haptic user interaction with computer apparatus 10.
  • Haptic interface device 22 is a user-input device that can be manipulated in three dimensions to control the movement and positioning of the cursor within a virtual three- dimensional volume displayed on display 16.
  • haptic interface device 22 is adapted to provide tactile feedback to the user, as will hereinafter be described in further detail.
  • the haptic interface device 22 comprises an articulating arm 24 terminating in a pencil-like stylus portion 26.
  • haptic interface device 22 includes a system of motors and cables (not shown) to enable it to provide force feedback to the user.
  • the force feedback takes the form of variable resistance to motion of stylus 26 in any of three orthogonal dimensions (i.e., the x, y and z axes) .
  • Such force feedback enables a user experience the tactile sensation of "touching" virtual three-dimensional objects displayed on display 16.
  • Stylus 26 may further be provided with a button 27 actuable by the user in a manner generally analogous to the one or more buttons provided on the conventional type of personal computer user interfaces commonly referred to "mouse.”
  • haptic interface device is the PHANTOM (PHANTOM is a trademark) haptic interface device commercially available from SensAble Technologies,
  • the PHANTOM haptic interface device is described in further detail in: J. Kenneth Salisbury et al . , "Phantom-Based Haptic Interaction with Virtual Objects," IEEE Computer Graphics and Applications, September/October 1997, pp. 6-10; and in Elaine Chen, “Six Degree of Freedom Haptic System for Desktop Virtual Prototyping Applications,” Virtual Reality and Prototyping, June 1999, Laval (France) . It allows and measures motion along six degrees of freedom and can exert controllable forces on the user along three of those degrees of freedom. It is driven by a six-axis power amplifier box and interfaces to computer 12 via a PCI controller card.
  • Low-level communications between computer 12 and the controller card are handled by device drivers provided by the manufacturer.
  • the device drivers maintain a 1 kHz update rate to ensure stable closed-loop control of the haptic device.
  • the device kinematics and other robotic calculations are provided by a software developer's kit also provided by the manufacturer.
  • the software developer's kit provides a high-level (e.g., C++) programming interface for generating haptic effects.
  • Haptic effects handled by the developer's kit can be based on geometry (such as point haptic exploration), or on force-time profiles (such as sinusoidal vibrations and jolts) . Alternatively, system designers can define custom force fields.
  • haptic interface device 22 having six degrees of freedom is described herein, it is contemplated that haptic interface device devices having greater or fewer degrees of freedom may be advantageously employed in connection with the practice of the present invention.
  • a haptic interfaces capable of a variety of different types of sensory feedback may be advantageously applied in connection with the practice of the present invention.
  • a haptic interface device may provide force feedback (i.e., resistive force to movement of stylus 26), vibrating feedback, sonic/aural feedback, and the like. Accordingly, for the purposes of the present disclosure, the term "haptic interface device" is intended to be interpreted broadly to encompass a wide range of devices having any number of degrees of freedom and feedback mechanisms.
  • FIG 3 there is shown a user 36 positioned in from of apparatus 10 in accordance with the invention.
  • the apparatus 10 presents a two- dimensional colour graphic rendering 40 of a three- dimensional geophysical body on display 16.
  • haptic interface device 22 the user is able to manipulate a cursor 42 appearing within in rendering 40.
  • the apparent position of cursor 42 within the three-dimensional image tracks the position of stylus 26 as it is manipulated by user 36, in manner analogous to the movement of a cursor in a two-dimensional windowed environment in response to two-dimensional movement of a conventional mouse.
  • haptic interface device is adapted to translate actual three-dimensional movements of stylus 26 into apparent or "virtual" three-dimensional movements of cursor 42 as it appears in display 16.
  • the user can interact - in a virtual sense - with the rendering 40 displayed on display 16, for example, by actuating a selector button 44 on stylus 26 to select a particular region of the rendering's surface, as will be hereinafter described in further detail. Interaction with the rendering 40 may further involve the use of the computer's keyboard, not shown in Figure 3.
  • apparatus 10 may further incorporate three-dimensional display technology. Often, such technology involves the wearing of special glasses 46, as shown in Figure 3.
  • three-dimensional display technology involves the wearing of special glasses 46, as shown in Figure 3.
  • the notion of interacting within what is commonly referred to as a "virtual environment" is well known. Such concepts as the "virtual" viewing, rotating, touching, selecting, and deforming a virtual three-dimensional object (i.e., a two-dimensional graphic rendering of a three-dimensional object) by means of a human interface to a computer apparatus will be assumed to be sufficiently understood. So is the software programming necessary to effectuate such interactive virtual environments.
  • a first mapping of a first set of the geophysical data to visual responses is defined, and then a second mapping of a different second set of geophysical data to haptic responses is defined.
  • the first mapping consists of the data that will be displayed on the display 16 and the second set of data includes, for example, the force feedback.
  • a two-dimensional rendering 40 of the first set of the geophysical data is generated. Then the location of the cursor 42 can be manipulated displayed on the two-dimensional rendering 40 using the haptic interface device 22, such that the haptic interface 22 device provides haptic feedback to the user in accordance with the second mapping.
  • generating a two- dimensional rendering comprises deriving from the first set of the geophysical data a wire frame model approximating a three-dimensional geophysical body present in the volume, tessellating the wire frame model to define a three-dimensional tessellated surface of the wire frame model, and selecting a point of view to generate the two-dimensional rendering of the tessellated surface.
  • Figure 4 shows a flow diagram illustrating a three- dimensional seismic data modelling procedure in accordance with one embodiment of the invention.
  • the process described herein begins with a step not shown in Figure 4, namely the step of obtaining the seismic data corresponding to a subsurface volume containing one or more geophysical structures or regions of interest. This step will not further be explained.
  • a first step in the modelling process in accordance with the presently disclosed embodiment of the invention involves deriving from the first set of the geophysical (seismic) data a wire frame model approximating a three dimensional body present in the volume.
  • This step involves deriving a series of "sparse profiles," i.e., a series of cross-sectional outlines of the structure of interest.
  • Figure 5 illustrates one manner in which such profiles may be derived from the seismic data.
  • a display of a traverse view corresponding to a first planar slice of the subsurface volume wherein H is the horizontal axis and V is the depth (or the time) .
  • a boundary 90 of the geophysical body is at least partially observable. Section 90a of the boundary is clearly visible, sections 90b and 90d are less clearly visible and sections 90c and 90e are not visible.
  • the geophysical boundary 90 is defined between dashed lines 100 and 102.
  • Figure 5 shows only a part of the body, the body extends to the right of Figure 5.
  • a plurality of points are manually selected through visual inspection of the image, to define a cross-sectional outline of the geophysical body between the selected points 104, the cross-sectional outline is not shown because is coincides with boundary 90a in this example.
  • This procedure allows for the definition of cross-sections of bodies that may be multiply recumbent. Imaging software tools adapted to facilitate this step of deriving the sparse profiles are known in the art.
  • each of the cross-sections derived in step 50 is a closed loop having no beginning or end.
  • the particular point designated with reference numeral 110 would be assigned or otherwise associated with a higher confidence value than any point to be selected in the region of dashed line 108, since the boundary in the region of point 110 is clearly observable in the seismic data, while the boundary is essentially not visible in the region of dashed line 108.
  • Step 50 in Figure 4 is repeated multiple times at successive parallel slices of the seismic data to produce a series of closed cross-sectional loops or "wires" 112.
