U.S. patent application number 13/850236 was filed with the patent office on 2014-09-25 for monitoring system for drilling instruments.
The applicant listed for this patent is Schlumberger Technology Corporation. Invention is credited to Geoffrey C. Downton, Christian Menger, Nobuyoshi Niina, Oleg Polyntsev.
Application Number | 20140284103 13/850236 |
Document ID | / |
Family ID | 51568290 |
Filed Date | 2014-09-25 |
United States Patent
Application |
20140284103 |
Kind Code |
A1 |
Niina; Nobuyoshi ; et
al. |
September 25, 2014 |
Monitoring System for Drilling Instruments
Abstract
Drilling instruments may include a flexible portion, such as a
flexible conduit and/or a universal joint. Sensors may be utilized
to detect the position of various portions of the drilling
instrument, such as the flexible conduit, the universal joint,
and/or a drill bit assembly.
Inventors: |
Niina; Nobuyoshi;
(Gloucestershire, GB) ; Polyntsev; Oleg;
(Cheltenham, GB) ; Menger; Christian; (Recke,
DE) ; Downton; Geoffrey C.; (Stroud, GB) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Schlumberger Technology Corporation |
Sugar Land |
TX |
US |
|
|
Family ID: |
51568290 |
Appl. No.: |
13/850236 |
Filed: |
March 25, 2013 |
Current U.S.
Class: |
175/24 ; 175/40;
175/45 |
Current CPC
Class: |
E21B 7/067 20130101;
E21B 47/024 20130101; E21B 7/068 20130101; E21B 47/00 20130101 |
Class at
Publication: |
175/24 ; 175/45;
175/40 |
International
Class: |
E21B 44/00 20060101
E21B044/00; E21B 47/00 20060101 E21B047/00 |
Claims
1. A drilling instrument comprising: a universal joint; a flexible
conduit disposed at least partially in the universal joint; and one
or more sensors to detect position information of the flexible
conduit.
2. The drilling instrument of claim 1 wherein one or more of the
sensors is coupled to the flexible conduit.
3. The drilling instrument of claim 1 wherein the position
information comprises at least one of a measure of a deviation in
position of the flexible conduit from a predetermined position of
the flexible conduit or a deflection of the flexible conduit.
4. The drilling instrument of claim 1 further comprising a drill
bit assembly, wherein the flexible conduit is coupled to at least a
portion of the drill bit assembly.
5. The drilling instrument of claim 1 wherein at least one of the
sensors measures at least one of temperature, pressure, deflection,
position, compression, extension, or torque.
6. The drilling instrument of claim 1 wherein a position of at
least one of the sensors is based at least partially on deflection
properties of the flexible conduit.
7. The drilling instrument of claim 1 wherein at least one of the
sensors comprises at least one sensing element, and wherein at
least one of the sensing elements comprises at least one of a
strain gauge or a displacement sensor.
8. The drilling instrument of claim 1 wherein at least one of the
sensors comprises a first sensing element set and a second sensing
element set radially disposed about the flexible conduit, and
wherein the first sensing element set is disposed approximately 60
degrees to approximately 120 degrees apart circumferentially from
the second sensing element set.
9. The drilling instrument of claim 1 wherein at least one of the
sensors is coupled to the universal joint.
10. The drilling instrument of claim 1 wherein at least one of the
sensors detects positional information of the universal joint.
11. A method of monitoring a drilling instrument comprising:
detecting a signal from one or more sensors, wherein at least one
of the sensors is disposed on a flexible conduit positioned at
least partially in a universal joint of a drilling instrument; and
determining position information of the flexible conduit based at
least partially on the detected signal.
12. The method of claim 11 further comprising determining a control
signal for the drilling instrument based at least partially on the
determined position information.
13. The method of claim 12 further comprising determining whether
the determined position information is within a predetermined
range, and wherein the control signal is determined based at least
partially on whether the detected signal is within the
predetermined range.
14. The method of claim 11 further comprising determining property
information based at least partially on the determined positional
information.
15. The method of claim 14 wherein the property information
includes at least one of temperature, pressure exerted on the
universal joint, compressive force exerted on the universal joint,
or condition of the drilling instrument.
16. A method for testing the performance of a drilling instrument
comprising: transmitting at least one first control signal for a
drill bit assembly of the drilling instrument, wherein the at least
one first control signal is associated with a first position of the
drill bit assembly; detecting a signal from one or more sensors,
wherein at least one of the sensors is disposed on a flexible
conduit coupled to the drill bit assembly; determining position
information of the drill bit assembly based at least partially on
the detected signal; and comparing the determined position
information of the drill bit assembly to the first position of the
drill bit assembly.
17. The method of claim 16 further comprising transmitting at least
one second control signal based at least partially on comparing the
determined position information of the drill bit assembly to the
first position of the drill bit assembly.
18. The method of claim 17 wherein at least one of the second
control signals is either substantially similar to at least one of
the first control signals or substantially different from at least
one of the first control signals.
19. The method of claim 16 further comprising determining position
information of a universal joint of the drilling instrument at
least partially based on signals transmitted from one or more
additional sensors, wherein the one or more additional sensors are
coupled to the universal joint, and wherein the flexible conduit is
disposed at least partially in the universal joint.
20. The method of claim 16 further comprising monitoring the
drilling instrument based at least partially on comparing the
determined position information of the drill bit assembly to the
first position of the drill bit assembly.
Description
BACKGROUND
[0001] In some drilling applications, drilling may be implemented
in a variety of directions. For example, directional drilling
and/or horizontal drilling may be implemented in various
formations, such as oil and gas formations, shale formations, coal
bed formations, and/or tar sand formations. As another example,
lateral holes or drainage holes may be drilled to increase
communication of a formation with a main borehole drilled in a
formation for production of various compounds.
SUMMARY
[0002] In various implementations, a drilling instrument may
include a flexible conduit, a universal joint, and/or sensor(s).
The flexible conduit may be disposed at least partially in the
universal joint. The sensor(s) may detect position information
about the flexible conduit. A drilling instrument may be monitored.
A signal may be detected from sensor(s) disposed on a flexible
conduit and position information of the flexible conduit may be
determined based at least partially on the detected signal. The
performance of a drilling instrument may be tested. A first control
signal(s) for a drill bit assembly of a drilling instrument may be
transmitted and a signal from sensor(s) may be detected. The
control signal may be associated with a first position of the drill
bit assembly. The position information of the drill bit may be
determined at least partially based on the detected signal, and the
determined position information of the drill bit assembly may be
compared to the first position of the drill bit assembly.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] Certain embodiments of the disclosure will hereafter be
described with reference to the accompanying drawings, wherein like
reference numerals denote like elements, and:
[0004] FIG. 1 illustrates a cross-sectional view of an
implementation of a portion of an example drilling instrument.
[0005] FIG. 2 illustrates a cross-sectional view of an
implementation of a portion of an example drilling instrument.
[0006] FIG. 3 illustrates a cross-sectional view of an
implementation of an example sensor arrangement.
[0007] FIG. 4 illustrates an implementation of an example sensor
arrangement.
[0008] FIG. 5 illustrates an implementation of deflection in an
example flexible conduit.
[0009] FIG. 6 illustrates an implementation of deflection in an
example flexible conduit.
[0010] FIG. 7 illustrates an implementation of an example process
for monitoring a drilling instrument.
[0011] FIG. 8 illustrates an implementation of an example processes
for testing and/or monitoring a drilling instrument.
DETAILED DESCRIPTION
[0012] The following disclosure provides many different
embodiments, or examples, for implementing different features of
various embodiments. Specific examples of components and
arrangements are described below to simplify the present
disclosure. These are, of course, merely examples and are not
intended to be limiting. In addition, the present disclosure may
repeat reference numerals and/or letters in the various examples.
