Device for preventing net torque of bore bit and for adjustment of bore bit deflection

FIELD: oil and gas production.

SUBSTANCE: invention refers to oil-field boring, particularly to self-contained drilling rig and to remotely controlled drilling robot devices used at well boring. The drilling device consists of a concentrically divided bore bit; also an internal bore bit rotates simultaneously with external bore bit in the opposite direction. The internal bore bit can move forward in axial direction to the external bore bit or backward from it. Forces created by internal and external bore bits are adjusted to eliminate or correct torque reaction.

EFFECT: preventing drops of driving rate caused by objectionable rotating of drilling rig and initiating required deflection of bore bit.

20 cl, 15 dwg

 

The technical field to which the invention relates.

In General the present invention relates to oilfield drilling, and more particularly to an Autonomous drilling rigs and remotely operated drilling robots used for drilling wells.

Background of invention

In oilfield operations, drilling in the rock power required and power is relatively large levels, which are typically created in the rig by application of torque and axial force through the drill string to the drilling bit. The lower part of the drill string in a vertical borehole includes (from bottom to top) drill bit, the sub bits, stabilizers, extenders, heavy-weight drill pipe, jars and adapters for various forms of thread. The layout of the bottom of the drill string, hereafter referred to as BHA, creates a force indicator which is called the "weight on bit"for the destruction of the breed and provide the driller control the direction of the well. Under normal drilling BHA run into the wellbore using the United drill pipe or flexible tubing. Often BHA includes a downhole hydraulic motor, the equipment for measurements and directional drilling equipment for measurement while drilling, the devices of the La logging while drilling, and other specialized devices. Simple bottom-hole Assembly comprising a drill bit adapters and heavy-weight drill pipe is relatively inexpensive, worth several hundred thousand dollars, whereas complex BHA is ten or more times more expensive compared with this value.

The section of the drill bit of BHA is used for smashing or cutting of the breed. When drilling, the drill bit may be damaged and should be replaced. A large part of the drill bits works by scraping or rock breaking, or both usually during continuous circular movement of the implementation process, known as rotary drilling. During rotary drilling debris drilling cuttings removed the fluid circulating through the drill bit and up the wellbore to the surface.

Use for the passage of the well bore flexible tubing in conjunction with a downhole hydraulic motors for rotating the drill bit is another form of drilling, which is fast compared to using the rig with the United pipes. When using flexible tubing eliminates the time spent on capacity required during rotary drilling. Drilling downhole what vegetaleb on the flexible pipe is cost-effective when multiple applications such as the narrow drilling wells, work at sites where significant is the small footprint of the rig, or when re-entering the equipment in wells for underground repairs.

In many drilling required management direction drilling for the location of wells in the reservoir along the lines of a particular trajectory. Control the direction of drilling, also called "directional drilling"is carried out by using the BHA special configurations, instruments for measuring the trajectory of the wellbore in three-dimensional space, communication lines for transmission of measurement data obtained in the well bottom to the surface, downhole hydraulic motors, special components of the BHA and drill bits. The directional drilling operator may use the drilling parameters such as weight on bit and rotation speed to discard bits from the axis of the existing wellbore. On the other hand, in some cases, such as drilling in steeply dipping seams or unpredictable deviation during normal drilling operations, technology, directional drilling can be used to guarantee the drilling of wells in the vertical direction.

Control the direction of drilling is most often carried out by use of the bending WB is the easy bit at the downhole hydraulic motor. When the entire drill string is not rotating, bending forwards a bit in a different direction from the axis of the wellbore. When pumping drilling fluid through a downhole hydraulic motor the bit rotates, while the drillstring is not rotating, which allows the drilling of one bit in the direction in which it is oriented. After setting the direction of the borehole is reached, a new direction can then be maintained during the rotation of the entire drill string, including curved sections, so that the drilling of the drill bit is not in the direction outside the intended axis of the wellbore, and instead bit oscillates in a circle, leading this trend in combination with the existing wellbore. As is well known to specialists in this field of technology for the drill bit tends to deviate from the specified direction of drilling, and this phenomenon is known as "the deviation of the drill bit". The deviation of the drill bit is the result of the cutting process, gravity and rotation of the drill bit, as well as irregularities problemo layer. It is desirable to eliminate or at least minimize the deviation of the drill bit, to ensure the flow of the drilling process in a given direction. Usually, though, the deviation of the drilling is Olot is undesirable, when the deviation of the drill bit, which is manageable, you can get intentional and favorable deviation from the set direction of drilling.

In most cases, the boreholes are almost vertical and not particularly deep. In such wells the standard guides the cables logging tools and other equipment can be delivered to a predetermined depth. However, the shortage of oil has led to the need intelligence layers, which are more difficult to achieve. So with ever-increasing frequency boreholes are extremely deep and has a large angle of inclination. For many years drill bit and drilling equipment is transported into the wellbore on a drill pipe and flexible tubing. After reaching the equipment needed space in the well it must perform complex tasks that often need to be monitored and managed in real-time installation for drilling on the surface away from the wellbore.

It is desirable to have an alternative vehicle for the study of the deeper wells and wells drilled in more complex geological conditions. One such tool can be Autonomous drilling robots that are not connected with ground equipment put the m use drill pipe, flexible tubing or other means.

In the case of development drilling robots that use conventional technology, rotary drilling, drilling robots must be able to maintain the reactive torque and axial load. If drilling robots can't balance the reactive torque, drilling robots start to rotate in the wellbore, resulting in reduced efficiency of drilling operations. The design of the drilling robot that balances the reactive torque is even more difficult in the case of wells with a small borehole. Low rate of penetration drilling robot in the wellbore will be accompanied by a reduced torque on the drilling robot. However, at higher speeds of penetration, for example, using the same rotation frequency, which is used in conventional drilling methods, it can be expected that torque would be a problem for the robot.

Setting for torque control during the drilling of the borehole is described in U.S. patent No. 5845721 in the name of Robert Charles Southard, revealing a tubular drill string with the engine to create efforts of rotation. The installation includes an inner drilling mechanism associated with the drive, and external drilling mechanism, concentrically located around-ear, closed the g domestic drilling mechanism. The installation also includes a planetary gear system, completed with the transfer of the spin-off rotation from the engine to the outside of the drilling mechanism. The shaft extends from the engine, when the work is connected with the inner drilling mechanism, and the shaft has a lot of the key grooves of the shaft, formed for interaction with the planetary gear. Due to the special configuration of the planetary gear systems internal and external drilling mechanisms rotate in opposite directions. The inner and outer drill bits have a fixed gear ratio, resulting in rotation of the inner and outer drill bits occurs at a constant relative velocity.

The drilling rig is disclosed in published patent application U.S. No. 2004/0011558 A1, filed Sigmund Stokka, revealing the input method tools or measuring equipment or appliances in the underground formation or other solid material by means of a drilling rig in which the material is separated during the rotation of the drill bit, and then released material is pushed or pumped by a drilling rig or through it. This method includes the damping reactive torque generated by the torque of inertia of the drill bit, by alternating the direction of rotation of the drilling to the PTA.

From the above experts in the art should be obvious that there is a need for remotely controlled drilling robot that can drill a borehole or lateral drainage from the existing borehole in the field and to exclude or regulate the reactive torque and axial load applied to the attached drilling module. In addition, there is a need for an improved way to eliminate, reduce or control the reactive torque from the drill bit to the robot. Moreover, there is a need for an improved method for regulating the deflection of the drill bit due to reactive torque from the drill bit, or to guarantee the controlled drilling straight forward with the use of mechanical geostationary source or to Orient the drilling operations in a new direction.