  • Figure 6 shows the result of this process.
  • each wire 112 corresponds to a planar slice of the geophysical body in successive parallel planes.
  • the next step, at block 52 in Figure 4 is to define a plurality of inter- connections 114 between the sparse profiles derived in block 50. These interconnections 114 transform the plurality of sparse profiles into a so-called three- dimensional wire frame (or wire-mesh) model of the structure, such as is shown in Figure 6.
  • the next step, at block 54 in Figure 4 involves tessellation of the wire mesh created in steps 50 and 52. Tessellation is the first stage of what is sometimes referred to as putting a "skin” or a "bag” over a wire mesh model .
  • Tessellation of a three-dimensional graphic model involves defining the surface of a three- dimensional volume in terms of a plurality of polygons (for example triangles) which approximate the aggregate shape of the volume, such that the surface of the volume can be mathematically expressed in terms of the individual polygons. Tessellation of a volume's surface facilitates the imaging and manipulation of the volume, and is a known technique used in the art of computer rendering. See, for example, USA patent specification No. 5 898 437. The tessellated seismic volume is depicted in Figure 7.
  • the tessellating polygons are triangles, several of which being designated with reference numerals 118 in Figure 7, although it is to be understood that tessellation using polygons having a greater number of sides may be equally suitable for the purposes of practising the present invention .
  • Tessellation as described with reference to Figure 7 leads to a mathematical definition of the volume such that a surface 120 may be rendered, giving the volume the appearance of being a solid object.
  • the surface 120 of the volume is depicted in Figure 8.
  • the tessellated surface may in some cases have topological defects such as holes and self-intersections.
  • the next step in the process in accordance with the presently disclosed embodiment of the invention involves repairing such defects.
  • the removal of such imperfections can smooth or otherwise deform the closed tessellated surface, degrading the exactness of the fit of the surface to the control, i.e., to the underlying seismic data .
  • the process depicted in Figure 4 for constructing a closed tessellated surface 120 covering the closed three-dimensional geophysical body will usually produce a surface that only loosely fits to the underlying seismic data.
  • the next step, represented by block 58 in Figure 4 is to minimize the error between the topologically correct surface 120 and the correct position where the user selected the points 104. Again, such data processing is well known in the art.
  • Residual editing involves selecting individual polygons 118 making up the tessellated "skin" on the wire-mesh model, and then re-orienting the position of the polygon in three dimensions to optimize its "fit" with the control, i.e., - li the underlying seismic data.
  • the control i.e., - li the underlying seismic data.
  • Subsurface regions can be characterized by a large number of geophysical properties, including porosity, permeability, pore pressure, rock property, rock type, elasticity, shear strength, rigidity, density, and so on. Further, seismic techniques enable geophysicists to ascertain information about such properties of subsurface volumes, but that such information may be incomplete or imprecise to varying degrees.
  • the process of defining and refining the tessellated surface of a geophysical body based on available seismic data to some extent can involve extrapolation from the data that is available. This process of extrapolation can be significantly enhanced through the use of haptic interface device 22.
  • step 56 of repairing topological defects results in a tessellated surface 120 that is completely continuous, i.e., a surface that has no holes.
  • the tessellated surface 120 can be analogized to an inflated balloon (albeit, an irregularly shaped one) .
  • haptic interface device 22 can be utilized to create the sensation of varying degrees of apparent elasticity of the deforming surface 120 of the rendered object.
  • a user specifies a region of the tessellated surface of graphic rendering 40 rendered on display 16 by identifying selected tessellated polygons 118.
  • the selection of polygons 118 may be accomplished in various ways. For example, selected polygons 118 making up the tessellated surface can be specified based upon an analysis of the certainty level at which the surface was initially defined. That is, since the underlying seismic data may be inconclusive at a particular region, such that some degree of extrapolation from other data was necessary to close the surface in that region (block 56 in Figure 4), further refinement of the topology of that surface region may be desirable. Therefore, the tessellated polygons 118 corresponding to that region are made deformable, such that the topology of the surface 120 in that region can be adjusted using haptic interface device 22.
  • a region of the tessellated surface 120 of graphic rendering 40 may be selected manually, using haptic interface device 22 to control a selecting cursor manoeuvrable through the virtual three- dimensional image.
  • a selecting cursor manoeuvrable through the virtual three- dimensional image.
  • polygons within a programmable radius of the selecting cursor can be selected.
  • apparatus 10 preferably allows the user to attach cursor 42 to the deformable region.
  • the user is then able to deform the surface topology by manipulating (e.g., "pushing in” or “pulling out") the virtual surface, in a manner analogous to deformation of the surface of an inflated balloon.
  • the apparent elasticity of the virtual surface is modulated as a function of the distance the tessellated surface is deformed away from the control. That is, under software control, haptic device 22 is caused to exert increasing resistive force against further movement of stylus 26 as the user deforms the deformable surface of the rendered image 40 away from its starting point. To the user, a portion of the surface of the rendered image behaves as though it were a flexible membrane, much like the surface of an inflated balloon .
  • the apparent elasticity of the surface is modulated in accordance with the underlying seismic data associated with the elastic or deformable region, and in particular is modulated in accordance with some function of the confidence weighting values assigned to the many points 104 defined by the user during step 50 in the process outlined in Figure 4. That is, while the seismic data associated with the region of deformation might be incomplete, certain information might nonetheless be known about the region or more complete information about adjacent regions, such that a range of probable topologies for the region can be extrapolated. In this case, as the user deforms the region further away from the probable region, haptic interface device exerts increasing resistive forces against movement of stylus 26.
  • the user is provided with haptic feedback constituting an aggregation of perhaps many different functions of the seismic data at once.
  • the colour of the deformable surface 120 can be modulated as a function of the associated seismic data, thereby giving the user even further, visual, feedback in adjusting the topology to fit the seismic data. Sonic feedback may also be provided. This greatly enhances the user' s ability to achieve an optimal fit to the underlying seismic data.
  • the seismic data corresponding to certain regions of the virtual surface may be relatively conclusive as to the actual topology of the geophysical body, such that no significant interactive adjustment is necessary. Such regions are preferably kept "rigid" during interactive adjustment of other areas of the rendered image.
  • the rendered image of a geophysical body can be analogized to a deformable clay model whose shape is capable of being virtually "sculpted” using haptic interface device 22.
  • voxel sculpting where the term “voxel” (volume element) in the context of a three- dimensional rendering is analogous to the well-known term "pixel" (pixel element) in the context of two-dimensional renderings.
  • cursor 22 is programmed to behave as a virtual "scalpel” or sculpting tool capable of scraping away material from the surface of the rendered image.
  • software capable of causing the rendered surface to behave as an elastic, deformable membrane.
  • haptic interface device 22 can provide tactile feedback based on associated geophysical data in much the same manner as with the modulation of elasticity in the inflated balloon analogy.
  • such feedback can involve modulating resistance to removal (or addition) of material from the rendered image.
  • the rendered image's colour can also be modulated to provide additional, visual, feedback to the user.
  • the present invention may also be advantageously applied to the task of well planning.
  • Well planning involves establishing an optimal drilling trajectory from the earth surface to one or more subterranean hydrocarbon reservoirs .
  • the apparatus 10 from Figure 1 can be advantageously employed in the well planning process.
