US RE50,465 E1
Automated steering of a drilling system using a smart bottom hole assembly
Andrew Gorrara, Sandnes (NO); Ola Stengel, Sandnes (NO); and Knut-arve Johnsen, Sandnes (NO)
Assigned to NABORS DRILLING TECHNOLOGY USA, LLC, Houston, TX (US)
Filed by NABORS LUX 2 SARL, Luxembourg (LU)
Filed on Aug. 31, 2022, as Appl. No. 17/900,019.
Application 17/900,019 is a reissue of application No. 16/128,037, filed on Sep. 11, 2018, granted, now 10,760,341, issued on Sep. 1, 2020.
Int. Cl. E21B 7/06 (2006.01); E21B 7/04 (2006.01); E21B 44/00 (2006.01); E21B 47/022 (2012.01)
CPC E21B 7/06 (2013.01) [E21B 7/04 (2013.01); E21B 44/00 (2013.01); E21B 44/005 (2013.01); E21B 47/022 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A method of drilling a wellbore using a rotary steerable system that comprises a bottom hole assembly (“BHA”) that comprises an adjustment mechanism, BHA sensor(s), and a first controller, the method comprising:
drilling, using the BHA, the wellbore when the adjustment mechanism is in a first configuration;
wherein the adjustment mechanism is movable between at least the first configuration and a second configuration to alter a drilling direction of the BHA;
receiving, by the first controller, real-time feedback data from the BHA sensor(s);
wherein the real-time feedback data includes inclination angle data and azimuth angle data;
determining, by the first controller and based on the real-time feedback data, a relationship between an actual measurement derived from the real-time feedback data and a target measurement that is associated with a target well path;
wherein the actual measurement comprises an actual inclination angle and an actual azimuth angle; and
wherein the target measurement comprises a target inclination angle and a target azimuth angle;
[ monitoring, continuously using an algorithm, by the first controller, and based on the real-time feedback data, the relationship between the actual measurement derived from the real-time feedback data and the target measurement;
determining, by the first controller and based on the continuous monitoring of the relationship between the actual measurement derived from the real-time feedback data and the target measurement, an updated relationship between the actual measurement derived from the real-time feedback data and the target measurement; and
revising, by the first controller and based on the updated relationship between the actual measurement derived from the real-time feedback data and the target measurement, drilling instructions associated with a target well path to create revised drilling instructions associated with a revised target well path; ]
automatically moving, by the first controller and in response to the determination of the [ updated ] relationship [ between the actual measurement derived from the real-time feedback data and the target measurement and in response to the creation of the revised drilling instructions associated with the revised target well path] , the adjustment mechanism from the first configuration to the second configuration; and
drilling, using the BHA, the wellbore while the adjustment mechanism is in the second configuration.