# US 2014/0151121 A1 · Automated directional drilling apparatus and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0151121 A1 - Document ID: US20140151121A1 - Status: Published application - Kind: A1 - Application number: 14/174,522 - Filed: 2014-02-06 - Published: 2014-06-05 - Earliest claimed: 2006-12-07 - Assignees: Canrig Drilling Technology Ltd. - Inventors: Scott Gilbert Boone; Brian Ellis; Colin Gillan; Beat Küttel - Web page: https://patentgrep.com/patent/US20140151121A1 ## CPC - E21B 44/02: Automatic control of the tool feed ({E21B44/005,} E21B44/10 take precedence) - E21B 7/04: Directional 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 2200/20: Computer models or simulations, e.g. for reservoirs under production, drill bits - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS ## Abstract Methods and systems for drilling to a target location include a control system that receives an input comprising a planned drilling path to a target location and determines a projected location of a bottom hole assembly of a drilling system. The projected location of the bottom hole assembly is compared to the planned drilling path to determine a deviation amount. A modified drilling path is created to the target location as selected based on the amount of deviation from the planned drilling path, and drilling rig control signals that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path are generated to intersect the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation. ## Claims ### Claim 1 A method of drilling to a target location which comprises: receiving an input comprising a planned drilling path to a target location; determining a projected location of a bottom hole assembly of a drilling system; wherein determining a projected location of a bottom hole assembly includes using a real-time survey projection as a directional trend; comparing the projected location of the bottom hole assembly to the planned drilling path to determine a deviation amount; creating a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path, wherein creating a modified drilling path to the target location comprises creating a modified drilling path that intersects the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation; and automatically and electronically generating one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path. ### Claim 2 (depends on 1) The method of claim 1, wherein the real-time projection includes a toolface orientation input. ### Claim 3 (depends on 2) The method of claim 2, wherein the creating a modified drilling path to the target location comprises electronically calculating at least one curve from the projected location of the bottom hole assembly to intersect the planned drilling path. ### Claim 4 (depends on 2) The method of claim 2, wherein the creating a modified drilling path to the target location comprises electronically calculating a new planned drilling path that does not intersect the planned drilling path and that is directed from the projected location of the bottom hole assembly to the target location. ### Claim 5 (depends on 4) The method of claim 4, which further comprises: again determining a projected location of a bottom hole assembly of the drilling system; comparing the projected location of the bottom hole assembly to the new modified drilling path; electronically creating a second modified drilling path to the target location; and automatically and electronically generating one or more drilling rig control signals that steer the bottom hole assembly of the drilling system along the second modified drilling path to the target location. ### Claim 6 (depends on 2) The method of claim 2, wherein determining a projected location of the bottom hole assembly comprises determining a projected location of a bit of the bottom hole assembly, and wherein determining a projected location of the bit comprises considering data from one or more survey results. ### Claim 7 (depends on 2) The method of claim 2, wherein creating a modified drilling path comprises creating a modified drilling path based upon whether the amount of deviation from the planned path exceeds a threshold. ### Claim 8 (depends on 7) The method of claim 7, wherein creating a modified drilling path based upon whether the amount of deviation exceeds a threshold comprises: creating a modified drilling path that intersects the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation; and creating a modified drilling path that does not intersect the planned drilling path if the amount of deviation exceeds a second threshold amount of deviation. ### Claim 9 (depends on 2) The method of claim 2, wherein the planned drilling path includes a tolerance zone and creating the modified drilling path occurs when the projected location of the bottom hole assembly intersects the tolerance zone boundary and does not occur when the projected location of the bottom hole assembly is within the tolerance zone. ### Claim 10 (depends on 8) The method of claim 8, which further comprises receiving a user-initiated input indicating whether to create a new planned path to the target that does not intersect the planned drilling path when the bottom hole assembly exceeds the second threshold amount of deviation from the planned path. ### Claim 11 (depends on 2) The method of claim 2, which further comprises electronically calculating a toolface orientation value and a measured depth required to steer the bottom hole assembly to the target location. ### Claim 12 (depends on 2) The method of claim 2, wherein creating a modified drilling path to the target location comprises: electronically calculating a first 3D curve; electronically calculating a hold section; and optionally electronically calculating a second 3D curve, the first and optional second 3D curves being a portion of the modified drilling path, the optional second 3D curve merging the modified path with the original planned drilling path at a location prior to the target location. ### Claim 13 (depends on 2) The method of claim 2, which comprises: defining a tolerance zone, an intervention zone, and a correction zone about the planned drilling path, wherein comparing the projected location of the bottom hole assembly to the planned drilling path includes determining which zone contains the determined projection of the bottom hole assembly, and wherein after creating a modified drilling path to the target location, defining a new tolerance zone, a new intervention zone, and a new correction zone about the modified drilling path. ### Claim 14 (depends on 2) The method of claim 2, wherein the real-time projection is performed using a method comprising at least one of a minimum curvature arc, direction trends, or a straight line. ### Claim 15 (depends on 2) The method of claim 2, further comprising a quill having a position; wherein the one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path includes adjusting the quill position to effect a change in the toolface orientation. ### Claim 16 (depends on 2) The method of claim 2, further comprising a drawworks; wherein the one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path includes adjusting the drawworks to effect a change in the toolface orientation. ### Claim 17 (depends on 2) The method of claim 2, further comprising one or more mudpumps; wherein the one or more drilling rig control signals at the surface of a well that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path includes adjusting the one or more mudpumps to effect a change in the toolface orientation. ### Claim 18 A system for drilling to a target location comprising: a