  • a first stage in the well-planning process involves obtaining available data (e.g., seismic data, logs from existing wells, and so on) regarding the subterranean region into which a the planned well is to be drilled.
  • the subterranean region may contain certain geophysical features capable of being modelled as previously described in this disclosure, and in some instances it may be necessary or desirable to ensure that the planned well bore either does or does not pass through such regions.
  • the seismic data will reflect other variables by which points in the subterranean region may be characterized, such as reservoir continuity, reservoir thickness, pore fill fluid type (oil, gas, water, and so on), lithologic variation, and pay thickness, shear velocity, compression velocity, density, petrophysical correlations, pore pressure, fracture gradients, hydropressured environmental conditions, geopressured environmental conditions, gas hazards, and so on.
  • a plurality of data variables may be available, such that the region as a whole can be characterized by a multi-dimensional database.
  • the first three dimensions of the data are the orthogonal x, y, and z axes, with additional dimensions corresponding to the various known characteristics of each point in the region .
  • a given region can be characterized by a multidimensional database in which each entry is organized as follows: (x, y, z, Vp, Vs, p, ⁇ , ⁇ , ...) where the triple ⁇ x, y, z ⁇ identifies a three-dimensional location within the region, Vp is the compression wave velocity at that location, Vs is the shear wave velocity at that location, p is the density at that location, ⁇ is the electrical conductivity at that location, ⁇ is the porosity at that location, and so on.
  • the volumetric data ⁇ x, y, z ⁇ can be mapped to visual responses, whereas the other data can be mapped to haptic responses.
  • a mapping is established between the geophysical data being analysed and one or more haptic responses to be exhibited by haptic interface device 22.
  • a rendering of the three- dimensional region is displayed on graphics display 16, and a cursor controllable using haptic interface device 22 is provided.
  • a user manipulates haptic interface device 22 to cause the cursor to appear to move about within the rendered three-dimensional region.
  • haptic feedback is provided to the user via haptic interface device 22 corresponding to the variable (s) for which a mapping has been defined.
  • a mapping may be provided between resistance of stylus 26 to movement by the user and the density variable p for the region.
  • stylus 26 will be relatively harder to move when the cursor is located in a region of relatively high density, and relatively easier to move when the cursor is located in a region of relatively lower density.
  • haptic interface device 22 may provide some other haptic response (e.g., vibration, "stickiness,") at varying levels proportional to some other variable describing the region.
  • some other haptic response e.g., vibration, "stickiness,
  • a user is able to more readily assess and correlate multiple variables describing the region in order to obtain meaningful information and insight about the region.
  • a subterranean region is displayed on graphics display 16 and a preliminary trajectory of the well bore through the volume is defined.
  • the preliminary trajectory is displayed on the visual display 16 to give a virtual representation of a well bore.
  • haptic interface device 22 a user is able to manipulate the well bore to alter its trajectory, size, and other attributes.
  • the haptic feedback capabilities of haptic interface device 22 can advantageously be applied to the process of well planning.
  • the known constraints upon the trajectory of a well bore and the known characteristics of the subterranean region through which the well bore passes can be mapped to selected haptic responses, such that the user is provided with haptic feedback guiding the well planning process.
  • Such a constraint can be mapped to the displayed virtual well bore, such that a user encounters increasing resistance as the user attempts to bend the virtual well bore toward this upper limit.
  • certain geophysical properties of a region through which a well bore passes may be such that a well bore of at least some minimum diameter is necessary.
  • This information can be mapped to a predetermined haptic response, such that the user is guided toward selecting an appropriate (or optimal) diameter for the well bore.
  • haptic responses can be defined to provide feedback to the user reflecting the multiple variables and constraints to be considered during a well planning process.
  • properties of a well bore having associated constrained variables that may be mapped to haptic responses for the purposes of well planning in accordance with the presently disclosed embodiment of the invention.
  • Other well bore properties include, without limitation: dimensions of the bore, casing, cement and other permanent insertions; properties of the drill bits and drilling equipment.

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Abstract

A method of presenting multi-dimensional geophysical data, comprising: (a) defining a first mapping of a first set of the geophysical data to visual responses and defining a second mapping of a different second set of geophysical data to haptic responses; (b) generating a two-dimensional rendering (40) of the first set of the geophysical data; and (c) manipulating the location of a cursor (42) displayed on the two-dimensional rendering (40) using a haptic interface device (22), such that the haptic interface device (22) provides haptic feedback to the user in accordance with the second mapping.

Description

METHOD AND APPARATUS FOR MULTI-DIMENSIONAL DATA MODELLING AND ANALYSIS USING A HAPTIC INTERFACE DEVICE
This invention relates generally to the field of computer data modelling and analysis. More in particular the invention relates to a method and apparatus for modelling and analyzing multi-dimensional geophysical data, including geophysical volumes represented by seismic and other geophysical data.
The use of seismic and other techniques to obtain information about subterranean geophysical features is known. Such techniques are commonly employed in the exploration for and production of hydrocarbons, for example, natural gas and oil. The advantages and desirability of accurate characterization of subterranean geophysical features are self-evident.
Raw seismic data is typically obtained through the use of seismic sources and receivers. This acquisition may take place on land or off-shore. So-called "processed" seismic data is derived from the raw seismic data by applying such conventional processing techniques as static correction, amplitude recovery, band-limiting or frequency filtering, stacking, and migration. The processed seismic data may be of either the so-called reflection coefficient data type or the integrated trace data type.
Once processed seismic data has been derived, this data and other geophysical data can be correlated with such physical characteristics as reservoir continuity, reservoir thickness, pore fill fluid type (oil, gas, water, ands so on) , lithologic variation, and pay thickness. This correlation is commonly accomplished using seismic data (two or three dimensional) in conjunction with electric well logs. Other ways of making this correlation can include analysis of surface outcrops and statistical modelling exercises.
It is desirable to accurately build and display mathematical models of complex three-dimensional structures or objects. For example, it is highly useful to be able to model and display subterranean geophysical structures, such as hydrocarbon reservoirs, rock formations and the like, for which seismic data is obtained using conventional seismic survey techniques. Accurately modelling such geophysical structures is essential for the purposes of hydrocarbon production.
Another example where it is desirable to optimize a number of variables at the same time is well planning. Well planning is determining desired locations, depths and trajectories of oil wells to be drilled. Well planning involves petrophysical correlation, estimation of pore pressure, estimation of fracture gradients and determination of casing points, all based on the available seismic data. Well planning often further involves determination of well bore courses, including straight hole criteria and directional criteria, as well as optimizing the hole size for productive capacity and drilling efficiency for both hydropressured and geopressured wells. Additional factors to be considered in the process of well planning include choice of materials for the tubulars, tubular goods design, cementing and completion design. Economic, safety, health and environmental concerns, including regulations and codes, must all be considered.
Current technology for supporting geophysical data modelling and well planning typically requires domain experts who possess specific knowledge in various diverse disciplines to render a judgement on the various factors involved in a given situation. Existing computer technology makes it possible to model geophysical data and design a well path by manipulating an image of the proposed well. If all that was required was the shape of the path, this would be sufficient. But all of the above issues relating to well design are functions of the well path in situ. It would therefore be desirable to allow for the simultaneous optimization of a number of variables by non-domain experts in a novel setting.
