SYSTEMS AND METHODS FOR INITIAL WELL KICK DETECTION

专利摘要:
an initial kick detection system, including a kick detection computing device coupled to at least one sensor associated with a well drilling system. the kick detection computing device is configured to receive measurement data from at least one sensor. measurement data includes one or more kick indicators used to identify a well kick. the kick detection computing device generates an estimated value for each of the one or more kick indicators during normal simulated drilling conditions and simulated kick conditions. the kick detection computing device determines a deviation value and generates a signal based on the deviation value. the signal activates a green status, an amber warning or a red alarm to indicate a drilling detection kick detection status.
公开号:BR112019013467A2
申请号:R112019013467-0
申请日:2017-12-14
公开日:2020-01-07
发明作者:Alonso Sanchez Soto Gerardo；Horschutz Nemoto Rafael
申请人:General Electric Company；
IPC主号:

专利说明:

SYSTEMS AND METHODS FOR DETECTION OF INITIAL WELL KICK
FUNDAMENTALS [0001] The field of disclosure generally refers to oil and gas drilling operations and, more particularly, a system and method for detecting a well kick during drilling operations using a hydraulic drilling model.
[0002] An undesirable event in a drilling operation is to take an influx of formation fluids into a well hole, known as a well kick. It is known that there is a preexisting pressure in the land formations, which, in general, increases with the depth due to the weight of the overload in particular layers. This weight increases with depth, so that the pressure of the predominant or quiescent lower orifice is increased in a curve generally linear with respect to depth. As the depth of the well is doubled in a normal pressure formation, the pressure is also doubled. This is even more complicated when drilling in deep or ultra-deep water due to pressure on the seabed by the water above it. Thus, high pressure conditions exist at the beginning of the hole and increase as the well is drilled. On some known occasions, pressure in the hole forces the material back into the well and causes a well kick. In basic terms, a well kick occurs when gases or fluids in the well bore flow from the formation to the well bore and bubble upwards. An uncontrolled well kick can eventually result in a rupture, leading to costly environmental and financial consequences.
[0003] Well-known well kick detection systems involve monitoring multiple inputs, including combining reports from visual observation team members and sensor data displayed on an operator's console. For example, a well kick can be detected by comparing conventional probe data measurements from tops located on sensors to predefined thresholds. Through extensive well control training, an operator learns to detect a well kick using an experience-based tacit procedure, analyzing different sources of information and trends. However, the definition of thresholds is generally based on the experience of the operator, and is therefore not a reliable method for detecting well kick.
BRIEF DESCRIPTION
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2/25 [0004] In one aspect, an initial kick detection system is provided. The initial kick detection system includes at least one sensor associated with a well drilling system. The initial kick detection system also includes a kick detection computing device. The kick detection computing device is coupled to at least one sensor and one operator computing device. The kick detection computing device is configured to receive measurement data from at least one sensor. Measurement data includes data measurements associated with one or more kick indicators used to identify a well kick. The kick detection computing device is also configured to generate an estimated value for each of the one or more kick indicators during normal simulated drilling conditions. The kick detection computing device is further configured to generate an estimated value for each or more kick indicators during a simulated kick condition. The kick detection computing device is also configured to determine a deviation value between the estimated values of one or more kick indicators and the data measurements associated with one or more kick indicators. The kick detection computing device is further configured to generate a signal based on the deviation value. The signal activates a green status, an amber warning or a red alarm. The green status, amber warning and red alarm indicate a kick detection status for the drilling system. The kick detection computing device is also configured to transmit the signal to the operator's computing device. The operator's computing device is configured to display the kick detection status of the drilling system.
[0005] In another aspect, a method is provided to control an initial kick detection system. The initial kick detection system includes at least one sensor associated with a well drilling system and a kick detection computing device coupled to at least one sensor and an operator computing device. The method includes receiving, by the kick detection computing device, measurement data from at least one sensor. Measurement data includes data measurements associated with one or more kick indicators used to identify a well kick. The method also includes generating, by the kick detection computing device, an estimated value for each or more kick indicators during normal simulated drilling conditions. The method also includes generating, by the computer device of detection of
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3/25 kick, an estimated value for each or more kick indicators during a simulated kick condition. The method also includes determining, by the kick detection computing device, a deviation value between the estimated values of one or more kick indicators and the data measurements associated with one or more kick indicators. The method also includes generating, by the kick detection computing device, a signal based on the deviation value. The signal activates a green status, an amber warning or a red alarm. The green status, amber warning and red alarm indicate a kick detection status for the drilling system. The method further includes transmitting the signal to the operator's computing device via the kick detection computing device. The operator's computing device is configured to display the kick detection status of the drilling system.