This repetition is for the purpose of simplicity and clarity and
does not in itself dictate a relationship between the various
embodiments and/or configurations discussed. Moreover, the
formation of a first feature over or on a second feature in the
description that follows may include embodiments in which the first
and second features are formed in direct contact, and may also
include embodiments in which additional features may be formed
interposing the first and second features, such that the first and
second features may not be in direct contact.
[0013] In some implementations, monitoring systems for drilling
instruments or tools may be utilized when drilling into formations
in the earth. For example, formations may include petroleum and/or
gas reserves that may be produced by drilling using drilling
instrument(s) into the formation. The drilling may be
multidirectional and thus, a drill instrument capable of drilling
in various directions may be utilized. The drilling instrument may
include a universal joint, a flexible portion, sensors, and/or a
drill bit assembly. For example, a drilling instrument may include
a flexible portion, such as a flexible conduit, that has the
ability to bend in the direction of the drill bit assembly. A
universal joint and/or the flexible conduit may bend in the
direction of drilling and/or may transmit rotational power (e.g.,
via the transmission of drilling mud) to the drill bit to form the
main borehole, lateral boreholes, drain holes, etc. The direction
of drilling by the drill bit assembly may be based at least
partially on the movement and/or position of the universal joint
and/or the flexible conduit.
[0014] As loads due to drilling operations and/or the formation are
transmitted to the flexible conduit, universal joint, and/or bottom
hole assembly, the orientation of the flexible conduit, universal
joint, and/or bottom hole assembly (e.g., drill bit) may be
distorted and/or altered from the expected orientation based on
control signals to the drilling instrument. For example, the axial
load path may pass through the universal joint (e.g., the flexible
conduit may not be utilized to transmit torsional energy). In some
implementations, the flexible conduit may transmit the torsional
energy and/or axial loads across the drilling instrument. The
universal joint and the flexible conduit may transmit the torsional
energy and/or axial loads across the drilling instrument, in some
implementations. By measuring the distortions and/or altered
orientations (e.g., from reference orientations and/or from
expected orientations), a more accurate orientation of the flexible
conduit, universal joint, and/or bottom hole assembly may be
determined. The determined orientation may be utilized in
monitoring components of the drilling instrument, feedback loops,
and/or in any other appropriate manner.
[0015] FIG. 1 illustrates a cross-sectional view of an
implementation of a portion 100 of an example drilling instrument.
FIG. 2 illustrates a cross-sectional view of an implementation of a
portion 200 of an example drilling instrument. The drilling
instrument may include other components not illustrated in FIGS. 1
and 2.
[0016] As illustrated in FIGS. 1 and 2, the drilling instrument may
include a first part 105 coupled to a second part 110. To allow
multidirectional drilling (e.g., vertical, horizontal, and/or slant
drilling), the second part 110 may move with respect to the first
part 105.
[0017] A universal joint 115 may be disposed between the first part
105 and the second part 110. The universal joint 115 may allow
movement (e.g., bending, torsion about an axis, deflecting and/or
axial compression or tension) of the second part 110 with respect
to the first part 105. The universal joint 115 may have one degree
of freedom (e.g., a hinge), two degrees of freedom (e.g., a Hooke's
joint), and/or three degrees of freedom (e.g., a spherical ball
joint). For example, a universal joint 115 may bend in an x and/or
y direction and/or the universal joint may include a spherical
joint that may move in an x, y, and/or z direction. The movement of
the universal joint 115 may be measured radially about an axis
and/or with respect to two or more axes (e.g., x, y
coordinates).
[0018] A flexible conduit 120 (e.g., a flexible tube) may be
positioned at least partially in the universal joint 115. For
example, the flexible conduit 120 may pass through the universal
joint 115 and couple with a drill bit assembly 125.
[0019] In some implementations, one or more electrical wires may be
disposed in or on the flexible conduit 120, and the one or more
wires may pass from one end to the opposing end of the flexible
conduit 120 to enable the passage of power and communication
between systems disposed on either side of, or even attached to the
flex tube.
[0020] The flexible conduit 120 may include at least a portion that
is flexible. The flexible portion of the flexible conduit 120 may
be elastically deformable and/or bendable. In some implementations,
one or more of the materials that form the flexible conduit 120 may
be selected for properties of the materials. For example, at least
a portion of the flexible conduit 120 may include materials that
are conductive or nonconductive. At least a portion of the flexible
conduit 120 may include materials that are magnetic, nonmagnetic,
and/or locally magnetized, in some implementations. At least a
portion of the flexible conduit 120 may include embedded magnets.
In some implementations, the flexible conduit 120 and/or portions
thereof may include materials that are opaque or transparent (e.g.,
to light, magnetic field and/or electrical fields). For example,
the flexible conduit 120 and/or portions thereof may include
materials with properties to facilitate visualization of sensors
external to the conduit, imaging and/or sensing the fluid flowing
within the flexible conduit 120 and/or sensors. In some
implementations, the flexible conduit 120 may include markings
inside the flexible conduit to facilitate measuring the deflection
of the flexible conduit.
[0021] The flexible conduit 120 may have one, two, and/or three
degrees of freedom. For example, the flexible conduit 120 may bend
in an x and/or y direction (e.g., along an x-axis (not shown) and
y-axis 132) and/or the flexible conduit 120 may deflect in an x, y,
and/or z direction (e.g., along an x-axis (not shown), y-axis 132,
and z-axis 130, where the x-axis is perpendicular to the y-axis and
the z-axis and/or torsionally about the z-axis). The movement of
the flexible conduit 120 may be measured radially about an axis
and/or with respect to two or more axes. For example, torsion of
the flexible conduit 120 about the z-axis 130 may occur. The
flexible conduit 120 may bend about the x-axis and/or y-axis.
[0022] In some implementations, the movement of the flexible
conduit 120 may be restricted. For example, at least a portion of a
first surface 122 of the flexible conduit 120 may be coupled to at
least a portion of a first part 117 of the universal joint 115
and/or at least a portion of a second surface 123 of the flexible
conduit 120 may be coupled to at least a portion of a second part
118 of the universal joint 115. The movement of the flexible
conduit 120 may be restricted by this coupling arrangement, such
that the flexible conduit 120 may be restricted from rotating by
the universal joint 115 and/or allowed to bend in two directions
(e.g., with respect to the first axis 130, the second axis 132
perpendicular to the first axis, and a third axis (not shown)
perpendicular to the first axis and the second axis).
[0023] In some implementations, the movement of the flexible
conduit 120 relative to the universal joint 115 may be based at
least partially on the type of coupling between the flexible
conduit 120 and the universal joint 115. For example, the flexible
conduit 120 may conform to the lateral bending of the universal
joint 115. The flexible conduit 120 may be independently driven to
rotate about the z-axis 130, for example, if the bit is driven with
a motor (e.g., the motor is using the joint to transmit torque). In
some implementations, the flexible conduit 120 or portions thereof
may be free to rotate about the z-axis 130 (e.g., due to the
insertion of a rotary bearing that allows one end of the flexible
conduit 120 to rotate independently from the other end). For
example, the flexible conduit 120 may be able to rotate about the
z-axis 130 without restriction when a universal joint, such as a 3D
ball joint, is utilized and either end of the flexible conduit 120
may be attached to the adjacent collar.
[0024] In some implementations, drilling mud may be channeled
through the center of the flexible conduit and/or around the
outside of the flexible conduit. For example, the flexible conduit
may transport drilling fluid across the joint such that a
pre-determined pressure is maintained. Thus, a seal for the
universal joint, which may be structurally complex and/or the
load/torsion transmitting member, against high pressures may not be
utilized when the drilling fluid is channeled through the flexible
conduit.