Another class of problems where it is desirable to optimize a number of variables at the same time relates to the simultaneous detection of an attribute and a quality measure for that attribute in a three-dimensional volume. Specific examples of this are velocity and coherency measures, porosity and permeability, and velocity and pore pressure. With conventional technology it is difficult if not impossible to sense simultaneously in three dimensions these data and consequently render a judgement .
One perceived bottleneck in generating models of quality three-dimensional depth-migrated geophysical volumes arises in connection with building (i.e., mathematically defining and visually displaying) velocity volumes accurately representing potentially complex geologic environments. Known techniques for modelling three-dimensional data often suffer from the disadvantage of being too slow or too labour intensive, with even the most powerful computers available. Other techniques are two difficult or labour-intensive to apply to data representing very complex geologic features . In view of the foregoing considerations, the present invention is directed in one respect to a method of presenting multi-dimensional geophysical data, comprising : (a) defining a first mapping of a first set of the geophysical data to visual responses and defining a second mapping of a different second set of geophysical data to haptic responses;
(b) generating a two-dimensional rendering of the first set of the geophysical data; and (c) manipulating the location of a cursor displayed on the two-dimensional rendering using a haptic interface device, such that the haptic interface device provides haptic feedback to the user in accordance with the second mappin . The invention further relates to a method of planning the trajectory of a well bore to be drilled by drilling equipment through a three-dimensional subsurface volume, comprising :
(a) obtaining volumetric data corresponding to properties of the volume at a plurality of locations in the volume;
(b) generating a visual display of the volumetric data;
(c) defining a mapping of the volumetric data to visual and haptic responses reflecting the properties of the volume; (d) defining a preliminary trajectory of the well bore through the volume;
(e) displaying the preliminary trajectory on the visual display of the data;
(f) manipulating the displayed preliminary trajectory using a haptic interface device; wherein the haptic responses reflecting the properties of the volume are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the volume. The invention further relates to an apparatus for modelling three-dimensional geophysical data of a subsurface volume, comprising: a data processor for deriving from the geophysical data a wire frame model approximating a three-dimensional geophysical body present in the volume and for tessellating the wire frame model to define a three- dimensional surface of the wire frame model; a graphics display for displaying a two-dimensional rendering of the surface; and a haptic interface device to the data processor for manipulating the rendering of the surface's topology.
The invention further relates to an apparatus for planning the trajectory of a well bore to be drilled by drilling equipment through a three-dimensional sub- surface volume, comprising: a data processing system for processing volumetric data corresponding to properties of the volume at a plurality of locations in the volume; a graphics display for generating a visual display of the volumetric data; means for defining a mapping of the volumetric data to visual and haptic responses reflecting the properties of the volume; means for defining a preliminary trajectory of the well bore through the volume, the preliminary trajectory being displayed on the graphics display; and a haptic interface device to the data processing system for enabling a user to manipulate the displayed preliminary trajectory; wherein the haptic responses reflecting the properties of the volume are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the volume.
The aforementioned and other features and advantages of the present invention will be best understood with reference to the following detailed description of a specific embodiment of the invention, when read in conjunction with the accompanying drawings, wherein: Figure 1 is a schematic block diagram of a computer processing apparatus in accordance with one embodiment of the invention;
Figure 2 is an illustration of a haptic interface device from the apparatus of Figure 1 being manipulated by a user;
Figure 3 is an illustration of a portion of the apparatus from Figure 1 including the haptic interface device from Figure 2 being manipulated by a user; Figure 4 is a flow diagram illustrating stages in a method for computer modelling of geophysical data in accordance with one embodiment of the invention;
Figure 5 is an image of cross-sectional geophysical data displayed on a graphics display in the apparatus of Figure 1;
Figure 6 is an image of a plurality of cross- sectional outlines of a modelling of the geophysical data from Figure 5 provided with a wire mesh modelling as displayed on the graphics display in the apparatus of Figure 1;
Figure 7 is an image of a tessellated modelling of the geophysical data from Figure 5 as displayed on the graphics display in the apparatus of Figure 1; and
Figure 8 is an image of a graphic rendering of the geophysical data from Figure 5 as displayed on the graphics display in the apparatus of Figure 1.
In the interest of clarity not all features of actual implementations are described.
Referring to Figure 1, there is shown a schematic, simplified block diagram of an apparatus 10 for presenting multi-dimensional geophysical data in accordance with the invention. The apparatus 10 is based upon a conventional processing unit 12. Processing unit 12 is a general-purpose computer such as an ULTRA 60 workstation (ULTRA is a trademark) commercially available from Sun Microsystems, Palo Alto, California. Other general purpose computers may be equally suitable for the purposes of practising the present invention, for example workstations available from Silicon Graphics, Inc., Mountain View, California, or personal computers, often based on an Intel Corp. PENTIUM (PENTIUM is a trademark) microprocessor running at clock speeds of 300 MHz or so. Associated with processing unit 12 is a data storage device 14, which may take the form of an internal or external hard disk drive, writeable compact disk, JAZZ
(JAZZ is a trademark) drive or the like having sufficient storage capacity to store one or more sets of geophysical data. Also associated with processing unit 12 is a graphics display 16, which in the presently disclosed embodiment is a conventional cathode ray tube capable of displaying high-resolution colour graphic images.
Further associated with processing unit 12 are one or more user interface devices; three user interface devices designated with reference numerals 18, 20, and 22 are depicted in Figure 1. In the presently disclosed embodiment, user interface device 18 comprises, by way of example, a conventional alphanumeric keyboard, and user interface device 20 is a mouse or equivalent cursor control device for facilitating user control of a cursor or pointer displayed on display 16. User interface device 22 is a haptic interface device for haptic user interaction with computer apparatus 10. Haptic interface device 22 is a user-input device that can be manipulated in three dimensions to control the movement and positioning of the cursor within a virtual three- dimensional volume displayed on display 16. In addition, haptic interface device 22 is adapted to provide tactile feedback to the user, as will hereinafter be described in further detail. Turning to Figure 2, there is shown a portion of apparatus 10 in accordance with one embodiment of the invention, including haptic interface device 22. The haptic interface device 22 comprises an articulating arm 24 terminating in a pencil-like stylus portion 26. A plurality of rotating and/or swivelling joints or gimbals 28, 30, 32, and 34, give stylus 26 six degrees of freedom of motion (x-axis, y-axis, z-axis, yaw, pitch, and roll), enabling a users hand 36 to move stylus 26 freely in three dimensions. Further, haptic interface device 22 includes a system of motors and cables (not shown) to enable it to provide force feedback to the user. The force feedback takes the form of variable resistance to motion of stylus 26 in any of three orthogonal dimensions (i.e., the x, y and z axes) . Such force feedback enables a user experience the tactile sensation of "touching" virtual three-dimensional objects displayed on display 16. Stylus 26 may further be provided with a button 27 actuable by the user in a manner generally analogous to the one or more buttons provided on the conventional type of personal computer user interfaces commonly referred to "mouse."