[0006] In yet another aspect, a non-transitory computer-readable storage medium with computer-executable instructions is provided. When performed by a kick detection computing device coupled to at least one sensor associated with a well drilling system and an operator computing device, instructions executable by the computer make the kick detection computing device receive measurement data from at least one sensor. Measurement data includes data measurements associated with one or more kick indicators used to identify a well kick. The computer executable instructions also cause the kick detection computing device to generate an estimated value for each of the one or more kick indicators during normal simulated drilling conditions. Computer executable instructions cause the kick detection computing device to generate an estimated value for each of the one or more kick indicators during a simulated kick condition. The computer executable instructions also cause the kick detection computing device to determine a deviation value between the estimated values of one or more kick indicators and the data measurements associated with one or more kick indicators. The computer executable instructions cause the kick detection computing device to generate a signal based on the deviation value, where the signal activates a green status, an amber warning or a red alarm. The green status, amber warning and red alarm indicate a kick detection status for the drilling system. Computer executable instructions also cause the kick detection computing device
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4/25 transmit the signal to the operator's computing device. The operator's computing device is configured to display the kick detection status of the drilling system.
DRAWINGS [0007] These and other characteristics, aspects and advantages of the present disclosure will be better understood when the following detailed description is read with reference to the attached drawings, in which similar characters represent similar parts in all drawings, where:
[0008] FIG. 1 is an exemplary configuration of a drilling system including a drilled or completed subsea well and a kick detection computing device;
[0009] FIG. 2 is a block diagram of an exemplary computing device, such as the kick detection computing device shown in FIG. 1;
[0010] FIG. 3 is a schematic view of an example flow chart to automatically detect a well kick; and [0011] FIG. 4 is a schematic view of an exemplary method for detecting a well kick using an initial kick detection computing device.
[0012] Unless otherwise stated, the drawings provided here are intended to illustrate characteristics of the disclosure modalities. These characteristics are believed to be applicable in a wide variety of systems, comprising one or more forms of carrying out the disclosure. As such, the drawings are not intended to include all of the conventional features known to those skilled in the art as being necessary for the practice of the modalities disclosed herein.
DETAEHADA DESCRIPTION [0013] In the following specification and in the claims, reference will be made to numerous terms, which will be defined to have the following meanings.
[0014] The singular forms "one", "one", and "o" include references in the plural, unless the context clearly dictates otherwise.
[0015] "Optional" or "optionally" means that the event or circumstance described below may or may not occur and that the description includes cases in which the event
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5/25 occurs and cases where it does not.
[0016] The approximate language, as used here throughout the specification and the claims, can be applied to modify any quantitative representation that may vary permissibly without resulting in a change in the basic function to which it is related. Consequently, a value modified by a term or terms, such as "about", "substantially", and "approximately", should not be limited to the exact value specified. In at least some cases, the approximate language may correspond to the accuracy of an instrument to measure the value. Here and throughout the specification and claims, the scope limitations can be combined and / or exchanged, such ranges are identified and include all sub-ranges contained therein, unless context or language indicates otherwise.
[0017] As used herein, the terms "intelligence" and "intelligent" are intended to be descriptive of any programs implemented on computer and computer-based systems that are implemented in a manner that demonstrates demonstrable skills, including, without limitation, attention, abstract thinking , understanding, communication, reasoning, learning, planning, emotional intelligence and / or problem solving.
[0018] As used herein, the terms "cognitive" and "cognition" are intended to be descriptive of any computer-implemented programs and computer-based systems that perform processes that include, without limitation, continuous learning, adaptation, planning, remembering, forgetting , language, memory structure, perception, communication, deliberation, application of knowledge, problem solving, decision making, changing preferences, sensory input, internal thinking and reflex actions. Cognition, or cognitive processes, can be artificial, including states of intelligent entities, such as highly autonomous machines and artificial intelligences that have the capacity to process, for example, take into account feedback from the environment.