The invention

The present invention provides improvements in the field of drilling for oil field, in which the drilling device, such as remote-controlled drilling robots deployed for drilling a borehole and regulate the reactive torque, thereby preventing unwanted rotation of the drilling equipment and occurring in d is the query result of the fall in the rate of penetration. Successful or unsuccessful operation of the drilling robot may depend on the possibility of excluding the reactive torque from the drilling module drilling robot. In addition, the drilling rig according to the invention is regulated by reactive torque to control drilling operations to achieve specified trajectories borehole. Moreover, in practical applications for drilling in conditions that include the use of flexible tubing, such as applications using borehole curve of the sub to the direction of drilling, the reactive torque from the drill bit can be created by rotation of the borehole curve of the sub, which is used to guide the drilling. The present invention can be used in such applications to eliminate or control the reactive torque to increase the stability of directional drilling.

According to one implementation of the invention with a drilling rig is regulated by the torque on the drill bit during drilling operations.

This rig for regulating the torque on the drill bit during drilling operations the well contains push the module that provides the thrust of the drilling module comprising a drill bit, divided by n the outer drill bit and the inner drill bit, connected to the power unit for driving the inner and outer drill bits in opposite directions simultaneously, and the rotating connection, coupled with the push module and the drilling module containing code angle sensor, designed to determine the angle of relative rotation between the push module and the drilling module, with the drilling module capable of receiving an axial pressure from the feeding module and the signals from the encoder angle, which is a measure of the angle of relative rotation between the drilling module and the push module, and a control module connected to the power node and intended for regulating the relative speed of rotation of the inner and outer drill bits.

The installation may further comprise a linear actuator, for providing axial movement of the inner drill bit with respect to the outer drill bit in response to the signals received from the encoder angle.

The installation can be performed in such a way that axial movement of the inner drill bit with respect to the outer drill bit creates a change in the load distribution between the inner drill bit and the outer drilling bit for an adjustment to the effective torque of drill bits.

Corner floor is laid during rotation of the drilling module relative to the clamping module can be used to adjust the load distribution on the bit between the inner drill bit and the outer drilling bit.

Angular position during rotation of the drilling module relative to the clamping module can be used to adjust the frequency of rotation of the inner drill bit and/or outer drill bit.

The control unit can include means for connection with the ground unit to control the drilling and processing of data and processing of the angular position of the drilling module relative to the push module to adjust the torque related to drilling bits.

According to another variant of the drilling rig to regulate the deviation of the drill bit while drilling a borehole to direct the drilling operation comprises a cylindrical drill bit, divided into the inner drill bit and the outer drill bit, while the inner drill bit is located within the outer drill bit, power node, for independent control of the inner and outer drill bits, drilling module for controlling the mud flow rate and load on the outer drill bit and the inner drill bit and a control module connected to the power node and intended for receiving from ground sensors to control the drilling and processing of data of the result vector, calculated by the components of the vectors, the comparison result vector with the given vector that meet the relevant specified direction drilling, determining at least one correction for at least one component of the vector needed to change the result vector for a given vector, and adjusting drilling parameters, corresponding to the force corresponding to the adjusted at least one of the vector.

The control unit can pass parameters to the direction of the outer drill bit and the inner drill bit in the ground installation to control the drilling and processing of data.

The control unit may adopt amendments to the drilling parameters from ground-based installations for the management of drilling and data processing.

A control module that handles the amendments to the drilling parameters taken from ground sensors to control the drilling and processing of data, may further comprise means for adjusting the force related to the rotation of the inner drill bit and the outer drill bit, and in response to this regulation deviation of the drill bit.

According to the present invention created a method of operating a drilling rig having a pushing module and the drilling module with lots of drill bits, containing the following steps:

the rotation of the first drill bit in a first direction from the first circumferential speed;

the rotation of the second drilling to the PTA in the second direction, opposite the first direction, with the second circumferential speed;

the creation of axial pressure on the drilling module from the feeding module;

determination of relative rotation between the drilling module and the push module;

adjusting at least one of the first peripheral speed and the second peripheral speed in response to detection of the relative rotation between the drilling module and the push module.

When determining the relative rotation between the drilling module and the push module can be obtained relative rotation encoder angle.

You can decrease the peripheral speed of the second drill bit when specifying relative rotation on the excess torque on the second drill bit torque on the first drilling bit.

You can increase the peripheral speed of the second drill bit when specifying relative rotation on the excess torque on the first drill bit torque on the second drill bit.

When the peripheral speed of the second drill bit less than the minimum value can be introduction to emergency mode, in which one drill bit held stationary, and the other drill bit rotate and move axially relative to the stationary drill bits.

P the pout and the second drill bit may alternately be held stationary while the other drill bit is moved in the axial direction.

When the peripheral speed of the second drill bit less than the minimum value can be introduction to emergency mode, in which one drill bit held stationary, and the other drill bit rotate and move axially relative to the stationary drill bits.

The method may additionally include determining the relative torque on the first and second drill bit, determining the trajectory of the drilling module, determining the difference between the reference trajectory and certain trajectories, the relative torque required to obtain a given trajectory, based on a specific trajectory and relative torque, the adjustment of the peripheral speed of the first or second drill bit to get the relative torque required to obtain a given path.

The method may additionally include a definition of vectors generated torque on the first and second drilling bit, a valid definition of the result vector, the comparison is given of the result vector with the actual result vector, the adjustment of the force of drilling to obtain the specified result vector, if the divergence of a given result vector with a valid resultin the criterion vector.

When adjusting the forces of the drilling can be performed stage, selectable from the adjustment of the peripheral speed of the first drill bit, adjusting the peripheral speed of the second drill bit, adjusting the axial relationship between the first and second drill bits.

Other aspects and advantages of the present invention will become apparent from the following detailed description when understanding it in conjunction with accompanying drawings illustrating an example only, the principles of the invention.

Brief description of drawings

In the drawings shows the following:

figure 1 depicts a schematic view of a variant embodiment of the invention, having a drilling robot installation for drilling the borehole;

figure 2 is a detailed view of the feeding module according to one implementation, coupled with the use of a rotating connection with the drilling module, shown in figure 1;

figure 3A is a detailed side section of the embodiment of the invention having a rotatable connection, included in the drilling module drilling robot, shown in figure 2, while the axial pusher drilling module is in the designated position;

figure 3B is a detailed side section of the drilling module, but different from the section shown in figure 3A, the fact that the axial pusher drilling module is inner drill bit carried forward from the outer drill bit;

figure 4A is a cross section along a - a drilling module, shown in figure 3A;

figure 4B is a cross section along B-In drilling module, shown in figure 3A;

figure 5A is a perspective view of the drilling robot, shown in figure 2, while pushing the module and the drilling module is aligned with the rotation, which indicates that the drilling of the wellbore straight forward;

figure 5B is a perspective view of the drilling robot, shown in figure 2, while pushing the module and the drilling module is not aligned with the rotation, which indicates that the drilling module is rotated relative to the clamping module;

figure 6A is a vector diagram illustrating an example of a balance vector forces used for drilling straight wellbore;

figure 6B is a vector diagram illustrating an example of an unbalanced vector forces that create the resulting vector deviation from the drilling trajectory is straight forward;

figure 7 is a block diagram of a sequence variant of the method according to one implementation of the present invention using the device of the analysis of the angular position of the drilling module to regulate or exclude reactive torque;

figure 8 is a block diagram of the sequence of operations of the example method of using the device to determine the direction the drill bit re is lirovaniya relative torque on two concentric drill bits by maintaining the speed of one motor constant or almost constant when the frequency of rotation of the other motor, to keep balanced torques developed on two drill bits;

figure 9 is a block diagram of the sequence of operations illustrating emergency mode of operation, which includes the drilling module, only when the adjustment speed can not be adjusted relative torque which may occur, for example, when two drill bits come across materials with relatively large difference in hardness;

figure 10 is a block diagram of the sequence of operations illustrating a variant of the method according to an alternative implementation of the present invention using the device to determine the direction the drill bit to control the drilling operation; and

figure 11 - block diagram of the processing section of the drilling module that belongs to the drilling module according to the invention.