A suitable haptic interface device is the PHANTOM (PHANTOM is a trademark) haptic interface device commercially available from SensAble Technologies,
Cambridge, Massachusetts. The PHANTOM haptic interface device is described in further detail in: J. Kenneth Salisbury et al . , "Phantom-Based Haptic Interaction with Virtual Objects," IEEE Computer Graphics and Applications, September/October 1997, pp. 6-10; and in Elaine Chen, "Six Degree of Freedom Haptic System for Desktop Virtual Prototyping Applications," Virtual Reality and Prototyping, June 1999, Laval (France) . It allows and measures motion along six degrees of freedom and can exert controllable forces on the user along three of those degrees of freedom. It is driven by a six-axis power amplifier box and interfaces to computer 12 via a PCI controller card. Low-level communications between computer 12 and the controller card (not shown in Figure 1) are handled by device drivers provided by the manufacturer. The device drivers maintain a 1 kHz update rate to ensure stable closed-loop control of the haptic device. The device kinematics and other robotic calculations are provided by a software developer's kit also provided by the manufacturer. The software developer's kit provides a high-level (e.g., C++) programming interface for generating haptic effects. Haptic effects handled by the developer's kit can be based on geometry (such as point haptic exploration), or on force-time profiles (such as sinusoidal vibrations and jolts) . Alternatively, system designers can define custom force fields.
Another suitable haptic interface device is described in USA patent specifications No. 5 625 576, No. 5 898 599 and No. 5 587 937.
Although a haptic interface device 22 having six degrees of freedom is described herein, it is contemplated that haptic interface device devices having greater or fewer degrees of freedom may be advantageously employed in connection with the practice of the present invention. In addition, it is contemplated that a haptic interfaces capable of a variety of different types of sensory feedback may be advantageously applied in connection with the practice of the present invention. For example, it is contemplated that a haptic interface device may provide force feedback (i.e., resistive force to movement of stylus 26), vibrating feedback, sonic/aural feedback, and the like. Accordingly, for the purposes of the present disclosure, the term "haptic interface device" is intended to be interpreted broadly to encompass a wide range of devices having any number of degrees of freedom and feedback mechanisms.
In Figure 3, there is shown a user 36 positioned in from of apparatus 10 in accordance with the invention. As shown in Figure 4, the apparatus 10 presents a two- dimensional colour graphic rendering 40 of a three- dimensional geophysical body on display 16. Using haptic interface device 22, the user is able to manipulate a cursor 42 appearing within in rendering 40. The apparent position of cursor 42 within the three-dimensional image tracks the position of stylus 26 as it is manipulated by user 36, in manner analogous to the movement of a cursor in a two-dimensional windowed environment in response to two-dimensional movement of a conventional mouse. Stated differently, haptic interface device is adapted to translate actual three-dimensional movements of stylus 26 into apparent or "virtual" three-dimensional movements of cursor 42 as it appears in display 16. The user can interact - in a virtual sense - with the rendering 40 displayed on display 16, for example, by actuating a selector button 44 on stylus 26 to select a particular region of the rendering's surface, as will be hereinafter described in further detail. Interaction with the rendering 40 may further involve the use of the computer's keyboard, not shown in Figure 3.
The force-feedback aspects of haptic interface device 22, together with the two-dimensional rendering of a three-dimensional object presented on display 16, function to create the illusion for the user that cursor 42 is moving in three dimensions, despite the fact that display 16 presents only a two-dimensional rendering of three-dimensional bodies. That is, display 16 presents a "virtual" three-dimensional environment within which cursor 42 can be manoeuvred by means of haptic interface device 22. For example, if the user manipulates stylus 26 such that cursor 42 appears on display 16 to come into contact with the surface of the geophysical body, haptic interface device 22 will prevent (with reasonable degrees of force) further movement of the cursor, giving the user the impression that cursor 42 has come into contact the body. The user can move cursor 42 over and around the rendered surface as if "feeling" the contours and textures of the body. To further enhance the three- dimensional illusion, apparatus 10 may further incorporate three-dimensional display technology. Often, such technology involves the wearing of special glasses 46, as shown in Figure 3. The notion of interacting within what is commonly referred to as a "virtual environment" is well known. Such concepts as the "virtual" viewing, rotating, touching, selecting, and deforming a virtual three-dimensional object (i.e., a two-dimensional graphic rendering of a three-dimensional object) by means of a human interface to a computer apparatus will be assumed to be sufficiently understood. So is the software programming necessary to effectuate such interactive virtual environments.
In order be able to present the multi-dimensional geophysical data in this way, a first mapping of a first set of the geophysical data to visual responses is defined, and then a second mapping of a different second set of geophysical data to haptic responses is defined. In the above example the first mapping consists of the data that will be displayed on the display 16 and the second set of data includes, for example, the force feedback. Having defined the mapping, a two-dimensional rendering 40 of the first set of the geophysical data is generated. Then the location of the cursor 42 can be manipulated displayed on the two-dimensional rendering 40 using the haptic interface device 22, such that the haptic interface 22 device provides haptic feedback to the user in accordance with the second mapping.
In case the multi-dimensional geophysical data relates to a subsurface volume, generating a two- dimensional rendering comprises deriving from the first set of the geophysical data a wire frame model approximating a three-dimensional geophysical body present in the volume, tessellating the wire frame model to define a three-dimensional tessellated surface of the wire frame model, and selecting a point of view to generate the two-dimensional rendering of the tessellated surface. This will now be described with reference to Figure .
Figure 4 shows a flow diagram illustrating a three- dimensional seismic data modelling procedure in accordance with one embodiment of the invention. The process described herein begins with a step not shown in Figure 4, namely the step of obtaining the seismic data corresponding to a subsurface volume containing one or more geophysical structures or regions of interest. This step will not further be explained.
As shown in Figure 4, a first step in the modelling process in accordance with the presently disclosed embodiment of the invention, represented by block 50, involves deriving from the first set of the geophysical (seismic) data a wire frame model approximating a three dimensional body present in the volume.
This step involves deriving a series of "sparse profiles," i.e., a series of cross-sectional outlines of the structure of interest. Figure 5 illustrates one manner in which such profiles may be derived from the seismic data. In Figure 5 is shown a display of a traverse view corresponding to a first planar slice of the subsurface volume, wherein H is the horizontal axis and V is the depth (or the time) . In Figure 5 a boundary 90 of the geophysical body is at least partially observable. Section 90a of the boundary is clearly visible, sections 90b and 90d are less clearly visible and sections 90c and 90e are not visible. The geophysical boundary 90 is defined between dashed lines 100 and 102. This is, for example, the boundary around a salt deposit or the like. Please note that Figure 5 shows only a part of the body, the body extends to the right of Figure 5. Using conventional imaging software, a plurality of points (several exemplary ones being identified with reference numerals 104 in Figure 5) are manually selected through visual inspection of the image, to define a cross-sectional outline of the geophysical body between the selected points 104, the cross-sectional outline is not shown because is coincides with boundary 90a in this example. This procedure allows for the definition of cross-sections of bodies that may be multiply recumbent. Imaging software tools adapted to facilitate this step of deriving the sparse profiles are known in the art. For example, suitable software tools are commercially available from Landmark Graphics Corp, Houston, Texas and from Schlumberger Oilfield Services (GeoQuest) , Houston, Texas . It is desirable for each of the cross-sections derived in step 50 to be a closed loop having no beginning or end. However, it is to be noted that for any given traverse view, there are portions of the boundary that may not be readily observable. In Figure 5, for example, there is a portion of the boundary between dashed lines 100 and 102 that is not observable; this portion is designated within dashed line 108 in Figure 5. As a consequence of the potential for incompleteness in the seismic data, in some instances it is necessary for the user performing step 50 from Figure 4 to make a "best guess" as to actual path of the boundary being mapped. Such extrapolation may be based, for example, on observations of neighbouring traverse slices. As a result of such extrapolation, the cross-sections generated in accordance with the presently disclosed method in some sense merely approximate the actual topology of the geophysical structure being modelled. Further refinement of the modelling is sometime necessary, as will hereinafter be described in further detail. In one embodiment of the invention, for each point 104 selected to form the cross-sectional outline, some indication of the confidence level of the selection is recorded. This can take the form of a numeric weighting value, for example, where a higher value reflects a high degree of confidence that the corresponding point 104 actually lies on the boundary being profiled, while lower values reflect lesser degrees of confidence. In the example of Figure 5, for example, the particular point designated with reference numeral 110 would be assigned or otherwise associated with a higher confidence value than any point to be selected in the region of dashed line 108, since the boundary in the region of point 110 is clearly observable in the seismic data, while the boundary is essentially not visible in the region of dashed line 108.