[0019] As used herein, the terms "intelligent system", "artificial intelligence", "intelligent agent" and "artificial awareness" are intended to be representative, without limitation, of any programs implemented by computer and computer-based systems that perceive their environments, independently determine courses of action and take actions that will maximize the chances of success.
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6/25 [0020] As used herein, the term “SVM clustering” is intended to be representative of any computer-based and computer-based method that uses an SVM-based clustering algorithm to classify and categorize data according to attributes of the data. Such attributes can be predefined, including each attribute with a predefined relevance, and the grouping algorithm will be grouped according to the predefined attributes and their degree of relevance. These SVM clustering algorithms are often called “supervised” SVM algorithms and require external support for your training. Alternatively, such attributes can be undefined and the grouping algorithm will self-determine such attributes, classify accordingly and review the ordered data for the consistency of the attribute, thus performing the self-training. These SVM clustering algorithms are often called “nonparametric” SVM algorithms and require little or no external support for training.
[0021] As used herein, the term “genetic algorithm (GA)” is intended to be representative of any portion of programs implemented in computer and computer-based systems that includes a search heuristic that emulates the process of natural evolution to generate useful resolutions for optimization and search problems.
[0022] As used herein, the term "heuristic" is intended to be representative of any portion of programs implemented on computer and computer-based systems that use experience-based techniques for problem solving, learning and discovery.
[0023] As used herein, the terms "processor" and "computer" and related terms, for example, "processing device", "computing device" and "controller" are not limited only to the integrated circuits referred to in the art as a computer, but it refers largely to a microcontroller, a microcomputer, a programmable logic controller (PLC), an application-specific integrated circuit and other programmable circuits, and these terms are used interchangeably throughout this document. In the embodiments described herein, memory may include, but is not limited to, a computer-readable medium, such as random access memory (RAM), and a computer-readable non-volatile medium, such as flash memory. Alternatively, a floppy disk, a compact disc - read-only memory (CD-ROM), a magneto-optical disc (MOD) and / or a versatile digital disc (DVD) can also be used. Furthermore, in
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7/25 modalities described herein, additional input channels can be, but are not limited to, computer peripherals associated with an operator interface, such as a mouse and keyboard. Alternatively, other computer peripherals can also be used which may include, for example, but are not limited to, a scanner. In addition, in the exemplary embodiment, additional output channels may include, but are not limited to, an operator interface monitor.
[0024] In addition, as used herein, the terms "software" and "firmware" are interchangeable and include any computer program stored in memory for execution by personal computers, workstations, clients and servers.
[0025] As used herein, the term "non-transitory computer-readable medium" is intended to be representative of any tangible computer-based device implemented in any method or technology for short and long-term storage of information, such as, for example, for example, computer-readable instructions, data structures, program modules and submodules, or other data on any device. Therefore, the methods described herein can be encoded as executable instructions embedded in a non-transitory, tangible computer-readable medium including, without limitation, a storage device and / or a memory device. Such instructions, when executed by a processor, cause the processor to perform at least a portion of the methods described here. In addition, as used herein, the term "non-transitory computer-readable media" includes all tangible computer-readable media including, without limitation, non-transitory computer storage devices including, without limitation, volatile and non-volatile media and media removable and non-removable, such as firmware, physical and virtual storage, CDROMs, DVDs and any other digital source, such as a network or the Internet, as well as digital media yet to be developed, with the only exception being a transitory propagation signal .
[0026] In addition, as used herein, the term “real time” refers to at least one of the moments of occurrence of the associated events, the predetermined measurement and data collection time, the time to process the data and the system response time to events and the environment. In the modalities described here, these activities and events occur substantially instantly.