[0025] In some implementations, drilling fluid may be transmitted
across the universal joint external to the flexible conduit 120.
The universal joint may be sealed to inhibit damage and/or wear
from the high pressure drilling fluid. The fluid in the flexible
conduit may be maintained separately from the drilling fluid
external to the flexible conduit. For example, in a reverse
circulating systems, where flow returns to the surface via the
flexible conduit, drilling fluid may be transmitted across the
universal joint external to the flexible conduit.
[0026] In some implementations, the sensors or portions thereof
(e.g., the wires) may be protected (e.g., disposed in a protective
housing) from the drilling mud. The direction of the drilling may
be based at least partially on the movement of the universal joint
115.
[0027] The drill bit assembly 125 may be coupled to the second part
110 of the drilling instrument and/or the flexible conduit 120. The
drill bit assembly 125 may include a drill bit used in the cutting
of the formation. In some implementations, as control of the
position of the drill bit is increased, the cutting tolerance may
be improved. The drill bit assembly 125 may also include other
components, such as a bit shaft; a collar; and/or receiving members
to couple with the flexible conduit 120, the second part 110 of the
drilling instrument, and/or other components of the drilling
instrument.
[0028] The drill bit assembly 125 may include a rigid portion. In
some implementations, the drill bit assembly 125 may be more rigid
(e.g., less flexible) than the flexible conduit 120. Thus,
knowledge of position information (e.g., relative and/or absolute,
with respect to one or more axes) of the flexible conduit 120 may
allow the position information of the drill bit assembly 125 to be
determined.
[0029] The drilling instrument may include one or more sensors 135
to monitor various components and/or properties of the drilling
instrument. As illustrated in FIGS. 1 and 2, the sensors 135 may be
coupled (e.g., directly and/or indirectly) to the flexible conduit
120 and/or the universal joint 115. The sensor(s) 135 may be
disposed inside and/or outside the flexible conduit, in some
implementations. The sensor(s) may be within the flexible conduit
(e.g., at least partially integrated and/or embedded into the
flexible conduit). In some implementations, the sensors 135 may be
communicably coupled to the flexible conduit 120 and/or the
universal joint 115 such that properties of the flexible conduit
120 and/or the universal joint 115 may be monitored.
[0030] The sensors 135 may include any appropriate sensing element,
such as strain gauges and/or displacement sensors. In some
implementations, sensors 135 may include optical fibers. Sensors
135 may include eddy current displacement sensors, capacitive
displacement sensors, magnetic proximity sensors (e.g., Hall Effect
sensors/magnetometers), linear variable differential transformer
sensors (LVDT sensors), differential variable reluctance
transformer sensors (DVRT sensors), and/or non-contact DVRT
sensors, optical and ultrasonic ranging sensors. The sensors 135
may detect temperature, pressure, position, linear and or angular
deflection, compression, extension, axial loads, torque, and/or any
other appropriate property of the drilling instrument and/or
portions thereof.
[0031] The sensors 135 may measure changes in the shape of a
component (e.g., an optical fiber may be utilized to measure
changes in the shape of the flexible conduit 120). In some
implementations, sensors that include eddy current displacement
sensors may measure distances, displacements, and/or positions of
electrically conductive components and/or portions thereof. The
eddy current displacement sensors may be communicably coupled to
various components of the drilling instrument and/or may allow
measurement without direct coupling to a component. The eddy
current displacement sensors may inhibit wear on components of the
drilling instrument due to the sensor, during measurement.
Capacitive displacement sensors may allow measurements in high
linearity and/or wide ranges (e.g., from a few centimeters to a few
nanometers).
[0032] The measurements by sensors 135 may be relative,
differential and/or absolute measurements, in some implementations.
For example, the deflection of the flexible conduit 120 may be
measured with respect to the first part 105 or a portion thereof,
such as with respect to a collar 108 of the drilling instrument, as
illustrated in FIG. 2.
[0033] Sensors 135 may measure one or more properties of a
component of the drilling instrument with which it is communicably
coupled (e.g., a displacement sensor may not make direct contact
with a flexible conduit but may allow measurement of deflection of
and/or strain on a flexible conduit). In some implementations,
sensors 135 may measure more than one property, and an arrangement
of sensors and/or selection of types of sensors may measure a first
property while inhibiting measurement of a second property and/or
interference with the measurement of the first property due to the
second property. For example, a flexible conduit 120 may expand due
to temperature and/or forces on the drilling instrument. The
measurement of the expansion due to temperature may be inhibited
while the measurement of the expansion due to forces on the
drilling instrument may be allowed. In some implementations,
measurement of properties from pressure effects due to operation
downhole may be inhibited.
[0034] The sensors 135 of the drilling instrument may be selected
based on the property that is to be measured. The sensors 135 of
the drilling instrument may be selected based upon downhole
conditions and/or the ability of a sensor to resist damage due to
exposure to downhole conditions. For example, sensors, such as eddy
current sensors, may resist damage from oil, dirt, dust, moisture,
interference fields, and/or other downhole conditions.
[0035] The sensors 135 may transmit a signal that may be used, at
least in part, to determine position information (e.g., relative to
a predetermined position and/or an absolute position) of at least a
portion of the drilling instrument. For example, sensors may be
coupled (e.g., communicably, directly and/or indirectly) to a
flexible conduit 120 to measure a property of the flexible conduit
120. The sensors 135 may directly measure deflection and/or the
sensors 135 may measure a property through which deflection may be
determined. The sensors 135 may transmit the signal from a
measurement and the signal may be used to determine position
information of the flexible conduit 120.
[0036] Position information may include a relative and/or an
absolute position of a component. The position information may
include deflection, degree of bending, degree of torsion about an
axis, degree of axial compression and tension, and/or other
information related to the position of a component. For example,
the position information may include a deviation in position of a
flexible conduit 120 from a predetermined position of the flexible
conduit 120 (e.g., a reference position, an expected position
associated with a control signal, and/or a previous position)
and/or with respect to a component of the drilling instrument.
[0037] During operation, the position of the drill bit assembly 125
may fluctuate since the flexible conduit 120 bends and/or moves
torsionally during use due to the flexible properties of the
flexible conduit 120. The position information of the flexible
conduit 120 may be measured and at least partially utilized to
determine a position of the drill bit assembly 125 and/or portions
thereof. The direction of drilling may be determined based at least
partially on a position of the drill bit assembly 125.
[0038] For example, utilizing measurements of the sensor(s) on the
flexible conduit and/or the universal joint, the pointing angle of
the universal joint may be determined. The position (e.g.,
direction) of the drill bit may be determined from the determined
pointing angle of the universal joint. In some implementations, the
sensor(s) on the flexible conduit and/or the universal joint may be
utilized to determine the loads and torsions being experienced by
the universal joint and/or the flexible conduit. The measurements
from the sensor(s) on the flexible conduit and/or the universal
joint may be utilized to determine the extent of any angular
rotation across the joint (e.g. in a 3D ball joint). The
measurements from the sensor(s) on the flexible conduit and/or
universal joint may be utilized to determine differential pressure
across the flexible conduit, temperature of the joint (e.g., for
wear assessments), measurement of accumulated fatigue damage of the
flexing members etc.
[0039] In some implementations, a rotation of a collar (e.g.,
collar 108 in FIG. 2) above a flexible conduit 120 and/or universal
joint 115 may be determined. The rotation of the collar may be
utilized with the determined position information of the flexible
conduit 120, universal joint 115, and/or drill bit assembly 125 to
obtain real time (e.g., during use) drill bit pointing direction.
