# US 12,000,261 B2 · System and methodology for determining appropriate rate of penetration in downhole applications > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,000,261 B2 - Document ID: US12000261B2 - Status: Granted - Kind: B2 - Application number: 17/595,465 - Filed: 2020-05-20 - Published: 2022-07-07 - Granted: 2024-06-04 - Earliest claimed: 2019-05-20 - Assignees: Schlumberger Technology Corporation - Applicants: Schlumberger Technology Corporation - Inventors: Zhanke Liu; Richard Morrison; Luis Silva; Sascha Trummer; Jordi Segura Dominguez; Charles Kearney - Web page: https://patentgrep.com/patent/US12000261B2 ## CPC - E21B 43/26: by forming crevices or fractures - E21B 44/02: Automatic control of the tool feed ({E21B44/005,} E21B44/10 take precedence) - E21B 19/22: Handling reeled pipe or rod units, e.g. flexible drilling pipes {(lifting or hauling appliances using two or more cooperating endless chains B66D3/003)} - E21B 29/00: Cutting or destroying pipes, packers, plugs or wire lines, located in boreholes or wells, e.g. cutting of damaged pipes, of windows; Deforming of pipes in boreholes or wells; Reconditioning of well casings while in the ground - E21B 29/002: {Cutting, e.g. milling, a pipe with a cutter rotating along the circumference of the pipe} - E21B 33/1293: {with means for anchoring against downward and upward movement (E21B33/1291, E21B33/1295 take precedence)} - E21B 45/00: Measuring the drilling time or rate of penetration - E21B 47/12: Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling - E21B 7/00: Special methods or apparatus for drilling - E21B 44/00: Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions - E21B 2200/22: Fuzzy logic, artificial intelligence, neural networks or the like - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS ## Abstract Systems and methods presented herein facilitate operation of well-related tools. In certain embodiments, a variety of data (e.g., downhole data and/or surface data) may be collected to enable optimization of operations related to the well-related tools. In certain embodiments, the collected data may be provided as advisory data (e.g., presented to human operators of the well to inform control actions performed by the human operators) and/or used to facilitate automation of downhole processes and/or surface processes (e.g., which may be automatically performed by a computer implemented surface processing system (e.g., a well control system), without intervention from human operators). In certain embodiments, the systems and methods described herein may enhance downhole operations (e.g., milling operations) by improving the efficiency and utilization of data to enable performance optimization and improved resource controls of the downhole operations. ## Claims ### Claim 1 A method, comprising: moving a downhole well tool along a wellbore of a well system via coiled tubing; determining a desired rate of penetration (ROP) of the downhole well tool; determining a coefficient of friction (COF) acting on the coiled tubing; monitoring a surface load cell measurement acting on the coiled tubing; updating the COF acting on the coiled tubing when the downhole well tool is moved through different formation zones along the wellbore based at least in part on the surface load cell measurement acting on the coiled tubing; and controlling an injector head of the well system to automatically adjust a hanging weight of the coiled tubing based at least in part on the updated COF acting on the coiled tubing to maintain the desired ROP. ### Claim 2 (depends on 1) The method of claim 1, wherein moving the downhole well tool comprises deploying a milling tool. ### Claim 3 (depends on 2) The method of claim 2, comprising using the milling tool to mill out plugs disposed along the wellbore. ### Claim 4 (depends on 1) The method of claim 1, wherein determining the desired ROP comprises determining a maximum ROP. ### Claim 5 (depends on 1) The method of claim 1, wherein controlling the injector head of the well system to automatically adjust the hanging weight of the coiled tubing comprises using a tubing force module that uses the COF to determine the weight of the coiled tubing at a surface of the wellbore as a function of a depth of the coiled tubing for achieving the desired ROP. ### Claim 6 (depends on 1) The method of claim 1, wherein updating the COF comprises updating the COF at least once every 500 feet of movement of the downhole well tool along the wellbore. ### Claim 7 (depends on 1) The method of claim 1, wherein updating the COF comprises updating the COF at least once every 50 feet of movement of the downhole well tool along the wellbore. ### Claim 8 (depends on 1) The method of claim 1, wherein updating the COF comprises updating the COF at least once every 5 feet of movement of the downhole well tool along the wellbore. ### Claim 9 (depends on 1) The method of claim 1, wherein moving the downhole well tool along the wellbore comprises running the downhole well tool into the wellbore. ### Claim 10 (depends on 1) The method of claim 1, wherein moving the downhole well tool along the wellbore comprises pulling the downhole well tool out of the wellbore. ### Claim 11 A method, comprising: positioning a downhole well tool of a well system on coiled tubing to form a coiled tubing string; obtaining sensor data as the downhole well tool is moved along a wellbore by the coiled tubing, wherein the sensor data comprises a load cell measurement acting on the coiled tubing string; using the sensor data to determine a coefficient of friction (COF) value based on friction acting on the coiled tubing string; updating the COF value based on the sensor data to obtain updated COF values when the downhole well tool is moved to different positions in the wellbore; and controlling an injector head of the well system to automatically adjust a hanging weight of the coiled tubing based at least in part on the updated COF value to achieve a desired rate of penetration (ROP). ### Claim 12 (depends on 11) The method of claim 11, wherein controlling the injector head of the well system to automatically adjust the hanging weight of the coiled tubing comprises using a tubing force module that uses the COF value to determine the weight of the coiled tubing at a surface of the wellbore as a function of a depth of the coiled tubing for achieving the desired ROP. ### Claim 13 (depends on 11) The method of claim 11, comprising obtaining an initial COF value based on data acquired from another well. ### Claim 14 (depends on 11) The method of claim 11, wherein positioning the downhole well tool comprises positioning a milling tool, wherein the milling tool is used to mill out plugs located along the wellbore. ### Claim 15 (depends on 11) The method of claim 11, wherein obtaining the sensor data comprises obtaining the sensor data as the downhole well tool is run into the wellbore. ### Claim 16 (depends on 11) The method of claim 11, wherein obtaining the sensor data comprises obtaining the sensor data as the downhole well tool is pulled out of the wellbore. ### Claim 17 A system, comprising: a coiled tubing string having a milling tool deployed downhole in a wellbore of a well system via coiled tubing; a sensor system having one or more surface sensors and one or more downhole sensors, the one or more downhole sensors being mounted on the coiled tubing string; and a processing system that receives sensor data from the sensor system in substantially real time at a plurality of locations along the wellbore, determines a coefficient of friction (COF) value acting on the coiled tubing string at each of the plurality of locations along the wellbore based at least in part on the sensor data, and automatically controls an injector head of the well system to optimize a rate of penetration (ROP) during a milling operation based at least in part on the COF values determined at the plurality of locations along the wellbore. ### Claim 18 (depends on 17) The system of claim 17, wherein the milling tool is operated to mill out a plurality of plugs deployed along the wellbore. ### Claim 19 (depends on 18) The system of claim 18, wherein the processing system uses the sensor data from the sensor system to periodically update the COF value that is based on friction between the coiled tubing string and a surrounding wellbore wall. ### Claim 20 (depends on 1) The method of claim 1, comprising automatically adjusting a choke setting of flowback equipment of the well system.