Step 50 in Figure 4 is repeated multiple times at successive parallel slices of the seismic data to produce a series of closed cross-sectional loops or "wires" 112. Figure 6 shows the result of this process. In Figure 6, each wire 112 corresponds to a planar slice of the geophysical body in successive parallel planes.
Having defined a plurality of cross-sectional wires 112 in step 50, the next step, at block 52 in Figure 4, is to define a plurality of inter- connections 114 between the sparse profiles derived in block 50. These interconnections 114 transform the plurality of sparse profiles into a so-called three- dimensional wire frame (or wire-mesh) model of the structure, such as is shown in Figure 6. The next step, at block 54 in Figure 4, involves tessellation of the wire mesh created in steps 50 and 52. Tessellation is the first stage of what is sometimes referred to as putting a "skin" or a "bag" over a wire mesh model . Tessellation of a three-dimensional graphic model involves defining the surface of a three- dimensional volume in terms of a plurality of polygons (for example triangles) which approximate the aggregate shape of the volume, such that the surface of the volume can be mathematically expressed in terms of the individual polygons. Tessellation of a volume's surface facilitates the imaging and manipulation of the volume, and is a known technique used in the art of computer rendering. See, for example, USA patent specification No. 5 898 437. The tessellated seismic volume is depicted in Figure 7. In the presently disclosed embodiment, the tessellating polygons are triangles, several of which being designated with reference numerals 118 in Figure 7, although it is to be understood that tessellation using polygons having a greater number of sides may be equally suitable for the purposes of practising the present invention .
Tessellation as described with reference to Figure 7 leads to a mathematical definition of the volume such that a surface 120 may be rendered, giving the volume the appearance of being a solid object. The surface 120 of the volume is depicted in Figure 8.
Owing to the complexity of the tessellation process and the potential complexity of the structure being modelled, the tessellated surface may in some cases have topological defects such as holes and self-intersections. As represented by step 56 in Figure 4, therefore, the next step in the process in accordance with the presently disclosed embodiment of the invention involves repairing such defects. The removal of such imperfections can smooth or otherwise deform the closed tessellated surface, degrading the exactness of the fit of the surface to the control, i.e., to the underlying seismic data .
As thus far described, the process depicted in Figure 4 for constructing a closed tessellated surface 120 covering the closed three-dimensional geophysical body will usually produce a surface that only loosely fits to the underlying seismic data. Thus, the next step, represented by block 58 in Figure 4, is to minimize the error between the topologically correct surface 120 and the correct position where the user selected the points 104. Again, such data processing is well known in the art.
Once a topologically correct closed surface 120 has been created that minimizes the error between the surface and the primary control data, it is desirable in accordance with the presently disclosed embodiment of the invention to apply residual edits interactively to achieve the desired fit to the control data or to shape the surface at locations where adequate control data is lacking. This step is represented by block 60 in Figure 4.
In the prior art, the process of applying residual edits to refine the accuracy of the model being constructed has been a laborious task, particularly due to limitations of the human-machine interface. Residual editing involves selecting individual polygons 118 making up the tessellated "skin" on the wire-mesh model, and then re-orienting the position of the polygon in three dimensions to optimize its "fit" with the control, i.e., - li the underlying seismic data. Particularly because most user interfaces to a computer are at best two-dimensional (for example, a conventional computer mouse, digitizing tablet or the like) , the re-orientation of tessellation polygons can be rather cumbersome. Furthermore, the quality of the fit of a particular polygon 118 to the control can be difficult to assess, and often involves computation of numerical values reflecting the quality of the fit. In accordance with a significant aspect of the invention, on the other hand, interactive residual editing is advantageously accomplished through the use of haptic interface device 22, as will hereinafter be described in further detail. Subsurface regions can be characterized by a large number of geophysical properties, including porosity, permeability, pore pressure, rock property, rock type, elasticity, shear strength, rigidity, density, and so on. Further, seismic techniques enable geophysicists to ascertain information about such properties of subsurface volumes, but that such information may be incomplete or imprecise to varying degrees. As a result the process of defining and refining the tessellated surface of a geophysical body based on available seismic data to some extent can involve extrapolation from the data that is available. This process of extrapolation can be significantly enhanced through the use of haptic interface device 22.
As described with reference to Figure 4, step 56 of repairing topological defects results in a tessellated surface 120 that is completely continuous, i.e., a surface that has no holes. As such, the tessellated surface 120 can be analogized to an inflated balloon (albeit, an irregularly shaped one) . Extending this analogy it is desirable to include among the capabilities of apparatus 10 the ability to specify portions of the tessellated surface that can be selected and "elastically" deformed using haptic interface device 22 in a manner analogous to deforming the surface of an inflated balloon. Advantageously, the force-feedback capabilities of haptic interface device 22 can be utilized to create the sensation of varying degrees of apparent elasticity of the deforming surface 120 of the rendered object. In particular, in one embodiment, a user specifies a region of the tessellated surface of graphic rendering 40 rendered on display 16 by identifying selected tessellated polygons 118. The selection of polygons 118 may be accomplished in various ways. For example, selected polygons 118 making up the tessellated surface can be specified based upon an analysis of the certainty level at which the surface was initially defined. That is, since the underlying seismic data may be inconclusive at a particular region, such that some degree of extrapolation from other data was necessary to close the surface in that region (block 56 in Figure 4), further refinement of the topology of that surface region may be desirable. Therefore, the tessellated polygons 118 corresponding to that region are made deformable, such that the topology of the surface 120 in that region can be adjusted using haptic interface device 22.
Alternatively, a region of the tessellated surface 120 of graphic rendering 40 may be selected manually, using haptic interface device 22 to control a selecting cursor manoeuvrable through the virtual three- dimensional image. As another alternative, polygons within a programmable radius of the selecting cursor can be selected.
In any case, once a deformable region has been defined, apparatus 10 preferably allows the user to attach cursor 42 to the deformable region. Using haptic interface device 22, the user is then able to deform the surface topology by manipulating (e.g., "pushing in" or "pulling out") the virtual surface, in a manner analogous to deformation of the surface of an inflated balloon. In one embodiment of the invention, the apparent elasticity of the virtual surface is modulated as a function of the distance the tessellated surface is deformed away from the control. That is, under software control, haptic device 22 is caused to exert increasing resistive force against further movement of stylus 26 as the user deforms the deformable surface of the rendered image 40 away from its starting point. To the user, a portion of the surface of the rendered image behaves as though it were a flexible membrane, much like the surface of an inflated balloon .