The drill bit pointing direction may be utilized to improve control
and/or steering (e.g., when compared to a drilling instrument in
which position information may not be determined such that the
drill bit pointing direction is assumed).
[0040] In some implementations, the measurements from sensors 135
may be utilized to determine the condition of a component of the
drilling instrument. For example, wear on a component and/or
catastrophic mechanical failure may be inhibited by determining a
condition of a component. In some implementations, the range of
motion of a component in good condition may be restricted to a
predetermined range, and detecting motion of the component outside
of that range may identify wear on the component. Thus, the
component may be replaced and/or fixed, for example, prior to
excessive wear on the component and/or prior to catastrophic
mechanical failure of the drilling instrument.
[0041] In some implementations, the measurements from the sensors
135 may be utilized to determine the behavior and/or properties of
components in the bottom hole assembly. For example, one or more
sensors may be disposed anywhere along the bottom hole assembly,
such as between connections, for example. Information about the
behavior of the bottom hole assembly may be determined based at
least partially on measurements from such sensors disposed along
the bottom hole assembly and/or the sensors disposed proximate the
flexible conduit. In some implementations, the measurements from
the sensors proximate one or more components of the bottom hole
assembly and/or the flexible conduit may be utilized to determine
performance issues, such as whether sticking in the bottom hole
assembly is located near the drill bit or near another component of
the bottom hole assembly.
[0042] In some implementations, the rotating position proximate the
drill bit may be determined based at least partially on the
information from one or more additional sensors. For example, the
additional sensors may include a multi-axis accelerometer and/or a
magnetometer. The rotating position of the bottom hole assembly may
be determined at least partially based on information from the
additional sensors and drill bit pointing information may be
determined at least partially from the sensors 135 proximate the
flexible conduit 120. The bottom hole assembly rotating position
and the drill bit pointing direction may be utilized in a variety
of operations of the drilling instrument. For example, how the tool
face is maintained and/or how resultant forces are applied may be
determined. A resultant force may include information about the
distribution angle and absolute force amount in the desired
direction. During slip-stick scenarios, there may be a lag due to
fast angular rotation and/or deceleration and a control system
attempting to react to quickly changing conditions may not be able
to reduce the slip-stick scenario, in some implementations. In some
implementations, the control system may utilize the information
from the additional sensors and the sensors 135 near the flexible
conduit 120 to apply a resultant force over a time period. The
absolute force in the desired direction may be reduced by the
control system to result in less dog leg severity. Thus, in some
implementations, slip-stick may be reduced since the control system
may be able to change over time rather than too quickly.
[0043] As illustrated in FIGS. 1 and 2, sensors 135 may be disposed
proximate and/or coupled to the universal joint 115. The sensors
135 may generate signals related to the position of the universal
joint 115 and/or the flexible conduit 120. The position information
about the universal joint 115 may provide a degree of bending
and/or torsion of the universal joint 115 and/or information about
the condition of the universal joint. For example, excessive
bending and/or torsional movement (e.g., bending greater than a
predetermined range) may be associated with excessive wear on the
universal joint 115. In some implementations, sensors 135 on the
universal joint 115 may detect a seal breach causing oil to leak
and drilling fluid to seep in. For example, a sensor may short
circuit if drilling fluid contacts the sensor. The short circuit
may generate a signal that indicates the damage and thus the
condition of a component (e.g., the portion proximate a leak). By
monitoring the condition of the universal joint, the universal
joint may be repaired and/or replaced prior to mechanical failure
during use, for example.
[0044] In some implementations, a drilling instrument with sensors
135 communicably coupled to a flexible conduit 120 and/or a
universal joint 115 may be simple and/or easy to maintain.
Incorporating the sensors 135 in, on, and/or proximate the
universal joint 115 and/or flexible conduit 120 may facilitate
maintenance on components of the drilling instrument, cause less
wear on parts, and/or simplify assembly of the drilling instrument.
Wires coupling sensors 135 on the flexible conduit 120 may be
coupled to the flexible conduit 120 and thus provide easy access to
the wires, avoiding the need to pass wires through the universal
joint 115.
[0045] In some implementations, the wires coupling sensors 135 on
the flexible conduit 120 may pass through the universal joint 115.
Slip rings and/or inductive couplers may be utilized, in some
implementations, to bypass the joints.
[0046] In some implementations, sensor position in the drilling
instrument may be determined based on properties of the drilling
instrument, such as deflection properties of components (e.g.,
flexible conduit and/or universal joint) of the drilling
instrument. For example, a sensor position may be based on
deflection properties of the flexible conduit. A flexible conduit
may have restricted movement (e.g., due to coupling with the
universal joint). The sensors may be positioned proximate a portion
and/or a surface of the flexible conduit that is more prone to
movement than another position. Sensor positions in the drilling
instrument may be determined based at least partially using finite
element analysis. For example, finite element analysis may
determine that a first portion on a flexible conduit may be less
sensitive to deflection (e.g., bending and/or torsion) than a
second portion, and thus a sensor may be communicably coupled to
(e.g., capable of measuring) the second portion to detect
deflection (e.g., bending and/or torsion) of the flexible
conduit.
[0047] In some implementations, a position of the flexible conduit
may be determined based on properties of the drilling instrument,
such as strains in the structures that couple the flexible conduit
and the collar. For example, by measuring the strain in the
structures that lock and/or otherwise couple the flexible conduit
and the collar (e.g., above and/or below the joint) a deflection
(e.g., bending and/or torsion) of the flexible conduit may be
determined (e.g., since the flexible conduit may act similar to a
cantilevered beam imposing moments and loads on its retention
means).
[0048] FIG. 3 illustrates an implementation of an example
arrangement 300 of sensors. The sensors may include sensing
elements, such as sets of strain gauges 305, 310, 315, 320, 325,
330, 335, 340 coupled to a flexible conduit 345. The strain gauges
305, 310, 315, 320, 325, 330, 335, 340 may be used to measure the
extent of strain on the flexible conduit 345. The positional
information may be determined from the signals transmitted by the
sensing elements 305, 310, 315, 320, 325, 330, 335, 340. For
example, the magnitude and/or the direction of deflection (e.g.,
bending and/or torsion) of the flexible conduit 345 may be measured
using the sensors.
[0049] As illustrated, the sets of sensing elements (e.g., two
sensing elements are shown per set, such as set 305, 315) are
disposed at approximately 90 degrees apart from each other
circumferentially. In some implementations, the sensors and/or sets
of sensing elements may be disposed between approximately 60
degrees and approximately 120 degrees apart from each other
circumferentially. Positioning the sets of sensing elements (e.g.,
set 305, 315) at approximately 90 degrees apart from another set of
sensing elements (e.g., 340, 330 and/or 335, 325) may allow
measurement of bending strains in two perpendicular planes.
Although positioning the sets of sensing elements at 90 degrees
apart is described, the sets of sensing elements may be disposed
about a component at various angles and positional information may
be determined based on the signals from the sensing elements and/or
the angles at which the sensing elements are disposed.
[0050] As illustrated, strain gauges 305, 315 are disposed about
the flexible conduit 345 at approximately 180 degrees apart
circumferentially from strain gauges 310, 320. The positioning of
the strain gauges may allow identification of nonpositional
influences, such as thermal stresses, compression loads, and/or
tension loads, on the signal from the strain gauges. Identification
and/or reduction of the influence of nonpositional influences may
allow positional information to be more accurately determined using
the signal(s) from the strain gauges. Pressure differentials (e.g.,
from operation downhole) may be identified in the signal due to the
arrangement of the strain gauges and so positional information may
be more accurately determined.