Detailed description of the invention

In the following detailed description referring to the accompanying drawings, which are illustrated for a specific example of implementation, in accordance with which the invention can be applied in practice. These implementation are described in sufficient detail to enable specialists in the art to apply the invention. It should be clear that various embodiment of the invention, although different, optional the part are mutually exclusive. For example, a particular feature, structure or characteristic described in this application in relation to one implementation, can be implemented in other implementations without departure from the essence and scope of the invention. In addition, it should be clear that the location or design of individual elements within each of the disclosed implementation can be modified without departure from the essence and scope of the invention. In addition, in this application, the terms "oil well", "well", "wellbore", "borehole" and options will be used interchangeably to describe the present invention.

Therefore, the following detailed description should not be construed in a restrictive sense, and the scope of the present invention is defined only by the attached claims, appropriately interpreted, along with a complete range of equivalents to which entitle claims. Within a few drawings in the same positions denoted by the same or similar functional elements.

I. Introduction

The figure 1 presents a view of the downhole drilling system 100 according to the present invention, having a remotely controlled drilling robot 119. According to one implementation of the drilling robot 119 includes a thrust module 107, ispolzuemyi for supplying drilling robot 119 through the floor 103 of the drilling rig during the drilling operations in the bore 117 of the well and for the application of axial pressure to the drill bit, connected with the drilling module 111. Thrust module 107 is connected to the rotating coupling device 109. The rotating connection unit 109 is connected with the drilling module 111. According to the invention the drilling module 111 supports a drill bit, divided concentrically on the inner drill bit 115 and the outer drill bit 113, which to exclude effective torque during drilling are driven in the manner described in this application. Thrust module 107 generates and applies an axial force to the drilling module 111 through a rotating coupling device 109. Thrust module 107, the rotating connection unit 109 and the drilling module 111 are connected locally to share data drilling and drilling parameters.

According to an alternative implementation of the components of the BHA, such as thrust module 107, connected with the ground unit 105 to control the drilling and processing of data located inside the truck 123, provided with equipment for maintenance, resulting, if necessary, carried out data transfer drilling in this ground-based equipment and receiving drilling parameters. In ground installation 105 to control the drilling and processing the sludge is serviced by staff in ground installation 105 for data processing are carried out analysis of the received information and send it to the drilling module of any changes in drilling parameters.

According to an alternative implementation of the drilling robot 119 is connected to a power cable 121 to ground unit 105 to control the drilling and processing of data, which can be installed on the drilling rig truck 123. Thrust module 107 and the drilling module 111 drilling robot 119 receive electrical energy through power cable 121. In addition, power cable 121 to pass information between the drilling robot and ground equipment to control the drilling and processing of data on the drilling rig truck 123. According to an alternative implementation of the drilling robot 119 contains a battery pack or other power source. According to this implementation, the communication with the ground unit 105 to control the drilling and data processing can be performed without wires, for example, via telemetry by mud pulse communication channel.

II. Drilling robot

The figure 2 presents a partial section view of the drilling robot 119 according to one implementation, shown in figure 1. Axial plunger 205 pushing module 107 is attached using a rotary connection 109 to the drilling module 111. Conveyor 203 pushing module 107 provides axial movement of the drilling robot 119 in the bore 117 of the well. Axial plunger 205 has an effect on a rotating connection 109 to transmit only axial loads from the push module 107 the drilling module 111. Thanks to a rotating connection 109 reactive torque is not transmitted back from the drilling module 111 to push the module 107. More precisely, if the drilling module 111 should begin to rotate due to reactive torque, the drilling module 111 is rotated relative to the clamping module 107. Code angle sensor 201 for rotating connection 109 provides a signal which is a measure of the angular dependence between the push module 107 and the drilling module 111.

Thrust module 107 and the drilling module 111 is able to rotate freely relative to each other. The unbalance torque of the inner drill bit 115 and the outer drill bit 113 may be the reason that the torque of the drilling module 111 is non-zero, resulting in the drilling module 111 will come into rotation. Since the rotating connection 109 is not transmitting torque experienced by the drilling module, push the module 107, the drilling module 111 rotates independently of the push module 107. The assumption of such uncontrolled rotation will result in the loss of ROP. Thrust module 107 is not subjected to any torque around its axis, when the drilling module 111 is rotated relative to the clamping module 107, resulting in the ability to keep pushing the mod is La 107 rotationally fixed to the shaft 117 wells all the time in the course of performing drilling operations.

Rotating soedinenie using encoder 201 angle, shown in figure 2, provides a specified angular position of the drilling module 111 relative to the push module 107. Code angle sensor, also called code-shaft position sensor is a digital electronic device that is in working condition converts the angular position of the shaft or axis to a digital signal or an analog voltage. The encoder 201 angle may be, for example, the optical code detector, a magnetic code sensor, mechanical code sensor or simple measuring potentiometer. The encoder 201 angle generates a signal corresponding to the relative angle between the push module 107 and the drilling module 111.

Figure 3A presents a slit up the side of the drilling module 111 according to the implementation of the invention having a rotatable connection, included in the drilling module 111 drilling robot 119, shown in figure 2, along the axis of the drilling module 111. According to this implementation of the inner drill bit 115, which is connected with the inner drill shaft 303, is driven in a clockwise direction from the first motor consisting of a rotor 315 and stator 317, through the use of system 320 planetary gear. The rotor 315, which is furnished the motor shaft, drives the input sun gear 325 system 320 planetary gear. System 320 planetary gear consists of several (e.g. four) satellites 319A, V, S, 319D (cut W and 319D not shown), each of which is connected with the shaft 323A, B, C, 323D gears respectively and driven sun gear 325. Shaft 323A-323D gear mounted on a movable drive rod 327A-327D planetary gear. The planetary carrier attached to the inner drill shaft 303. The ring gear 321 of the planetary gear system is connected to the housing 301 of the drilling module 111 and does not rotate. Dashed line a-a indicated the location of the cross-section in figure 4A, discussed below.

Figure 4A presents a cross-section of the system 320 planetary gear set that is used to provide rotation of the shaft 303 of the inner drill bit. The sun gear 325 which is connected to the rotor 315 motor rotates in a clockwise direction and informs the clockwise rotation of the spindles 323. As shown, each spindle 323 is mounted on a drive rod 327 planetary gear and connected with the inner drill shaft 303. Since the ring gear 321 is not rotating, the message clockwise rotation sun gear wheel 325 PR which leads to rotation of the carrier 327 planetary gear counterclockwise. Consequently, since the inner drill shaft 303 is attached to the cage 327 planetary gear, the inner drill shaft rotates in the same direction as the sun gear 325. System 320 planetary gear set is used in one implementation of the invention, since the planetary gear provides high transmission ratio in a small space of structural parameters. According to an alternative implementation can be used other gear drives, such as wave transmission, cyclone transmission and drives with cylindrical gears.

Figure 3A shows the outer drill bit 113, United with the outer drill shaft 305, which rotates in the counterclockwise direction by the second motor consisting of a stator 331 and rotor 329, driving the second system 332 planetary gear. Specialist in the art should easily understand that this is only an example implementation that is intended for use in conjunction with the present invention, and it is not intended limit. It is clear that numerous alternative implementation of the present invention, which is claimed in this application can be applied in practice. The rotor 329 having a hollow motor shaft results in movement is their external sun gear 333 of the second system 332 planetary gear. The second system 332 planetary gear consists of several (e.g. four) satellites 335A, B, C, 335D, each of which is connected with the shaft 339A, V, S, 339D gears respectively and driven sun gear 333. Each of the shafts 339A, V, S, 339D installed on a movable drive rod 341A, B, C, 341D planetary gear. Drove 341A, B, C, 341D attached to the exterior of the drill shaft 305. The second ring gear 337 of the second system 332 planetary gear set is connected to the housing 301 of the drilling module 111 and does not rotate. The dashed line In the indicated location of the cross-section in figure 4B, discussed below.