[0027] The initial kick detection system described here provides detection
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8/25 automatic real-time drilling of wells during an underwater drilling operation. Specifically, the modalities described here include a kick detection computing device configured to analyze data streams from different sources to identify an initial well kick formation. The kick detection computing device includes a memory and processor in communication with the memory and a plurality of sensors associated with the subsea drilling operation. The kick detection computing device receives data measurements from a tool joint locator, an annular flow meter and sensors available on a drill rig. The motion detection computing device processes the data using a physics-based mathematical model called the hydraulic drilling model, a drilling operation identification module, a joint position estimation module and a data analysis module to determine the occurrence of an initial well kick. Once the well kick is detected, warnings and alarms are presented to the operators of the drilling system. Therefore, the modalities described here allow the operators of the drilling system to safely control the well kick, for example, by circulating the formation fluid that enters the drilling system. Thus, the kick detection computing device improves well control, reduces unnecessary closure events and reduces costs related to drilling operations.
[0028] FIG. 1 is an exemplary configuration of a drilling system 10 including an underwater well 12 being drilled or completed. Well 12 was at least partially drilled and has a subsea wellhead assembly 11 installed on the seabed 13. At least one casing column (not shown) is suspended in well 12 and supported by wellhead assembly 11.0 well 12 may have an open orifice portion not yet coated or could be completely coated, but the completion of well 12 is not yet finished.
[0029] A hydraulically actuated connector 15 removably attaches an explosion prevention stack 17 (BOP) to the wellhead assembly 11. The BOP stack 17 has several piston prevention devices 19, some of which are plunger pistons. tube and at least one of them is a blind plunger. The tube plungers have cavities sized to close and seal against the tube that extends down through the wellhead assembly 11. The blind plungers are able to shear the tube and affect a closure
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Complete 9/25. Each of the plungers 19 has a port 21 located under the closing element for pumping fluid into or out of the well 12 while the plunger 19 is closed. The fluid flow is through choke and kick lines (not shown).
[0030] A hydraulically driven connector 23 attaches a marine lower riser package (LMRP) 25 to the upper end of the BOP stack 17. Some of the elements of LMRP 25 include one or more annular BOPs 27 (two shown). Each annular BOP 27 has an elastomeric element that closes around tubes of any size. In addition, the annular BOP 27 can complete the closure without a tube extending through it. Each annular BOP 27 has a port 29 located below the elastomeric element for pumping fluid into or out of the well 12 below the elastomeric element while the annular BOP 27 is closed. The flow of fluid through port 29 is handled by choke and kick lines. The annular BOP 27 can alternatively be part of the BOP 17 pile, instead of being coupled to the BOP 17 pile with a hydraulically actuated connector 23.
[0031] The LMRP 25 includes a flexible joint 31 capable of pivoting with respect to the common axis of the LMRP 25 and the BOP stack 17. A hydraulically actuated riser connector 33 is mounted above the flexible joint 31 to connect to the lower end of a riser 35 column. The riser 35 consists of tube joints 36 attached together. Auxiliary conduits 37 are spaced circumferentially around the central tube 36 of the riser 35. The auxiliary conduits 37 have a smaller diameter than the central tube 36 of the riser 35 and serve to communicate fluids. Some of the auxiliary conduits 37 serve as strangulation and kick lines. Others provide hydraulic fluid pressure. The flow openings 38 at the upper end of the LMRP 25 couple certain auxiliary conduits 37 to the various actuators. When the connector 33 separates from the central riser tube 36 and the riser 35 is raised, the flow holes 38 also separate from the auxiliary ducts 37. At the top end of the riser 35, the auxiliary ducts 37 are coupled to hoses (not shown) ) that extend to various equipment in a floating drilling vessel or platform 40.
[0032] The electrical and optionally fiber optic lines extend downward inside an umbilical to the LMRP 25. The electrical, hydraulic and fiber optic control lines lead to one or more control modules (not shown) mounted on the LMRP 25. The
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10/25 control module controls the various actuators in the BOP 17 and LMRP 25 stack.
[0033] The amount 35 is supported on the tension of platform 40 by hydraulic tensioners (not shown). The tensioners allow platform 40 to move a limited distance from riser 35 in response to waves, wind and current. The platform has equipment at its upper end to supply upward flow fluid from the central riser tube 36. This equipment may include a flow diverter 39, which has an outlet 41 that moves away from the central riser tube 36 to the platform 40. Diverter 39 can be mounted on platform 40 for movement with platform 40. A telescopic joint (not shown) can be located between diverter 39 and riser 35 to accommodate this movement. The diverter 39 has a hydraulically driven seal 43 which, when closed, forces all of the upstream fluid in the central riser tube 36 to outlet 41.