receiving device adapted to receive an input comprising a planned drilling path to a target location; a sensory device adapted to determine a projected location of a bottom hole assembly of a drilling system; wherein to determine a projected location of a bottom hole assembly includes using a real-time survey projection as a directional trend; a logic device adapted to compare the projected location of the bottom hole assembly to the planned drilling path to determine a deviation amount; a second logic device adapted to create a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path, the second logic device adapted to create a modified drilling path that intersects the planned drilling path if the amount of deviation exceeds a first threshold amount of deviation; and a drilling rig control signal generator adapted to automatically and electronically generate one or more drilling rig control signals that steer the bottom hole assembly of the drilling system to the target location along the modified drilling path. ### Claim 19 (depends on 18) The system of claim 18, including a drawworks drive, a top drive, and a mudpump, wherein the control signal generator transmits the one or more signals to control the drawworks, the top drive, and the mudpump to change a direction of the bottom hole assembly as drilling proceeds. ### Claim 20 (depends on 18) The system of claim 18, wherein the second logic device comprises creating a modified drilling path based upon whether the amount of deviation from the planned path exceeds a threshold, including: means for creating a modified drilling path that intersects the planned drilling path if the amount of deviation exceeds a first threshold amount of deviation; and means for creating a modified drilling path that does not intersect the planned drilling path if the amount of deviation exceeds a second threshold amount of deviation. ### Claim 21 (depends on 18) The system of claim 18, wherein the real-time projection includes a toolface orientation input. ### Claim 22 A method of directionally steering a bottom hole assembly during a drilling operation from a drilling rig to an underground target location, comprising: generating a drilling plan having a drilling path and an acceptable margin of error as a tolerance zone; receiving data indicative of one or more directional trends and a projection to bit depth; determining the actual location of the bottom hole assembly based on the one or more directional trends and the projection to bit depth; determining whether the bit is within the tolerance zone; comparing the actual location of the bottom hole assembly to the planned drilling path to identify an amount of deviation of the bottom hole assembly from the actual drilling path; automatically creating a modified drilling path based on the amount of deviation including: automatically creating a modified drilling path that intersects the planned drilling path if the amount of deviation exceeds a first threshold amount of deviation, automatically creating a modified drilling path to the target location that does not intersect the planned drilling path if the amount of deviation exceeds a second threshold amount of deviation, and determining a curve profile of the modified drilling path having the smallest rate of curvature to avoid drilling overshoot; determining a desired tool face orientation to steer the bottom hole assembly along the modified drilling path; automatically and electronically generating one or more drilling rig control signals at a directional steering controller; and outputting the one or more control signals to a drawworks and a top drive to steer the bottom hole assembly along the modified drilling path. ### Claim 23 A method of real-time survey projection drilling which comprises: drilling a well including a drilling state and a non-drilling state; collecting drilling information that includes measured data comprising at least one of real-time toolface, hole depth, pipe rotation, hook load, or delta pressure, or a combination thereof; modeled drilling data; or both, during the drilling state; calculating a real-time survey projection ahead of a standard survey obtained during the non-drilling state; using the calculated real-time survey projection as a new standard survey as if it were obtained during the non-drilling state; comparing the real-time survey projection to a drilling plan at the corresponding hole depth during the drilling state to determine a deviation amount from the drilling plan, the drilling plan including a target location; and creating a modified drilling path to the target location as selected based on the amount of deviation from the planned drilling path. ### Claim 24 (depends on 23) The method of claim 23, wherein creating a modified drilling path to the target location comprises creating a modified drilling path that intersects the planned drilling path if the amount of deviation from the planned path exceeds a first threshold amount of deviation. ### Claim 25 (depends on 24) The method of claim 24, further comprising controlling one or more drilling rig parameters to steer the well according to the well plan. ### Claim 26 (depends on 24) The method of claim 24, wherein the one or more drilling rig parameters include at least one of a drawworks, one or more mudpumps, and a quill. ### Claim 27 A method of elongating a wellbore in a direction having a horizontal component comprising: detecting a current toolface orientation of a bottom hole assembly in real time with respect to vertical during drilling, the detected toolface orientation affecting a drilling direction of the bottom hole assembly; comparing the current toolface orientation to a desired toolface orientation to identify an amount of deviation of an actual drilling path from a planned drilling path; optimizing detected drilling operation parameters related to the current toolface orientation by creating a modified desired toolface orientation based on the amount of deviation from the planned drilling path; generating drilling rig control signals to oscillate a quill based on the optimized drilling operation parameters to change the current toolface orientation to the modified desired toolface orientation to intersect the planned drilling path; and rotating a tubular along a modified drilling path. ### Claim 28 (depends on 27) The method of claim 27, wherein creating the modified desired toolface orientation comprises electronically calculating at least a pair of curves required to intersect the planned drilling path at a first location before the target location, wherein one of the pair of curves has a rate of curvature for the bottom hole assembly to avoid drilling path overshoot, and the second of the pair of curves has a second rate of curvature that results in drilling path overshoot. ### Claim 29 (depends on 27) The method of claim 27, wherein the drillstring is rotated in a clockwise and a counter-clockwise direction, in an amplitude as needed, to compensate for deviation between the current toolface orientation and the desired toolface orientation. ### Claim 30 (depends on 29) The method of claim 29, wherein the rotating occurs successively in one direction and then in the other direction. ### Claim 31 (depends on 30) The method of claim 30, wherein the rotating amplitude in one direction is greater than the rotating amplitude in the other direction. ### Claim 32 (depends on 29) The method of claim 29, wherein the amplitude of the oscillation of the quill is asymmetrically altered according to the relationship between a current drilling operation parameter and a desired drilling operation parameter.