[0051] In some implementations, the strain gauges may be coupled in
a Wheatstone bridge arrangement, as illustrated in the
implementation of an example sensor arrangement 400 in FIG. 4. The
strain gauges 305, 310, 315, 320 of a sensor arrangement 400 may be
coupled in a Wheatstone bridge arrangement. The sensor arrangement
400 may reduce the effect of nonpositional influences on the signal
from the sensor. For example, the arrangement stays balanced (e.g.,
the effect of nonpositional influences is inhibited) with thermal
stresses, pressure stresses, compression loads, and/or tension
loads. Wheatstone bridge imbalances and/or imbalances in the
arrangement may result in a voltage reading, eo, that indicates
bending strain. For example,
eo=Ks.times..epsilon.o.times.E
where Ks is the gauge factor, .epsilon.o is the bending strain, and
E is the applied bridge voltage. Utilizing an arrangement, such as
sensor arrangement 400, may allow a determination of positional
information within plus or minus ten degrees, in some
implementations.
[0052] FIG. 5 illustrates an implementation of an example
arrangement 500 of sensors. The movement (e.g., deflection, bending
and/or torsion) of the flexible conduit 120 from a first position
505 to a second position 510 may be monitored by sensors 515, 520.
The sensors 515, 520 may be displacement sensors. The displacement
sensors 515, 520 may measure radial deflection of the flexible
conduit 120. For example, the displacement sensors 515, 520 may
measure the torsion of the flexible conduit 120 about a first axis,
which is normal to the second axis 530 and the third axis 535. The
displacement sensors 515, 520 may measure the bending of the
flexible conduit 120 in a direction along the second axis 530
and/or the third axes 535. The sensors 515, 520 may generate a
signal related to the movement. The deflection 525 of the flexible
conduit 120 in a plane (e.g., the plane of the second axis 530 and
the third axis 535) may be determined from the generated signal.
The determined deflection 525 may then be utilized to determine the
position of the drill bit assembly 125. The movement may be in
relation to another position, such as in relation to a
predetermined reference position, an initial determined position,
and/or one or more components of the drilling instrument (e.g., a
collar, a plane perpendicular to at least a portion of drilling
string, to the wellbore, and/or a first portion of the drilling
instrument).
[0053] FIG. 6 illustrates an implementation of an example movement
of a portion 600 of the drilling instrument. At least a portion of
the flexible conduit 120 may move during use from a first position
605 to a second position 610 and the deflection 615 may be
determined. The movement may be due to movement of the universal
joint 115 and/or stress on the flexible conduit 120 (e.g., from
downhole operation and/or from movement of the drill bit assembly
125). As illustrated in FIG. 6 and FIG. 5, in some implementations,
the flexible conduit 120 may be capable of deflection in three
directions along a first axis 620, a second axis 530, and a third
axis 535. The sensors may be disposed to be capable of measuring
the deflection in these three directions along axes 620, 530, 535.
The sensors may be capable of measuring the torsion of the flexible
conduit 120 about axes 620, 530, and/or 535 and/or the bending
and/or torsion of the flexible conduit along the axes 620, 530,
and/or 535.
[0054] In some implementations, deflections during use may be based
on control signals received by the drilling instrument to guide the
drill bit assembly 125 to a predetermined position. The deflections
may be due to other operational properties during use. For example,
during use, the formation and/or drilling in the formation may act
upon the drill bit assembly 125, universal joint 115, and/or
flexible conduit 120 to deflect various components. As another
example, the condition of components of the drilling instrument may
allow deflections during use outside a predetermined range, which
may indicate a condition, such as component wear.
[0055] FIG. 7 illustrates an implementation of an example process
700 for monitoring a drilling instrument. Signal(s) may be detected
from sensor(s) (operation 705). For example, sensors may measure
positional information and generate a signal related to positional
information and/or health/condition of a component of the drilling
instrument. The sensing elements of the sensor may detect a change
(e.g., due to position and/or strain on the component) and generate
a signal based on the change. The sensors may be coupled (e.g.,
communicably, directly, indirectly) to the flexible conduit and/or
universal joint.
[0056] Position information for one or more components of the
drilling instrument may be determined at least partially based on
the detected signal(s) (operation 710). For example, signals from
sensors coupled to the flexible conduit may be utilized to
determine position information (e.g., deflection) of the flexible
conduit. Signals from sensors coupled to the universal joint may be
utilized to determine position information of the universal joint.
In some implementations, the signals from sensors coupled to the
flexible conduit and/or the universal joint may be utilized to
determine position information of the drill bit assembly. Knowledge
of the drill bit assembly may improve control of the drilling
direction during use.
[0057] A determination may be made regarding whether the determined
position information is within a predetermined range (operation
715). For example, a predetermined range of movement may be allowed
during use and determinations may be made regarding whether the
movement is outside the predetermined range of allowed movement. As
another example, to account for fluctuations in sensor readings
and/or inconsequential movements, a predetermined range of movement
tolerance may be allowed. A determination may be made whether the
flexible conduit, for example, is deflecting based on a comparison
of the determined position information to the predetermined range
of movement tolerance.
[0058] Property information may be determined based at least
partially on the determined position information (operation 720). A
property, such a health/condition of a component, may be determined
based on the position information. For example, when drilling mud
in the drilling instrument contacts a sensor, which is ordinarily
isolated from the drilling mud, the sensor may short-circuit. The
signal from the sensor may thus indicate the oil leakage/drilling
mud ingress and the health/condition of the drilling instrument. As
another example, as a component, such as the flexible conduit,
wears, the flexible conduit may allow a greater elastic deformation
than when the flexible conduit was initially put in use. The
sensors may detect the position of the flexible conduit, and thus
the increase in movement of the flexible conduit, and thereby the
health/condition of the flexible conduit may be determined.
Monitoring a health/condition of various components of the drilling
instrument may allow early detection of problems and thus, inhibit
mechanical failure during use. For example, components may be
repaired and/or replaced based on the determined health/condition
of the component.
[0059] A control signal may be determined based at least partially
on the determined position information (operation 725). In some
implementations, sensors may be coupled to the flexible conduit.
The sensors may indicate position information for the flexible
conduit and the position of the drill bit assembly may be
determined based on the flexible conduit position. The control
signal may be determined based on the determined position of the
drill bit assembly. For example, the determined control signal may
move the drill bit assembly (e.g., the determined control signal
may be different from a previous control signal). As another
example, the determined control signal may maintain the drill bit
assembly position (e.g., the determined control signal may be the
same or substantially similar to a previous control signal).
[0060] Process 700 may be implemented by various systems, such as
systems 100, 200, 300, 400, 500, and/or 600. In addition, various
operations may be added, deleted, or modified. For example,
property information may not be determined. As another example, a
deflection may be determined based on the signal(s). For example, a
first position of a component may be determined from a first signal
from a sensor and/or predetermined. A second position of a
component may be determined based on a second signal. The
deflection may be determined based on the difference between the
first position and the second position. In some implementations,
the determined control signal may be generated to reconcile
differences between an expected position (e.g., based on a position
associated with a previous control signal) of a drill bit assembly
and the determined position of the drill bit assembly.
[0061] FIG. 8 illustrates an implementation of example processes
800 for testing and/or monitoring a drilling instrument. A request
for testing of a drilling instrument may be received (operation
805). The testing may be downhole and/or prior to positioning the
drill bit assembly downhole. Testing may be performed to calibrate
control signals to account for deviations between expected drill
bit assembly positions (e.g., based on position associated with a
first control signal) and a determined drill bit position (e.g.,
based on position determined in response to receiving the first
control signal). By calibrating the control signals, the drill bit
assembly drilling direction and/or position may be more accurately
controlled and/or control of a cutting of a formation may be
increased (e.g., when compared to not calibrating the control
signals). Testing the drilling instrument while downhole may allow
deviations from expected positions due to downhole influences to be
identified and control signals may be altered based on the
deviations.