In another embodiment, the apparent elasticity of the surface is modulated in accordance with the underlying seismic data associated with the elastic or deformable region, and in particular is modulated in accordance with some function of the confidence weighting values assigned to the many points 104 defined by the user during step 50 in the process outlined in Figure 4. That is, while the seismic data associated with the region of deformation might be incomplete, certain information might nonetheless be known about the region or more complete information about adjacent regions, such that a range of probable topologies for the region can be extrapolated. In this case, as the user deforms the region further away from the probable region, haptic interface device exerts increasing resistive forces against movement of stylus 26. Conversely, as the user deforms the region closer to a topology that most closely fits with the available data associated with the region, decreasing resistive forces are stylus 26 may be exerted. Many different properties of the geophysical body - as reflected in the seismic data to greater or lesser degrees - can be factored into the calculations for determining the apparent elasticity of the deformable region. In this way, and in accordance with a significant aspect of the invention, the user is provided with haptic feedback constituting an aggregation of perhaps many different functions of the seismic data at once. In one embodiment, the colour of the deformable surface 120 can be modulated as a function of the associated seismic data, thereby giving the user even further, visual, feedback in adjusting the topology to fit the seismic data. Sonic feedback may also be provided. This greatly enhances the user' s ability to achieve an optimal fit to the underlying seismic data. Once a user is satisfied with the topological adjustments made, the cursor 42 is released from the surface and the deformability of the surface 120 is discontinued.
Of course, the seismic data corresponding to certain regions of the virtual surface may be relatively conclusive as to the actual topology of the geophysical body, such that no significant interactive adjustment is necessary. Such regions are preferably kept "rigid" during interactive adjustment of other areas of the rendered image.
As an alternative or in addition to the inflated balloon analogy discussed above, the rendered image of a geophysical body can be analogized to a deformable clay model whose shape is capable of being virtually "sculpted" using haptic interface device 22. This is sometimes referred to as "voxel sculpting", where the term "voxel" (volume element) in the context of a three- dimensional rendering is analogous to the well-known term "pixel" (pixel element) in the context of two-dimensional renderings. In this implementation of the invention, cursor 22 is programmed to behave as a virtual "scalpel" or sculpting tool capable of scraping away material from the surface of the rendered image. As with the implementation of software capable of causing the rendered surface to behave as an elastic, deformable membrane. Deformation of "virtual clay" objects is discussed, for example, in Thomas Massie, "A Tangible Goal for 3D Modelling," IEEE Computer Graphics and Applications, May/June 1998, pp. 62-65. See also, J. Kenneth Salisbury, Jr., "Making Graphics Physically Tangible," Communications of the ACM, vol. 42, No. 8, August 1999, pp. 75-81, which discusses "digital clay" and the sculpting of virtual objects using "haptically enabled" tools. In an embodiment of the invention wherein the rendered image is endowed with the characteristics of "virtual clay," haptic interface device 22 can provide tactile feedback based on associated geophysical data in much the same manner as with the modulation of elasticity in the inflated balloon analogy. In particular, for the virtual clay embodiment, such feedback can involve modulating resistance to removal (or addition) of material from the rendered image. As with the inflated balloon embodiment, the rendered image's colour can also be modulated to provide additional, visual, feedback to the user.
The present invention may also be advantageously applied to the task of well planning. Well planning involves establishing an optimal drilling trajectory from the earth surface to one or more subterranean hydrocarbon reservoirs . With the advent directional drilling well planning can be highly complex, involving the simultaneous consideration of many variables. The apparatus 10 from Figure 1 can be advantageously employed in the well planning process. A first stage in the well-planning process involves obtaining available data (e.g., seismic data, logs from existing wells, and so on) regarding the subterranean region into which a the planned well is to be drilled. Indeed, the subterranean region may contain certain geophysical features capable of being modelled as previously described in this disclosure, and in some instances it may be necessary or desirable to ensure that the planned well bore either does or does not pass through such regions. Further, the seismic data will reflect other variables by which points in the subterranean region may be characterized, such as reservoir continuity, reservoir thickness, pore fill fluid type (oil, gas, water, and so on), lithologic variation, and pay thickness, shear velocity, compression velocity, density, petrophysical correlations, pore pressure, fracture gradients, hydropressured environmental conditions, geopressured environmental conditions, gas hazards, and so on. Thus, for each point in the surveyed region, a plurality of data variables may be available, such that the region as a whole can be characterized by a multi-dimensional database. The first three dimensions of the data are the orthogonal x, y, and z axes, with additional dimensions corresponding to the various known characteristics of each point in the region .
As an example, a given region can be characterized by a multidimensional database in which each entry is organized as follows: (x, y, z, Vp, Vs, p, σ, φ, ...) where the triple {x, y, z} identifies a three-dimensional location within the region, Vp is the compression wave velocity at that location, Vs is the shear wave velocity at that location, p is the density at that location, σ is the electrical conductivity at that location, φ is the porosity at that location, and so on. The volumetric data {x, y, z} can be mapped to visual responses, whereas the other data can be mapped to haptic responses. It can be a challenge to readily interpret multidimensional data corresponding to a subterranean region, for well planning or other purposes. The difficulty increases when it becomes necessary to consider more than one characteristic of the region at a time. To facilitate this task, therefore, in accordance with one embodiment of the invention, a mapping is established between the geophysical data being analysed and one or more haptic responses to be exhibited by haptic interface device 22. A rendering of the three- dimensional region is displayed on graphics display 16, and a cursor controllable using haptic interface device 22 is provided. A user then manipulates haptic interface device 22 to cause the cursor to appear to move about within the rendered three-dimensional region. At each point in the region, haptic feedback is provided to the user via haptic interface device 22 corresponding to the variable (s) for which a mapping has been defined.
As a simple example, a mapping may be provided between resistance of stylus 26 to movement by the user and the density variable p for the region. With such a mapping, stylus 26 will be relatively harder to move when the cursor is located in a region of relatively high density, and relatively easier to move when the cursor is located in a region of relatively lower density.
In accordance with another aspect of the invention, it is contemplated that more than one mapping of haptic response to data variables may be provided at one time. Thus, for example, in addition to the foregoing density example, haptic interface device 22 may provide some other haptic response (e.g., vibration, "stickiness,") at varying levels proportional to some other variable describing the region. In this way, a user is able to more readily assess and correlate multiple variables describing the region in order to obtain meaningful information and insight about the region. Then a subterranean region is displayed on graphics display 16 and a preliminary trajectory of the well bore through the volume is defined. The preliminary trajectory is displayed on the visual display 16 to give a virtual representation of a well bore. Using haptic interface device 22, a user is able to manipulate the well bore to alter its trajectory, size, and other attributes.
The haptic feedback capabilities of haptic interface device 22 can advantageously be applied to the process of well planning. For example, the known constraints upon the trajectory of a well bore and the known characteristics of the subterranean region through which the well bore passes can be mapped to selected haptic responses, such that the user is provided with haptic feedback guiding the well planning process. As a simple example, there may be limits on the angle at which a well bore can turn within a given distance. Such a constraint can be mapped to the displayed virtual well bore, such that a user encounters increasing resistance as the user attempts to bend the virtual well bore toward this upper limit. As another example, certain geophysical properties of a region through which a well bore passes may be such that a well bore of at least some minimum diameter is necessary. This information can be mapped to a predetermined haptic response, such that the user is guided toward selecting an appropriate (or optimal) diameter for the well bore. These are but two simple examples of how haptic responses can be defined to provide feedback to the user reflecting the multiple variables and constraints to be considered during a well planning process. There are numerous properties of a well bore having associated constrained variables that may be mapped to haptic responses for the purposes of well planning in accordance with the presently disclosed embodiment of the invention. Other well bore properties include, without limitation: dimensions of the bore, casing, cement and other permanent insertions; properties of the drill bits and drilling equipment.