Figure 4B presents a cross-section of the drive mechanism for the outer shaft, taken along the line b-b In figure 3A. Each spindle 339 installed on the second drive rod 341 of the planetary gear. External drill shaft 305 is also connected to the planet carrier 341 planetary gear. Since the second ring gear 337 is fixed, the counterclockwise rotation of the outer sun gear 333 rotates the outer shaft 305 connected with the second planet carrier 341 planetary gear, in the same counterclockwise direction as the rotation of the external sun gear 333.

In addition, under this done is to implement section 310 linear actuator of the drilling module 111 consists of a rolling component 311, attached to the shaft 303 of the inner drill bit, and a stationary component 313, for example, solenoid linear actuator attached to the housing 301 of the drilling module. Solenoid linear actuator converts the controlled magnetic field in the linear motion rolling component 311. Section 310 linear actuator provides axial movement of the inner drill bit 115. In figure 3A the inner drill bit 115 is shown in the designated position, in which the inner drill bit 115 attached to the drilling module with axial pusher 311, thus resulting in the bore of the inner drill bit 115 in proximity to the outer drilling bit 113. On the form in transverse section in figure 3B of the inner drill bit 115 is shown in its extended position, in which the inner drill bit 115 advanced into the wellbore forward with respect to the outer drill bit 113 by means of the rolling component 311 linear actuator.

As shown in figure 3A, the shaft 303 of the inner drill bit is in the set of radial bearings 345 to rotate inside the shaft 305 of the outer drill bit. Radial bearings 345 connected to the shaft 305 of the outer drill bit to allow axial movement and twisting during the rotation of the shaft 303 of the inner drill bit, when the inner drill bit 115 is allocated into the housing 301 of the drilling module or forward-moving component 311 linear actuator. In addition, the radial bearings 345 are used as bearings for rotation of the shaft 303 of the inner drill bit relative to the shaft 305 of the outer drill bit.

The shaft 305 of the outer drill bit is in the set of bearings 343 and can rotate inside the housing 301 of the drilling module.

According to the implementation of the invention the rotating connection 109 is included in the drilling module 111 and supported by thrust bearings 347 and mechanical connection 359 together with the pusher module. The encoder 201 position of the rotating connection 109 is connected to the housing 301 of the drilling module. In addition, the borehole axial pressure from the pushing module 107 is applied to the drilling module 111 via the mechanical connection 359. According to this implementation flow 363 mud from the push module 107 passes through the hydraulic clutch 351 inside the shaft 303 of the inner drill bits for the operation of drilling the wellbore. The seal kit 355 prevents flow into flow 363 drilling mud in the casing 301 of the drilling module and enables axial movement of the drilling module 111 while rotating drill bits. Electrical connection 353 about the pushing module 107 is held to the stationary component 365 site contact rotating rings, connected to the housing 302 of the drilling module, and provides electrical connection 349 to all components of the drilling module 111.

The fixed component of 357 site rotating contact rings connected with the pusher module 107 provides data transfer between code sensor 201 of the rotation angle of the rotating connection 109 and the control module 367 drilling module 111, and in addition, according to an alternative implementation of the control module 367 provides data transfer between the ground unit 105 to control the drilling and processing of data and the drilling module 111, for example, using a telemetry system with mud pulse communication channel.

In figures 5A and 5B presents perspective views of the clamping module 107, a rotating connection 109 and the drilling module 111 according to one implementation of the invention. In figure 5A the drilling module 111 and thrust module 107 are neutral in rotation one relative to another, which is shown by crosses threads 501 and 503. As described in this application in more detail below, the effective torque on the drilling module 111 is adjustable. When the effective torque on the drilling module 111 excluded, thrust module 107 and the drilling module 111 in the wellbore are rotationally fixed and, in addition, the position of the push module is 107 relative to the axis of rotation (shown by cross threads 501) aligned with the position relative to the axis of rotation of the drilling module 111 (shown by cross threads 503). The encoder 201 angle, as shown, for example, in figure 2, can be placed in a rotating connection 109 and provides a signal which is a measure of the angular relationship of the feeding module 107 and the drilling module 111. Thus, as shown in figure 5A, the push module 107 and the drilling module 111 aligned, the encoder 201 angle provides drilling module a signal indicating a neutral alignment between the push module 107 and the drilling module 111.

In figure 5B the drilling module 111 due to external perturbations is rotated relative to the clamping module 107 around their common axis by the angle α. Therefore, the angular relationship of the drilling module 111 and the push module 107 along their common axis after the rotation is determined by the angle α illustrated new cross threads 503' compared with the cross threads 503. The angle α of rotation can be caused by an unbalanced torque between the outer drill bit 113 and the inner drill bit 115. Therefore, the encoder 201 angle communicates with the drilling module 111 by transmitting a signal, which is a measure of the angle α between the push module 107 and the drilling module 111. In response to the input signal from the encoder 201 angle, indicating that there is a rotation, the drilling module 111 is adjusted RA is the distribution of the load on the bit between the inner drill bit 115 and the outer drill bit 113, that is, adjusts the axial pressure exerted by section 310 of the linear actuator of the drilling module 111, or adjusted relative frequency of rotation of the motors driving respectively the inner drill bit 115 and the outer drill bit 113, to essentially restore the balance of all torque loads during drilling and exceptions rotation of the drilling module 111.

Torque on the drill bit is a function of not only the load on the bit, but also a function of the frequency of rotation of the inner drill bit 115 and the outer drill bit 113. In accordance with this effective torque can be adjusted by changing the frequency of rotation of the inner drill bit 115 or outer drill bit 113, or both.

According to an alternative implementation of a tool for directional drilling includes drilling bit of the opposite rotation to regulate the reactive torque during drilling, and is intentionally increase or decrease in reactive torque during drilling to control the deviation of the drill bit to change in a given direction of drilling of the wellbore. According to this implementation, the control module 367 drilling module 111 communicates with a ground unit 105 to control hole is m and data processing for the purpose of receiving information, related to the direction of drilling of the robot in the wellbore. The measurement direction during the drilling operations well known in the art and is, for example, by using a unit for measuring the direction and angle that includes the accelerometer to change the angle and magnetometer to detect the direction.

Figure 6A presents a schematic illustration of forces drilling, represented as vectors. The processing unit direction control module 367 combines these vectors and operates with them to regulate the deviation of the drill bit, and thus achieved the desired direction of drilling. The force resulting from the rotation of the inner drill bit 115, represented by the vector 601, the force resulting from the rotation of the outer drill bit 113, represented by the vector 603 and the force resulting from the load on the drill bit, is represented by a vector 605 (collectively the "power drill"). In figure 6A power balanced drilling, consequently, the direction of drilling of the borehole is oriented straight ahead. To continue drilling straight-forward balance of vectors supported in equilibrium. If it is desired drilling straight forward, but the balance is not maintained, the vectors are adjusted by controlling the relative speed in the morning on the drill bit 115 and the outer drill bit 113 or the load on the inner drill bit 115.

In figure 6B schematically shows the vectors of the forces that occur when the forces of drilling are not balanced. The power of the 607 is the result of rotation of the inner drill bit 115, 609 force is the result of the rotation of the outer drill bit 113, and the power 611 is the result of the load on the drill bit. The resulting vector 613 (the result of adding the vector 609' and vector 607' to vector 611) reflects the direction in which we should expect deviations of the drill bit when this particular balance of forces.