[0062] First control signal(s) associated with a first position may
be transmitted (operation 810). The control signal may include a
speed, a direction and/or a position at which component(s) of the
drilling instrument should operate. For example, a first control
signal may be transmitted to a drilling instrument and various
components of the drilling instrument may operate based on the
control signal. For example, the universal joint and/or the
flexible conduit may change and/or maintain a position. The
flexible conduit may transmit rotational power to the drill bit
assembly. The first position may be associated with the first
control signal based on previous testing of the drilling
instrument, factory presets, and/or expected position (e.g., based
on models, calculations, and/or observations), for example.
[0063] Signal(s) may be detected from sensor(s) coupled to at least
a portion of the drilling instrument (operation 815). For example,
strain gauge sensing elements may be coupled to the flexible
conduit in a Wheatstone bridge arrangement and detect deviations in
position of the flexible conduit. As another example, a
displacement sensor communicably coupled to the flexible conduit
may detect deviations in position along three axes. Sensors may be
coupled to the universal joint. Sensors may be inhibited from
directly measuring the drill bit assembly due to properties of the
drill bit assembly during use (e.g., drilling mud interference
and/or interference from cuttings).
[0064] Position information may be determined at least partially
based on the detected signal(s) (operation 820). For example, a
position of a flexible conduit and/or drill bit assembly may be
determined based at least partially on signals from sensors coupled
to the flexible conduit. The positional information may be
deflections from a predetermined reference point, in some
implementations. The positional information may be in relation to a
portion of the drilling instrument or a plane through the drilling
instrument.
[0065] The determined position information may be compared to the
first position associated with the control signal (operation 825).
For example, the determined position information may be compared to
the first position and the deviation from the expected position
(e.g., the first position) may be determined. The deviations from
the expected position may indicate a health/condition of a
component (e.g., wear on a component may cause greater flexibility
of a component). The deviations from the first position may be
based on formation properties (e.g., greater resistance than
expected) and/or downhole conditions (e.g., pressure and/or
temperature). The deviations from the expected position (e.g.,
first position) may allow the control signal to be altered to
account for the deviations. For example, in some implementations,
drilling instruments deviate from expected behavior during use
downhole. Downhole operations may include unknowns, such as various
resistance zones. Since the actual position of the drill bit
assembly cannot be visually determined by users when in use
downhole, determining the position of the drill bit assembly (e.g.,
through the sensors on the flexible conduit) may identify
deviations in expected position. Once the deviations are
identified, control signals may be altered to account for the
deviations in operations downhole and greater control (e.g., when
compared with systems that do not compensate for deviations and/or
when compared with systems that assume a direction of a drill bit)
of the cutting of a formation and/or greater cutting tolerances may
be achieved, in some implementations.
[0066] In some implementations, the drilling instrument may be
monitored (operation 830). For example, the components of the
drilling instrument such as the flexible conduit, universal joint,
and/or drill bit assembly may be monitored continuously and/or
periodically.
[0067] During monitoring, the signal(s) from sensors may be
detected (operation 815) and position information may be determined
at least partially based on the detected signal(s) (operation 820).
A comparison between the determined position information and an
expected position (e.g., the first position, positions(s) and/or
average position associated with previous control signal(s), or
other predetermined reference position) may be made. In some
implementations, the monitoring may allow the control signals to be
altered in real time (e.g., during use downhole) to alter control
signals to ensure a particular position during operations.
[0068] Process 800 may be implemented by various systems, such as
systems 100, 200, 300, 400, 500, and/or 600. In addition, various
operations may be added, deleted, or modified. In some
implementations, various operations of processes 700 and 800 may be
combined and/or modified. For example, the request for testing may
not be received. In some implementations, the drilling instrument
and/or properties (e.g., positional information and/or property
information) thereof may not be monitored. A health/condition of
component(s) and/or property information may be determined based on
the signals from the sensors.
[0069] In some implementations, the positional information may be
utilized to increase a cutting tolerance. For example, cutting
tolerance and thus the ability to make sharper cuts may be
increased if deflection of the flexible conduit and/or drill bit
assembly may be maintained within a predetermined range. The
positional information may be utilized to generate subsequent
control signals to maintain the deflection of the flexible conduit
within the predetermined range. For example, the positional
information of the flexible conduit and/or drill bit assembly may
be determined based at least partially on signals from sensors
coupled to the flexible conduit. The positional information may be
compared to the predetermined range. If the positional information
is outside the predetermined range, then a control signal may be
altered such that deflection may be maintained within the
predetermined range.
[0070] In some implementations, various systems and/or processes
may allow visualization of the behavior of the drill bit and/or
drill bit assembly in-situ. For example, a drilling instrument may
include a sensor with two sets of Wheatstone bridge strain gauge
sensing elements coupled to a surface of the flexible tube. The
sensor may generate a signal that allows a determination of the
pointing direction (e.g., position relative to a collar above the
flexible conduit) of the drill bit and/or the amount of pointing
displacement with respect to a tool face. An absolute deflection
(e.g., bending and/or torsion about an axis) and/or amount of
pointing may be determined at least partially based on signals from
the sensor, calibrations (e.g., calibrations based on testing of
the drilling instrument and/or comparisons of the control signals,
associated positions, and/or determined position information),
temperature (e.g., measured by a sensor coupled to the drilling
instrument), and/or tool face information (e.g., properties of the
tool face such as position and/or property information). In some
implementations, sticking and/or slipping of the drill bit may be
identified and the bending direction and effective pointing
measurement may be adjusted based on the sticking and/or slipping
when determining an absolute bending and/or amount of pointing of
the drill bit.
[0071] In some implementations, determined position information
and/or property information may be averaged and/or presented to a
user (e.g., through a computer interface).
[0072] In some implementations, since the performance of the
drilling instrument downhole may differ from the expected
performance, determining the position information while downhole
may enhance performance of the drilling instrument downhole.
Determining property and/or position information in real time
(e.g., concurrent with operation of the drilling instrument) may
facilitate steering adjustments and/or rate of penetration
controls. For example, the control signals may be automatically
adjusted based at least partially on determined position
information and/or property information. The automatic adjustment
may increase cutting tolerance and/or allow sharper cutting (e.g.,
when compared with drilling instruments in which control signals
are not adjusted based on determined information from sensors.)
[0073] In some implementations, compression and/or torque may be
measured for the drilling instrument or portions thereof. Since the
flexible conduit may be disengaged from the compression and torque
applied to the universal joint, a sensor (e.g., strain gauge) may
be coupled to a surface of the universal joint. The sensor may
measure compression and/or torque on the universal joint. The
compression and/or torque on the universal joint may be related to
the compression and/or torque on the drill bit and/or drill bit
assembly. Thus, compression and/or torque on the drill bit and/or
drill bit assembly (e.g., weight on bit and/or torque on bit
information) may be determined at least partially based on the
signals from the sensor on the universal joint.
[0074] Property information such as compression and torque on the
drill bit assembly and/or universal joint based on the measurements
by the sensor on the universal joint may provide real-time and/or
in-situ performance information. Performance information may
indicate a quality and/or health/condition of a universal joint
and/or bearings. For example, the universal joint may experience
noise, such as knocking. Detection of the knocking, using the
sensor on the universal joint, may facilitate identification of
premechanical failure events and/or inhibit catastrophic failures
during use through the identification. In some implementations, a
determination may be made whether performance information deviates
from expected values (e.g., based on modeling, simulation, and/or
previous values) and/or predetermined values. The deviations in
positional and/or property information from expected values and/or
predetermined values may indicate a health/condition of the
universal joint and/or formation properties. The control signals
may be automatically adjusted based on deviations from expected
values and/or predetermined values to obtain a drill bit
position.