Claims

C L A I M S
1. A method of presenting multi-dimensional geophysical data, comprising:
(a) defining a first mapping of a first set of the geophysical data to visual responses and defining a second mapping of a different second set of geophysical data to haptic responses;
(b) generating a two-dimensional rendering of the first set of the geophysical data; and
(c) manipulating the location of a cursor displayed on the two-dimensional rendering using a haptic interface device, such that the haptic interface device provides haptic feedback to the user in accordance with the second mapping .
2. The method according to claim 1, wherein the multi- dimensional geophysical data relates to a subsurface volume, wherein generating a two-dimensional rendering comprises deriving from the first set of the geophysical data a wire frame model approximating a three-dimensional geophysical body present in the volume, tessellating the wire frame model to define a three-dimensional tessellated surface of the wire frame model, and selecting a point of view to generate the two-dimensional rendering of the tessellated surface.
3. The method according to claim 2, wherein deriving the wire frame model comprises:
(d) displaying on a display a traverse view corresponding to a first planar slice of the subsurface volume such that a boundary of the geophysical body is at least partially observable; (e) selecting a plurality of points along the boundary to define a cross-sectional outline of the geophysical body; (f) repeating steps (d) and (e) for a plurality of planar slices of the subsurface volume parallel to the first planar slice to define a plurality of cross-sectional outlines of the geophysical body; and (g) defining interconnections between the plurality of cross-sectional outlines to create the wire frame model.
4. The method according to claim 2 or 3, wherein the step of tessellating the wire frame model comprises defining a surface for the wire frame model in terms of a plurality of interconnected polygons.
5. The method according to claim 4, which method further comprises the step of removing imperfections originating from tessellating the wire frame model.
6. The method according to any one of the claims 2-5, which further comprises displaying the two-dimensional rendering of the three-dimensional tessellated surface on a graphics display of a computer, and manipulating the rendering using the haptic interface device connected to the computer, in order to adjust the topology of the tessellated three-dimensional surface.
7. A method according to claim 6, wherein the step of manipulating the rendering of the topology of the tessellated three-dimensional surface comprises:
(i) defining a region of the rendering of the surface to be elastically deformable;
(j) defining at least one point of attachment between the cursor and the elastically deformable region; (k) manipulating the haptic interface device to effectuate movement of the cursor, thereby effectuating deformation of the rendering of the surfaces' topology.
8. The method according to any one of the claims 2-7, wherein the three-dimensional geophysical body present in the volume is a closed body.
9. A method of planning the trajectory of a well bore to be drilled by drilling equipment through a three- dimensional subsurface volume, comprising:
(a) obtaining volumetric data corresponding to properties of the volume at a plurality of locations in the volume;
(b) generating a visual display of the volumetric data;
(c) defining a mapping of the volumetric data to visual and haptic responses reflecting the properties of the volume; (d) defining a preliminary trajectory of the well bore through the volume;
(e) displaying the preliminary trajectory on the visual display of the data;
(f) manipulating the displayed preliminary trajectory using a haptic interface device; wherein the haptic responses reflecting the properties of the volume are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the volume.
10. The method according to claim 9, further comprising:
(g) obtaining drilling data corresponding to properties of the well bore;
(h) defining a mapping of the properties of the well bore and the drilling equipment to visual and haptic responses reflecting the properties of the well bore; wherein the haptic responses reflecting the properties of the well bore and the drilling equipment are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the well bore and the drilling equipment.
11. The method according to claim 10, wherein the properties of the volume include, without limitation, petrophysical correlations, pore pressure, fracture gradients, hydropressured environmental conditions, geopressured environmental conditions, and gas hazards.
12. An apparatus for presenting multi-dimensional geophysical data to a user, comprising: a data processing system defining a first mapping of a first set of the geophysical data to visual responses and a second mapping of a different second set of the geophysical data to haptic responses; a graphics display for generating a graphical image of the data; and a haptic interface device for manipulating the location of a cursor displayed on the graphic image; wherein the haptic interface device provides haptic feedback to the user in accordance with the mapping.
13. An apparatus for modelling three-dimensional geophysical data of a subsurface volume, comprising: a data processor for deriving from the geophysical data a wire frame model approximating a three-dimensional geophysical body present in the volume and for tessellating the wire frame model to define a three- dimensional surface of the wire frame model; a graphics display for displaying a two-dimensional rendering of the surface; and a haptic interface device to the data processor for manipulating the rendering of the surface's topology.
14. The apparatus according to claim 13, wherein the data processor co-operates with the graphics display so as to display a traverse view corresponding to a first planar slice of the subsurface volume such that a boundary of the geophysical body is at least partially observable; wherein the apparatus further comprises means for enabling a user to select a plurality of points along the boundary to define a plurality of cross-sectional outline of the geophysical body; and wherein the data processor defines interconnections between the plurality of cross-sectional outlines to define the wire frame model.
15. The apparatus according to claim 13, wherein the data processor tessellates the wire frame model by defining a surface for the wire frame model in terms of a plurality of interconnected polygons.
16. An apparatus for planning the trajectory of a well bore to be drilled by drilling equipment through a three- dimensional sub-surface volume, comprising: a data processing system for processing volumetric data corresponding to properties of the volume at a plurality of locations in the volume; a graphics display for generating a visual display of the volumetric data; means for defining a mapping of the volumetric data to visual and haptic responses reflecting the properties of the volume; means for defining a preliminary trajectory of the well bore through the volume, the preliminary trajectory being displayed on the graphics display; and a haptic interface device to the data processing system for enabling a user to manipulate the displayed preliminary trajectory; wherein the haptic responses reflecting the properties of the volume are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the volume.
17. The apparatus according to claim 16, further comprising means for defining a mapping of the drilling data and the drilling equipment to visual and haptic responses reflecting the properties of the well bore, wherein the haptic responses reflecting the properties of the well bore and the drilling equipment are conveyed to a user by the haptic interface device such that the trajectory is optimized with respect to the properties of the well bore and the drilling equipment.
18. The apparatus according to any one of the claims 12-17, wherein the haptic interface device comprises an articulated arm terminating in a stylus having a plurality of degrees of freedom of motion.
19. The apparatus according to any one of the claims 12-18, wherein the haptic interface device enables a user to manoeuvre a cursor around the two-dimensional rendering of the three-dimensional surface displayed on the graphics display, and wherein actual three- dimensional movements of the stylus are translated into virtual movements of the cursor as it appears in the display.
20. The apparatus according to any one of the claims 12-19, wherein the haptic device provides tactile feedback to the user in the form of modulated resistance to movement of the stylus .
21. The apparatus according to any one of the claims 12-20, wherein the haptic device variably exerts force on the stylus as the stylus is manipulated.
22. The apparatus according to any one of the claims 12-21, wherein the variably exerted force varies as a function of the second set of the geophysical data and or of the drilling data or drilling equipment.
PCT/EP2000/009643 1999-09-30 2000-09-29 Method and apparatus for multi-dimensional data modelling and analysis using a haptic interface device WO2001023911A1 (en)

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