Thus, according to this alternative implementation, the specified direction of drilling is achieved by controlling the relative speed of the inner drill bit 115 and the outer drill bit 113 and the load on the inner drill bit 115. In addition, during the rotation of the outer drill bit in the opposite direction relative to the inner drill bit is added an additional vector of deviations, the magnitude of which can be adjusted by adjusting the weight on bit and rotation frequency of one drill bit or both bits. According to one alternative implementation, the operator can specify the position of 615 to which the rig should be addressed. In this case, the position information 615 is transmitted to the drilling module 111. P is ogromnie tool in the drilling module 111 determines the vectors, necessary to achieve the position 615. For example, if drilling is straight forward as shown in figure 6A, and it is desirable to change the direction to the point 615, vector 601 can be reduced to match the vector 607, i.e. as vectors 601 and 607 correspond to the internal force on the drill bit 615, the frequency of rotation of the inner drill bit 615 reduced.

III. The order of operations

Features one drill bit can be described by the mathematical dependence expressed by the equations (1), (2) and (3)between the torque (T), weight on bit (NIS), depth (dc) of cut, rate of penetration (SP) and speed (CV).

Constant CTCWdepend on the type of rock and rock properties, such as tensile strength. T0is a component of the torque due to pure friction. NIS0represents the minimum load required to move the drill bit from just erase the craggy rocks in the wellbore to actually cutting rocks. With the exception depending on the depth of cut from equations (1) and (2)above, the torque is expressed as T=(CT/CW)×(NIS-NIS0)+T0. In ednor the bottom condition C TCW, T0and NIS0do not change. Consider drilling rig, in which the load on the bit is maintained constant. Under these conditions, i.e. in the case of a homogeneous reservoir and a constant weight on bit (NIS), the torque on one drill bit does not depend on the rotation frequency. Therefore, the torque cannot be adjusted by varying the rotational speed. In the conditions when this system from one drill bits can be distributed constant rate of penetration, for example, by using the push module 107, this leads to the fact that the torque on one of the drilling bit is inversely proportional to the rotational speed, that is, T=CT×(CP/CV)+T0.

As shown below, the above mathematical representation can be extended to a concentrically arranged inner and outer drill bits described in this application.

Every bit of concentrically arranged drill bits has the constant characterizing the cutting of the breed, that is, CT1CT2CW1CW2, T01, T02, NIS01and NIS02. The control module 367 drilling mo is Ulya 111 balances the torques T 1and T2. Torque T1and T2balanced so that they do not necessarily have a constant value. However, they are equal and opposite. Torque experienced by the drilling module 111, is expressed as TDM=T1-T2. Thus, when the torque T1and T2equal, the drilling module 111 is not rotated in a borehole.

In figure 7 schematically shows a possible sequence of actions for the drilling module 111, in accordance with which regulates torque during drilling and, therefore, relative rotation between the drilling module 111 and the push module 107. Code sensor 201 of the rotation angle of the rotating coupling device 109 is determined by the angular relation (also called the relative rotation of the drilling module 111 with respect to the push module 107 and transmitted to the digital signal, which is a measure of the angular dependence, the control module 367. According to an alternative implementation of the signal, which is an indicator of the relative rotation, may also come from any other geostationary or quasigeostrophic source, i.e. not necessarily from the encoder 201 angle. The control module 367 drilling module 111 receives the signal from the encoder 201 angle (or from alternative the active source), which is a measure of the angular dependence between the push module 107 and the drilling module 111, and uses this information to determine, began to do the drilling module 111 rotation relative to the push module 107. In addition, the control module 367 receives information regarding the current engine speed of the inner drill bit and the engine outer drill bit.

Thrust module 107 applies axial pressure, the step 107, that is, provides a constant load on the bit or constant rate of penetration, drilling module 111 to continue drilling the wellbore. The rotation of the drilling module 111 relative to the push module 107 around their common axis is logged by using any method suitable for obtaining angular position, for example, using the encoder 201 angle. In the control module 367 drilling module 111 is evaluated information about the angular position taken encoder 201 of the angle to determine the start of rotation of the drilling module 111 relative to the push module 107. To counteract the rotation is adjusted, for example, the load 703 on the inner drill bit by axial movement of the inner drill bit 115 via a linear actuator 310 or by adjusting the relative frequency rotations is of drill bits.

The choice of parameters for adjustment may be made in accordance with any one of many different strategies. According to one implementation of the invention the rate of penetration (SP) the inner and outer drill bits are fixed relative to each other, i.e. JV1equal JV2. In other words, the linear actuator 310 is not connected (except for the case described in this application below). According to this implementation, the relative torque of the inner and outer drill bits is adjusted by regulating the relative speed of the two motors driving these drill bits, respectively. (Because the frequency of rotation of the inner drill bit 115 or outer drill bit 113 can be maintained constant, and the other will be adjusted, in figure 7 they are shown as first and second drill bits 711 and 713, respectively. Similarly, the first engine 707, and a second motor 709 can match the engine, resulting in movement of the inner drill bit 115 or outer drill bit 113.)

The control loop feedback is used to maintain a nearly constant speed of one engine, for example the first engine 707. For example, suppose that the first engine 707 is designed to work with constant h is Auteuil rotation, about which the rotational speed of the second motor 709 is adjusted to control the relative torque developed two drill bits 711 and 713. In this case, the rotational speed of the first motor 707 fed back to the control module 367. The control module 367 adjusts the power applied to the first motor 707, to keep this engine running with almost constant speed. A control loop with feedback to control the rotational speed of the first motor 707 may be, for example, proportional-integral-differential (PID) controller.

The figure 8 presents a flowchart of the sequence of operations that illustrate the implementation of the software control module 367, in accordance with which the rotational speed of one of the two engines 707 and 709 is used to control the relative torque between two concentric drill bits. At step 851, the control module 367 continuously receives information about the relative rotation encoder 201 angle. If the relative rotation suggests that the torques are balanced, i.e. no rotation, control simply returns to re-read at step 851 new information about the relative rotation sotovogo sensor 201 angle. This cycle continues until it reaches the balancing torque at step 853, and at this time, adjustment of the relative speed. If the relative rotation indicates that the torque on the second drill bit 709 exceeds the torque on the first drill bit 711, step 853, the rotational speed of the second drill bit 709 should be increased at step 855. If the rotational speed of the second drill bit 709 increases, except for the condition when the rate of penetration of both bits is the same, the speed of penetration of the second drill bit 713 will also increase. However, since the rotational speed of the first drill bit 711 is maintained almost constant, at high speed of driving the first drilling bit 711 increases the weight on bit and torque on the first drill bit 711. On the other hand, as the speed increases, the second drill bit 713 does not increase the overall rate of penetration, which is achieved by using a second drill bit, the bit load of the second drill bit 713 is reduced and hence also the torque on the second drill bit 713. Accordingly, when the torque of the second drill bit exceeds the torque on the first drill bit, cha is Thoth rotation of the second motor can be increased to reduce the torque on the second drill bit with the increase of torque at the first drilling bit.

In contrast, if the relative rotation indicates that the torque on the second drill bit 709 is not greater than the torque on the first drill bit 711, step 853, the rotational speed of the second drill bit 709 should be reduced at step 857.

But, of course, if speed is maximum at the stage 859 or already zero at step 861, should be taken some other corrective action. In this case, by the entrance to the emergency operation mode at step 863. The operation of the drilling module may be affected by certain external perturbations. For example, one of the drill bits can meet a very hard material such as granite, then another drill bit performs drilling in soft material, such as sand. In this case, changes in speed may be enough to control the relative torque developed in the drill bits. So in response to this situation, the managing module is triggered emergency mode. In emergency mode, the linear actuator 310 is used to generate movement of the crawler type, in order to restore the normal operation of the drilling module. The engines of the inner drill bit 115 and the outer drill bit 113 periodically turned on and off, moving the VM the CTE with the linear actuator 310 in a borehole, the result that the load on bit is applied alternately to the inner drilling bit and the outer drilling bit. This continuous repetitive movement of drill bits and linear actuator movement called crawler type and, in addition, it restores the normal operation of the drilling module.