[0075] In some implementations, deflection and/or displacement of
the universal joint may be restricted. For example, strike ring(s)
may restrict maximum displacement. An angle sensor coupled (e.g.,
communicably, indirectly, and/or directly) to the universal joint
may generate a signal and position information of the universal
joint may be determined based on the signal. The absolute pointing
displacement of the drill bit assembly may be determined based on
the position information of the universal joint and the specified
restricted displacement. In some implementations, the
health/condition of the drilling instrument may be determined based
on the determined position information. For example, wear on the
strike ring may increase the displacement range of the universal
joint. The wear may be identified when a displacement greater than
the predetermined maximum displacement is detected. In some
implementations, a loosening of the universal joint (e.g., from
bending the bit box at the surface of the formation) may be
identified when a displacement greater than a predetermined maximum
displacement is detected by sensors coupled to the universal joint.
Identifying decreasing health/condition of the universal joint
(e.g., wear causing deflections greater than a maximum deflection)
may allow repair and/or replacement of the universal joint prior to
catastrophic mechanical failure during use and/or inhibit
mechanical failure during use.
[0076] In some implementations, sensors may be coupled to various
portions of a bottom hole assembly (e.g., drill bit, drill collars,
drill stabilizers, downhole motors, and/or rotary steerable
system). For example, the flex or drill collar may facilitate
bending of the bottom hole assembly. The sensor may detect and/or
monitor position information and/or properties of the bottom hole
assembly so that a health/condition of the bottom hole assembly may
be determined. The determined position information may facilitate
achieving a dogleg. For example, the determined position
information may provide greater control of steering systems through
real-time position information. In addition, sensors coupled to the
bottom hole assembly may allow determination of mechanical load and
force information, which may allow determination of the
health/condition of various components (e.g., fatigue of flex
collars and/or American Petroleum Institute or "API" connections).
Identification of the health/condition of various components of the
bottom hole assembly may allow preventative maintenance (e.g.,
repair and/or replacement of components in declining
health/condition) and/or inhibit catastrophic mechanical failure
during use.
[0077] In some implementations, sensors, such as strain gauges, may
be disposed about a circumference of a flexible conduit in an
arrangement to inhibit sensitivity to deflection (e.g., bending
and/or torsion about an axis). The sensors may detect inflation
and/or deflation of the flexible conduit due to differential
pressure between the internal pressure of the flexible conduit and
the annular pressure exerting an external pressure on the flexible
conduit. The signals from these sensors may allow determination of
properties such as downhole properties (e.g., bit plugging, bit
nozzle washout, excessive pad pressure, and/or insufficient pad
pressure).
[0078] In some implementations, a sensor arrangement may be
selected that allows measurements of differential pressures on the
flexible conduit without inhibiting the measurement of effects due
to temperature and/or pressures (e.g., weight on bit, compression,
and/or mono-axial stress). For example, if a flexible conduit is
pre-stretched prior to positioning the flexible conduit downhole,
weight on bit may release an amount of the pre-stretching. A weight
on bit and/or an indication of weight on bit may be determined
based on the stretching of the flexible conduit (e.g., as measured
by the sensor arrangement).
[0079] In some implementations, shallow hole testing may be
performed. For example, sleeve motion may be visually checked
during shallow hole testing. However, visual testing may be
restricted (e.g., blocked, impaired, or otherwise difficult to
visually ascertain) when attempting to evaluate full displacement
(e.g., in environments where steam is generated and/or at night).
Sensors coupled to the sleeve and/or universal joint, for example,
may measure displacement and allow testing to be performed when
visual testing is restricted. Testing may include strike ring
placement (e.g., maximum displacements may be measured by sensors
and compared to predetermined maximum displacements and/or expected
displacements). Strike ring placement may be difficult to visually
inspect (e.g., when strike rings are close in size such as 0.6, 0.8
and 1 degree strike rings) and sensor measurements may facilitate
testing to ensure selection of the appropriate strike ring and/or
placement of the strike ring.
[0080] In some implementations, similar testing to the shallow hole
testing may be performed downhole. For example, since visual
testing may be difficult downhole, sensors may allow measurements
for testing downhole. For example, displacement of a steering
sleeve may be tested (e.g., a sensor coupled to the steering sleeve
may be utilized to measure the displacement of the steering sleeve
and the measured displacement may be compared to predetermined
ranges for displacements and/or expected displacements in response
to control signals). In some implementations, when the drilling
instrument is off bottom, the universal joint may be easily moved
and testing of displacement ranges for various components of the
drilling instrument may be performed (e.g., displacement may be
measured, compared to predetermined ranges and/or expect ranges,
and/or a performance of the component may be determined based on
the comparison).
[0081] In some implementations, the sensors may measure
temperatures. For example, a sensor may be positioned proximate the
universal joint such that the temperature change of the joint may
be determined. A health (e.g., failure and/or degradation) of the
universal joint may be determined based on the temperature changes,
such as relatively large temperature increases. Determinations of a
health of the universal joint may allow preventative action and/or
maintenance (e.g., repair and/or replacement) of the universal
joint.
[0082] In some implementations, sensors coupled to the universal
joint may determine a property of the universal joint. For example,
mud invasion into the universal joint may be determined by short
circuit(s) in the sensors. Mud invasion may damage and cause
various components in the drilling instrument to fail. The short
circuit will generate signals that indicate the abnormality. The
early detection of mud in the universal joint, using the sensors,
may reduce damage to components of the drilling instrument.
[0083] In some implementations, information from the sensors (e.g.,
position information and/or properties) may be used in a closed
loop feedback to provide control of the direction in which a
directional drilling instrument propagates the hole (e.g.,
wellbore). The loop may be closed downhole and/or include the
surface of the formation.
[0084] In some implementations, position information may be
graphically visualized. The signals may be transmitted via
conventional mud pulse telemetry, wired drill pipes, and/or
electromagnetic (EPulse) transmission. The signals may be utilized
to generate a graphical user interface that presents the
information to a user. The position information may be presented
using auditory signals, in some implementations. For example, a
wired drill pipe may carry signals from sensors to the surface of
the formation and auditory signals may be presented to users based
on the signals.
[0085] In some implementations, various sensors may be utilized to
determine properties of the formation. For example, the sensor may
be utilized to determine the forces on the drill bit (e.g., based
at least partially on positional information and/or property
information determined based at least in part on signals from
sensors on the flexible conduit and/or universal joint). The
determined forces may be utilized to determine properties of the
formation, such as the type of rock and/or other properties. For
example, a type of rock may be identified based at least in part on
the resistance to cutting by, and thus creating forces acting on,
the drill bit. The properties of the formation may be utilized in
determining bit destruction characterizations and/or in
commercially available simulation programs related to drilling in
formations.
[0086] In some implementations, the sensors may be utilized in
association with stuck bits. For example, when the bottom hole
assembly gets stuck downhole, it may be difficult to determine
which component is the cause. The sensors may be utilized to
identify if the drill bit is stuck based at least partially on
determined position information, determined property information,
and/or the health of the drill bit. If a stuck drill bit is
identified, a control signal (e.g., a control signal to apply more
torque may be transmitted) may be transmitted based on the
identification and/or the drill bit sticking may be reduced.