The figure 9 presents a flowchart of the sequence of operations illustrating emergency mode at step 863 figure 8. The entrance to the emergency operation mode can be performed when an external disturbance causes the system failure control drilling described in this application above. In emergency mode linear actuator 310 is used for "caterpillar" promotion drilling robot forward when performing the drilling operations. According to one implementation of the emergency operation module 367 control drilling of the first off the first engine 707, step 901. At step 901, the entire axial load must be applied to the first drilling bit 711. Then on the second motor 709, at step 903, and the second drill bit 713 is pushed into the reservoir using a linear actuator 310 at step 905. According to one implementation of the speed with which the second drill bit is pushed in the emergency operation mode is set as the parameter of the operator. The frequency of rotation, which rotates the second drill bit, outputdevices by using proportional-integral-differential control loop. In emergency mode the maximum torque that can be applied to a rotary drilling bit, in this case, the second drilling bit 713, is a function of torque retention fixed on the drill bit. According to one implementation of the present invention, the torque rotating the drill bit may be less than the torque retention. Otherwise, the fixed bit will begin to slip. From the equations above, it follows that

where "drilling" is a measure of the rotational drill, for example, at steps 903 and 905, it is equal to 2. CVdrillingadjustable to conform

Tdrilling<Tretention. In practice this can be achieved by adjusting CVdrillingif the fixed bit is detected slippage (slippage will indicate the detection of the rotation of the drilling module 111).

When the linear actuator 310 pushes the second drill bit 713 for the entire range of movement of the linear actuator 310 (or almost the entire range of movement), the second motor 709 is turned off at step 907. Then the first engine is turned on and the rotation is maintained by using, for example, proportional-integral-differential control loop is and step 909. Next, using a linear actuator 310 first drill bit 711 is pushed into the formation in step 911. In the end (or near end) stroke linear actuator 310 first motor 711 is turned off at step 913.

The possibility of returning in mode "speed" periodically examined at step 915, for example, at the end of each complete cycle of movement of the second engine on the steps 905 and 907 and the displacement of the first motor into the reservoir on the steps 911 and 913. According to one implementation of the study to determine the possibility of exit from emergency mode of operation is performed by successively increasing speed on each iteration through the loop termination slip fixed bits. For bits with less resistance, the rotation frequency can be much higher than for the bits with higher resistance. Therefore, at the time when the difference between the respective speeds that can be supported without slipping the fixed bit is great, will require an emergency operation. However, when two possible speeds become closer to each other, that is, the difference becomes smaller than a given threshold, can be implemented exit emergency mode and re-enter the adjustment speed.

With the according to an alternative implementation of the invention the drilling module 111 is used to control the direction of rotation of the drilling operations. The figure 10 presents a flowchart of the sequence of operations illustrating a possible sequence of actions performed for the alternative implementation, according to which the drilling module 111, described in this application, is used to control the direction of drilling. As the first phase of the drilling module 111, for example, the control module 367, accepts parameters direction of drilling, for example set a new direction of a borehole path at step 801. These drilling parameters can be transferred from surface equipment 105, which may be located, for example, inside the truck 123 for maintenance in the oil field drilling module 111 through the use of telemetry for mud pulse communication channel or power cable 121 connecting surface equipment 105 for processing and drilling robot 119. According to one implementation of the invention the drilling module 111 is connected to a conventional drill pipe and perceives the axial pressure from the drill pipe. Adjusting the relative torque of the inner and outer drill bits are used to obtain specific desired path by creating a deviation of the drill bit.

In the drilling module 111 reads the sensor values of the torque and weight on bit for ODA is dividing the torque on the inner drill bit 115, torque on the outer drill bit 113 and weight on bit for the inner drill bit 115 at step 803. According to an alternative implementation of the mud flow rate and weight on bit for the inner drill bit 115 and the outer drill bit 113 logged in ground installation 105 to control the drilling and processing of data. In addition, the flow rate can be measured by the speed of ground pump drilling fluid and movement of the drilling fluid and transferred to the onshore facility 105 to control the drilling and processing of data. According to this implementation of drill pipe provides the rotation of the outer drill bit clockwise, creating a force vector from the axis, which together with the load on the bit in the most part rocky rocks in a borehole will be manifested in the tendency of deviation of the drill bit. Downhole hydraulic motor provides rotation of the inner drill bit counterclockwise, and thus the rotation of the inner drill bit is regulated by the flow of mud. When balancing the load on the bit for the inner drill bit, as the load on the bit to the outer drill bit, along with the unbalance relative torque due to rotation of the inner drill bit and external borovok the bit (rotation in the opposite direction relative to each other) is not a neutral force vector. Based on the design of the two drill bits of varying the load on the bit creates a third force vector. According to the embodiment, in ground installation 105 to control the drilling and processing of data by analysis of vectors, and the resultant vector is shown in figure 6, is determined by the necessity of correction parameters direction at step 805. Then define the specified result vector at step 807. If there is a match between the specified result vector and the resulting vector from the current forces of drilling at step 809, the process may return to step the expectation of new parameters direction at step 801. Otherwise, the adjustment of the forces of drilling at step 811, and repeated the stages of reading force sensors, calculate the current of the resulting force vector and compare with the specified result vector. By measuring the forces of drilling and, if necessary, adjustments to negotiate with the given resultant force vector in the installation of 105 to control the drilling and processing of data is controlled by the deviation of the drill bit, while the deviation of the drill bit is used to guide the drilling operations on a given path in the wellbore. In the installation to control the drilling and processing of data are tracked amendments to the options of extending the Oia and their influence on the trajectory, which should the drilling robot. This learning process provides the opportunity for future adjustments of the parameters of direction, resulting in the drilling robot is supported predefined trajectory. The learning process also provides an opportunity to use data that is relevant to the adjustments and successful path in future drilling in similar underground reservoirs and under similar drilling conditions.

IV. Schematic

The figure 11 shows the structural diagram of the control module 367 drilling module 111. One or more sensors 901 is connected to the processor 903. The processor operates in accordance with software commands 909 system software stored in the storage device 907. The program 909 system software is an implementation of at least part of the sequences of actions performed are shown in figures 7 through 10, and method of torque control described in this application above in conjunction with the other drawings. In other words, the program 909 of the software system may include a module 913 for the implementation of the algorithms discussed in this application above, for processing data on the relative angular position of the drilling module 111 and the push module 107 and to use the project for this information for torque control with the to minimize or, ideally, eliminate rotation. Alternatively, the program 909 software systems provide an opportunity to implement 915 algorithms discussed in this application above, for processing of directional options for regulating the transverse deviation of the drill bit in order to achieve a given direction of drilling. Storage device 907 may also contain an area for storing data 911, for example, parameters for regulation control module 367, for example, the setpoint rotational speed for the engine with a constant speed, the speed of advancement of the linear actuator during an emergency mode of operation, preset direction for directional control. According to an alternative implementation of the invention, the control module 357 is located in overland equipment or even outside. The control module 367 drilling module 111 may also contain coherent logical node 905 for communication with the pusher module 107, a rotating coupling device 109 and perform data transfer in the terrestrial setting 105 to control the drilling and processing of data or receive from it.

From the foregoing it should be clear that setting to exclude the effective torque on the drill bit, the war is implemented by the present invention, reflects a significant achievement in this field of technology. According to one implementation of the drilling rig according to the present invention essentially is a balancing torque drilling, resulting from the drilling of the wellbore, resulting in increased stability and efficiency of the rig robots. According to another implementation of change drilling parameters affecting power drilling concentric drilling bits, is used to regulate the deviation of the drill bit to guide the drilling operations in a given direction in the wellbore.

Although there have been described and illustrated a specific embodiment of the invention, the invention is not limited to the specific forms or arrangements of parts so described and illustrated.