[0087] In some implementations, although several universal joints
have been described, other types of universal joints may be
utilized as appropriate. For example, the universal joint
surrounding the flexible conduit may be a larger flexible conduit
(e.g., a flexible collar). Thus, rather than instrument the
flexible collar, the bending of an instrumented flexible conduit
may be utilized (e.g., in conjunction with or in place of) in the
various described systems and processes. The sensors of the
flexible conduit may measure the deflection of the collar. The
sensor(s) of the flexible conduit may include its own sensors,
power supply, and/or communication devices. For example, extension
rods that pass through the flexible collar may be utilized to place
the communication sonde (e.g., Shorthop) closer to the
PowerDrive.
[0088] In various implementations, a drilling instrument may
include a flexible conduit, a universal joint, and/or sensor(s).
The flexible conduit may be disposed at least partially in the
universal joint. The sensor(s) may detect position information
about the flexible conduit.
[0089] Implementations may include one or more of the following
features. Sensor(s) may be coupled to the flexible conduit. The
position information may include a measurement of the deviation in
the position of a flexible conduit from a predetermined position of
the flexible conduit. The position information may include a
deflection of the flexible conduit. The drilling instrument may
include a drill bit assembly and the flexible conduit may be
coupled to at least a portion of the drill bit assembly. Sensor(s)
may detect temperature, pressure, deflection, position,
compression, extension, and/or torque. The position of a sensor may
be based at least partially on deflection properties of the
flexible conduit. A sensor may include sensing element(s), such as
strain gauge(s) and/or displacement sensor(s). A sensor may include
two or more sensing elements, such as a first sensing element set
and a second sensing element set. The first sensing element set and
the second sensing element set may be radially disposed about the
flexible conduit. The first sensing element set may be disposed
approximately 60 degrees to approximately 120 degrees from the
second sensing element set. Sensor(s) may be coupled to the
universal joint. At least one of the sensors may detect positional
information about the universal joint.
[0090] In various implementations, a drilling instrument may be
monitored. A signal may be detected from sensor(s). The sensor(s)
may be disposed on a flexible conduit, and the flexible conduit may
be disposed at least partially in a universal joint of the drilling
instrument. Position information of the flexible conduit may be
determined based at least partially on the detected signal.
[0091] Implementations may include one or more of the following
features. A control signal for the drilling instrument may be
determined at least partially based on the determined position
information. A determination may be made whether the determined
position information is within a predetermined range. A control
signal may be determined based at least partially on whether the
detected signal is within the predetermined range. Property
information may be determined based at least partially on the
determined positional information. The property information may
include temperature, pressure exerted on the universal joint,
compressive force exerted on the universal joint, and/or health
information about the drilling instrument.
[0092] In various implementations, the performance of a drilling
instrument may be tested. First control signal(s) for a drill bit
assembly of a drilling instrument may be transmitted. The control
signal may be associated with a first position of the drill bit
assembly. A signal from sensor(s) may be detected. The sensor(s)
may be disposed on a flexible conduit of the drilling instrument.
The flexible conduit may be coupled to the drill bit assembly. The
position information of the drill bit may be determined at least
partially based on the detected signal. The determined position
information of the drill bit assembly may be compared to the first
position of the drill bit assembly.
[0093] Implementations may include one or more of the following
features. Second control signal(s) may be transmitted at least
partially based on the comparison of the determined position
information of the drill bit assembly to the first position of the
drill bit assembly. The second control signal(s) may be
substantially similar to the first control signal(s) and/or
substantially different from the first control signal(s). Position
information of a universal joint may be determined at least
partially based on signals transmitted from additional sensor(s)
coupled to the universal joint. The flexible conduit may be
disposed at least partially in the universal joint of a drilling
instrument. The drilling instrument may be monitored based at least
partially on the comparison of the determined position information
of the drill bit assembly to the first position of the drill bit
assembly.
[0094] Although strain gauges and/or displacement sensors have been
described as sensing elements in sensor(s), any appropriate sensing
elements and/or combinations thereof may be utilized in various
implementations. Although sensors have been described as including
sensing element(s), the sensors may include sets of sensing
elements. A set of sensing elements may include one or more sensing
elements.
[0095] In various implementations, coupling has been described.
Coupling may include direct and/or indirect coupling. For example,
coupling may include gluing, bonding, affixing, and/or otherwise
adhering. Coupling may include disposing at least a portion of an
object in a receiving member of another object. For example, a
portion of the drill bit assembly may include a receiving member
for the flexible conduit. The flexible conduit and the drill bit
assembly may be coupled through the receiving member. Communicably
coupling may include coupling such that a first object is in
communication with another object, for example. A sensor that is
communicably coupled to a flexible conduit may or may not be
directly coupled to the flexible conduit and may measure the
flexible conduit deflection and/or other properties.
[0096] Although users have been described as a human, a user may be
a person, a group of people, a person or persons interacting with
one or more computers, and/or a computer system. Various
implementations of the systems and techniques described here can be
realized in digital electronic circuitry, integrated circuitry,
specially designed ASICs (application specific integrated
circuits), computer hardware, firmware, software, and/or
combinations thereof. These various implementations can include
implementation in one or more computer programs that are executable
and/or interpretable on a programmable system including at least
one programmable processor, which may be special or general
purpose, coupled to receive data and instructions from, and to
transmit data and instructions to, a storage system, at least one
input device, and at least one output device.
[0097] These computer programs (also known as programs, software,
software applications or code) include machine instructions for a
programmable processor, and can be implemented in a high-level
procedural and/or object-oriented programming language, and/or in
assembly/machine language. As used herein, the term
"machine-readable medium" refers to any computer program product,
apparatus and/or device (e.g., magnetic discs, optical disks,
memory, Programmable Logic Devices (PLDs)) used to provide machine
instructions and/or data to a programmable processor, including a
machine-readable medium that receives machine instructions as a
machine-readable signal. The term "machine-readable signal" refers
to any signal used to provide machine instructions and/or data to a
programmable processor.
[0098] To provide for interaction with a user, the systems and
techniques described here can be implemented on a computer (e.g.,
laptop, tablet, smartphone) that may include a display device
(e.g., a LCD (liquid crystal display) monitor) for displaying
information to the user, a keyboard, and/or a pointing device
(e.g., a mouse) by which the user can provide input to the
computer. Other kinds of devices can be used to provide for
interaction with a user as well; for example, feedback provided to
the user by an output device can be any form of sensory feedback
(e.g., visual feedback, auditory feedback, or tactile feedback);
and input from the user can be received in any form, including
acoustic, speech, or tactile input (e.g., touch screens).
[0099] It is to be understood the implementations are not limited
to particular systems or processes described which may, of course,
vary. It is also to be understood that the terminology used herein
is for the purpose of describing particular implementations only,
and is not intended to be limiting. As used in this specification,
the singular forms "a", "an" and "the" include plural referents
unless the content clearly indicates otherwise. Thus, for example,
reference to "a sensing element" includes a combination of two or
more sensing elements and reference to "a sensor" includes
different types and/or combinations of sensors.
[0100] The foregoing outlines features of several embodiments so
that those skilled in the art may better understand the aspects of
the present disclosure. Those skilled in the art should appreciate
that they may readily use the present disclosure as a basis for
designing or modifying other processes and structures for carrying
out the same purposes and/or achieving the same advantages of the
embodiments introduced herein. Those skilled in the art should also
realize that such equivalent constructions do not depart from the
spirit and scope of the present disclosure, and that they may make
various changes, substitutions and alterations herein without
departing from the spirit and scope of the present disclosure.
[0101] Although the preceding description has been described herein
with reference to particular means, materials and embodiments, it
is not intended to be limited to the particulars disclosed herein;
rather, it extends to all functionally equivalent structures,
methods and uses, such as are within the scope of the appended
claims
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