1. Drilling rig for regulating the torque on the drill bit during drilling operations the well containing pushing the module that provides the thrust of the drilling module comprising a drill bit, is divided into the outer drill bit and the inner drill bit connected to a power unit for driving the inner and outer drill bits in opposite directions simultaneously, and the rotating connection, coupled with the push module and the drilling module and the code containing a series of the angle sensor, designed to determine the angle of relative rotation between the push module and the drilling module, with the drilling module capable of receiving an axial pressure from the feeding module and the signals from the encoder angle, which is a measure of the angle of relative rotation between the drilling module and the push module, and a control module connected to the power node and intended for regulating the relative speed of rotation of the inner and outer drill bits.

2. Installation according to claim 1, additionally containing a linear actuator for providing axial movement of the inner drill bit with respect to the outer drill bit in response to the signals received from the encoder angle.

3. Installation according to claim 2, is designed so that axial movement of the inner drill bit with respect to the outer drill bit creates a change in the load distribution between the inner drill bit and the outer drilling bit for an adjustment to the effective torque of drill bits.

4. Installation according to claim 2, in which the angular position during rotation of the drilling module relative to the push module is used to adjust the load distribution on the bit between the inner drill bit and the outer drilling bit.

5. Installation according to claim 1, in which angle the TV position during rotation of the drilling module relative to the push module is used for adjusting the frequency of rotation of the inner drill bit and/or outer drill bit.

6. Installation according to claim 1, in which the control unit includes means for connection with the ground unit to control the drilling and processing of data and processing of the angular position of the drilling module relative to the push module to adjust the torque related to drilling bits.

7. Drilling rig for regulating the deflection of the drill bit while drilling a borehole to direct the operations of drilling, containing a cylindrical drill bit, divided into the inner drill bit and the outer drill bit, while the inner drill bit is located within the outer drill bit, power node for independent control of the inner and outer drill bits, drilling module for controlling the mud flow rate and load on the outer drill bit and the inner drill bit, and a control module connected to the power node and intended for receiving from ground sensors to control the drilling and processing of data of the result vector, calculated from the components of the vectors, comparison of the result vector with the given vector corresponding to a given direction of drilling, determine at least one correction for at least one component of the vector is required to change the result vector to obtain a given the th vector, and adjusting drilling parameters, corresponding to the force corresponding to the adjusted at least one of the vector.

8. Installation according to claim 7, in which the control module is able to pass parameters to the direction of the outer drill bit and the inner drill bit in the ground installation to control the drilling and processing of data.

9. Installation according to claim 7, in which the control module is able to accept the amendments to the drilling parameters from ground-based installations for the management of drilling and data processing.

10. Installation according to claim 7, in which the control module that handles the amendments to the drilling parameters taken from ground sensors to control the drilling and processing of data further comprises means for adjusting the force related to the rotation of the inner drill bit and the outer drill bit, and in response to this regulation deviation of the drill bit.

11. A method of operating a drilling rig having a pushing module and the drilling module with lots of drill bits, containing the steps:
the rotation of the first drill bit in a first direction from the first circumferential speed;
the rotation of the second drill bit in a second direction opposite the first direction, with the second circumferential speed; the creation of axial pressure on the drilling module from talkhaus the first module;
determination of relative rotation between the drilling module and the push module and
adjusting at least one of the first peripheral speed and the second peripheral speed in response to detection of the relative rotation between the drilling module and the push module.

12. The method according to claim 11, in which the relative rotation between the drilling module and the push module receive relative rotation encoder angle.

13. The method according to claim 11, in which the reduction of the peripheral speed of the second drill bit when specifying relative rotation on the excess torque on the second drill bit torque on the first drilling bit.

14. The method according to claim 11, in which the increase in the peripheral speed of the second drill bit when specifying relative rotation on the excess torque on the first drill bit torque on the second drill bit.

15. The method according to item 13 or 14, in which when the peripheral speed of the second drill bit less than the minimum value of exercise introduction to emergency mode, in which one drill bit held stationary, and the other drill bit rotate and move axially relative to the stationary drill bits.

16. The method according to item 15, in which the first and second drill bit p is alternately held stationary at that time, as another drill bit to move in the axial direction.

17. The method according to clause 16, in which when the peripheral speed of the second drill bit less than the minimum value of exercise introduction to emergency mode, in which one drill bit held stationary, and the other drill bit rotate and move axially relative to the stationary drill bits.

18. The method according to claim 11, further comprising determining the relative torque on the first and second drill bit, determining the trajectory of the drilling module, determining the difference between the reference trajectory and certain trajectories, the relative torque required to obtain a given trajectory, based on certain trajectories and relative torque, the adjustment of the peripheral speed of the first or second drill bit to get the relative torque required to obtain a given path.

19. The method according to p, optionally including the definition of vectors generated torque on the first and second drilling bit, a valid definition of the result vector on the basis of vectors, the definition given of the result vector, the comparison is given of the result vector with the actual result ve the torus, adjustment of the force of drilling to obtain the specified result vector, if the divergence of a given result vector with a valid result vector.

20. The method according to claim 19, in which when the power adjustment perform drilling stage, selectable from the adjustment of the peripheral speed of the first drill bit, adjusting the peripheral speed of the second drill bit, adjusting the axial relationship between the first and second drill bits.



 

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38 cl, 6 dwg

FIELD: oil and gas industry.

SUBSTANCE: group of inventions refers to directed and horizontal well-drilling. Method consists that laser beam is directed sideways the whipstock, while on measuring panel, laser incidence point is registered, and angular distance of incidence point and whipstock mark is measured. Laser beam is rotated around and in parallel to the axis of downhole inclinometering system body until angle on the measuring panel between laser incidence point and whipstock mark is equal to zero. Then internal surface of downhole inclinometering system body in its end face is marked so that it lays the same radius of external laser. Then locating fixture designed as rod with its one end resting on removed mark and its another end resting on its antipode is mounted inside of the body within its cross plane. After the first antipode is attached and assembly is run the length of the attached pipe, in the pipe two parallel beams are directed towards the locating fixture along the axis. Then beam plane is rotated until the locating fixture reaches the beam plane, the mark is remove to the internal surface of the first pipe in its face end by position of the beam, illuminating half of the locating fixture resting on the previous mark. The second locating fixture is mounted similarly. After the following pipe is attached, mark removing along the internal surface is performed again on the basis of the previous locating fixture until drilling string is considered to be assembled completely. The device for method implementation contains three laser sources, downhole inclinometering system, prograduated measuring panel perpendicularly to the axis of whipstock turbo-drill in the same plane of whipstock direction mark. Three lasers are mutually parallel in diametral plane of the drilling string on the platform rotating around the drilling string axis. Herewith two of them are symmetrised within the string relative to its axes with one being outside. The device is supplied with locating fixtures designed as rods providing that one rod end rests on the removed mark on the internal surface of pipe drill with its second end resting on the antipode. Furthermore to identify the mark, half of the locating fixture resting on the mark is painted with one bright luminescent colour with another half painted with the other colour. The platform accommodates optical system equipped with monitor and compass on the empty seat of the platform to evaluate whipstock angle when the locating fixture reaches within plane of internal laser beams, as well as internal temperature stabilisation system.

EFFECT: higher accuracy and reduced time to evaluate whipstock orientation in drilling string running.

2 cl, 5 dwg

FIELD: mining.

SUBSTANCE: assembling point and method of energy twirling control are intended for eliminating interrupted motion and/or oscillations of a drilling bit including axial oscillations and/or angular oscillations around axis. According to one of the preferable options, the assembling point enables upper and lower tubular members of drill string to slip against each other. The assembly point of rotation control can be installed in any determined place in a drill string. The assembly point of rotation control can also be used as a component of other drill mechanisms such as a well engine for drilling. The device of rotation control provides slipping during drilling within the set time limits, within the limits of defined rotation angle of turning, or with due account of other criteria of twirling energy release in the drill string that otherwise can cause destructive discontinuous torsional oscillations, such as interrupted motion. According to one of the options, the assembly point of rotation control can incorporate a shift and a disengagement clutch. As a result, a torque will be fully transferred or not transferred through the assembly point within brief periods.

EFFECT: higher penetration speed during drilling; longer service life of drill bit; reduced pressure in joints of drill string.

31 cl, 13 dwg

The invention relates to the field of well construction and is intended to improve the efficiency of drilling deep wells and prevent accidents caused by breakdowns drill pipe and drill bits

FIELD: mining.

SUBSTANCE: assembling point and method of energy twirling control are intended for eliminating interrupted motion and/or oscillations of a drilling bit including axial oscillations and/or angular oscillations around axis. According to one of the preferable options, the assembling point enables upper and lower tubular members of drill string to slip against each other. The assembly point of rotation control can be installed in any determined place in a drill string. The assembly point of rotation control can also be used as a component of other drill mechanisms such as a well engine for drilling. The device of rotation control provides slipping during drilling within the set time limits, within the limits of defined rotation angle of turning, or with due account of other criteria of twirling energy release in the drill string that otherwise can cause destructive discontinuous torsional oscillations, such as interrupted motion. According to one of the options, the assembly point of rotation control can incorporate a shift and a disengagement clutch. As a result, a torque will be fully transferred or not transferred through the assembly point within brief periods.

EFFECT: higher penetration speed during drilling; longer service life of drill bit; reduced pressure in joints of drill string.

31 cl, 13 dwg

FIELD: oil and gas production.

SUBSTANCE: invention refers to oil-field boring, particularly to self-contained drilling rig and to remotely controlled drilling robot devices used at well boring. The drilling device consists of a concentrically divided bore bit; also an internal bore bit rotates simultaneously with external bore bit in the opposite direction. The internal bore bit can move forward in axial direction to the external bore bit or backward from it. Forces created by internal and external bore bits are adjusted to eliminate or correct torque reaction.

EFFECT: preventing drops of driving rate caused by objectionable rotating of drilling rig and initiating required deflection of bore bit.

20 cl, 15 dwg

FIELD: process engineering.

SUBSTANCE: set of inventions relates to mining, particularly, to rolling cutter machines for drilling blast wells. This process uses tackle systems with friction winches driven by induction motors and drives rpm controllers. It consists in application of frequency inverter for control over each induction motor. Frequency variation is used to set rectilinear working characteristic torque-rpm of every motor. Drive rpm controller is used to time the rpm of each motor. Torque is measured at one of said motors to correct the load at the other motor by measured torque.

EFFECT: compensation for non-synchronous rpm of winch drives, difference in diameters of winch drums and cables, cable slippage and friction forces, ruled out skew of the carriage.

2 cl, 4 dwg

FIELD: mining.

SUBSTANCE: invention relates to wellsite equipment, such as oilfield surface equipment, downhole assemblies and the like. Method and assembly for milling an obstruction disposed within a wellbore includes milling module with an engine rotating a milling bit, first electronics cartridge to control the engine based on motor torque value, tractor module for engaging with the wellbore and providing push force against wellcore to urge the milling assembly in the direction of the milling bit, second electronics cartridge for controlling a push force value of tractor module. Method involves rotating the milling bit, engaging the tractor module with the wellbore and adjusting, iteratively, the operation based on a calculated torque value and a calculated push force value to maintain the calculated values at around a target torque value and below a push force limit value and below a push force limit value.

EFFECT: higher efficiency of controlling a tool, which at the same time provides the protection of the tool.

20 cl, 4 dwg

FIELD: oil and gas industry.

SUBSTANCE: according to the rotation control method of drill string, connected to the drill bit inside the wellbore, angular speed is defined for at least a part of the drill string, an angular velocity threshold value is determined to prevent static friction, the minimum input torque is determined for application to a drill string for maintaining the angular velocity at the angular velocity threshold or above it, then a control signal is generated for the top drive motor at least partially based on a minimum input torque.

EFFECT: static friction overcoming with the minimum energy consumption.

20 cl, 6 dwg

FIELD: measuring equipment.

SUBSTANCE: group of inventions relates to the means for measuring drilling parameters and transmitting the measured data in the downhole during the drilling process. In particular, a telemetry system is provided for determining parameters during drilling, comprising a lower toroid containing a lower toroid winding and further configured to receive a signal from one or more sensors, an upper toroid, wherein the upper toroid comprises an upper toroid winding, and a magnet located along the rotating element inside one of the lower or upper toroid. Herewith one of the upper or lower toroid is further configured to engage with the rotating element. The lower toroid and the upper toroid are located in such a manner that the signal from the lower toroid is induced in the upper toroid.

EFFECT: lower toroid winding is nonuniform, so that the signal induced in the upper toroid, indicates the shaft rotation speed of the hydraulic downhole motor.

20 cl, 8 dwg

FIELD: oil and gas industry.

SUBSTANCE: drilling string bottomhole assembly comprising a drilling bit and a reamer axially displaced in the direction of the drillingl bit, the first sensor sub located in close proximity to the drilling bit with the ability to control the bit load, the second sensor sub located in close proximity to the reamer with the ability to control the reamer load, a data transmission block having a communication connection with the first and the second sensor subs and configured to receive and process the bit and the reamer load data, and one or more controlled nozzle located in each of the said drilling bits and reamer, and each controlled nozzle has a communication connection with the data transmission block and is actuated by this data transmission block to adjust hydraulic power supply to the drilling bit or the reamer when the ratio between the bit load and the reamer load exceeds the predetermined threshold work.

EFFECT: increased drilling efficiency.

19 cl, 4 dwg

FIELD: mining.

SUBSTANCE: method for creating vibrations of the drill string, wherein vibrations are created in at least a part of the drill string, in accordance with the first characteristic of acceleration change with use of the top drive, connected, at least indirectly with the drill string. The first characteristic of acceleration contains the previously stored oscillation parameters, including the first acceleration characteristic, with the first signal form determined by a particular first waveform selected from the group consisting of sinusoidal, speed and triangular shapes. This creates vibrations in at least a portion of the drill string in accordance with the second acceleration characteristic different from the first characteristic of acceleration change by means of the top drive. The second characteristic of acceleration contains the previously stored oscillation parameters, including the second acceleration characteristic, with the first signal form determined by the second waveform selected from the group consisting of sinusoidal, speed and triangular shapes, and the transition between any of sinusoidal, speed and triangular waveforms associated with the first form of the signal. The second waveform defining the second signal form is different from the first waveform defining the first signal form and the creation of vibrations of the at least a portion of the drill string in accordance with the third characteristic of acceleration change by means of the top drive. The third characteristic of acceleration change is optimized on the basis of the response associated with fluctuations according to the first characteristic of acceleration change and response associated with fluctuations in accordance with the second characteristic of acceleration change.

EFFECT: increased efficiency of drilling.

20 cl, 8 dwg

FIELD: oil and gas industry.

SUBSTANCE: arrangement of the drill string bottom contains the first sensor adapter, located near the drill bit and performed with the ability to control one or more operating parameters, related to the drilling bit, the second sensor adapter, separated from the first sensor adapter along the axis, and located near the reamer and executed with the ability to control one or more of the operating parameters of the reamer, and the communication module, connected to the first and the second sensor adapter through the communication means and made with the ability to transmit along them one or more signals of corrective actions in case, if one or more of the drill bit and the reamer operating parameters exceeds the specified operating level, and one of the hydraulic adapter and the downhole propulsion plant, installed between the drill bit and the reamer and connected to the communication module to receive one or more corrective actions signals and activation, in response to this, the load distribution balancing between the bit load and the load to the reamer.

EFFECT: load balancing and hydraulic power distribution between the individual downhole cutting tools.

17 cl, 5 dwg

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