[0034] The platform 40 has an equipment floor 45 with a rotating table 47, through which a tube is lowered to riser 35 and well 12. In this example, the tube is illustrated as a column of drill pipe 49 , but may alternatively include another well tube, such as a liner or liner tube. The drill pipe 49 is shown coupled to an upper drive 51, which supports the weight of the drill pipe 49, as well as providing torque. The upper drive 51 is lifted by a set of blocks (not shown), and moves up and down the tower while engaged with a torque transfer rail. Alternatively, the drill pipe 49 can be supported by the blocks and rotated by the rotary table 47 through rails (not shown) that secure the wedge drill tube 49 to the rotating engagement with the rotary table 47.
[0035] Mud pumps 53 (only one illustrated) mounted on the pump fluids of platform 40 down the drill pipe 49. During drilling, the fluid is usually the drill mud. Mud pumps 53 are coupled to a line leading to a mud hose 55 that extends upwards from the tower and to the upper end of the upper drive 51. Mud pumps 53 remove the mud from the mud tanks 57 (only one illustrated) through the intake lines 59. The riser outlet is coupled via a hose (not shown) to the mud tanks 57. The chips from the earth drilling are separated from the drilling mud by shale shakers (not shown) ) before reaching the inlet lines of the mud pump 59.
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11/25 [0036] A well kick (hereinafter “kick”), defined as an unscheduled entry of formation fluids into the well, can occur during drilling or during the completion of a well. Basically, the kick occurs when a land formation has a pressure greater than the hydrostatic pressure of the fluid in well 12. If well 12 has an open or unopened orifice portion, the hydrostatic pressure that acts on the land formation is that of the drilling mud. Operating personnel control the weight of the drilling mud so that it provides sufficient hydrostatic pressure to prevent a kick. However, if the weight of the mud is excessive, it can flow into the formation of the earth, damaging the formation and causing the lost circulation. Consequently, operational personnel balance the weight to provide enough weight to prevent a kick, but prevent fluid loss.
[0037] A kick can occur during drilling while transporting drill pipe 49 out of well 12, or drilling tube 49 is performed in well 12. A kick can also occur while lowering profiling instruments in the line. wire in well 12 to measure land formation. A kick can occur even after well 12 has been coated, such as through a leak through or around the liner or between an upper liner and the liner. In that case, the fluid in well 12 may be water, instead of drilling mud. If not kicked, a kick can result in high hydrocarbon pressure flowing to the surface, possibly pushing up the drilling mud and any pipe in the well. The hydrocarbon can be gas, which can inadvertently be ignited.
[0038] The drilling system 10 includes a plurality of sensors, of which only a few are illustrated. The sensors are intended to provide early detection of a kick, and can more or less be used. Some of the sensors may be useful only during drilling, but not during transport of the drill pipe or when performing other operations, such as cementation.
[0039] A return flow rate sensor 67 detects the return flow rate of the drilling mud, or the flow rate of any upstream fluid. The return rate sensor 67 is located at outlet 41, as shown, or at connector 15. An inflow sensor 69 is located at the outlet of mud pumps 53 to determine the flow rate of the fluid being pumped into well 12. A wellhead orifice pressure sensor 61 is located just above the wellhead assembly 11 inside
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12/25 of the BOP stack 17 below the smaller arm 19. The signals from the wellhead 61 hole pressure sensor are transmitted conventionally, such as through wires and fiber optic sensors that can form part of the umbilical leading to platform 40 The wellhead bore pressure sensor 61 indicates pressure at all times within the wellhead assembly 11. While drilling mud flows down through drill pipe 49, the pressure detected is the pressure of the return drilling mud outside the drill pipe 49 at that point. This pressure depends on the hydrostatic pressure of the drilling mud above the sensor 61, which is proportional to the depth of the sea.
[0040] In addition, one or more temperature sensors 65 are used to detect a temperature of the fluid flowing upwards. The temperature sensor 65 is also preferably on the connector 15 to detect the fluid temperature in the wellhead assembly 11 hole. A column weight sensor 71 is mounted on the upper drive 51, or on the blocks, to sense the weight of the tube column being supported by the tower. During drilling, the weight of the drill pipe 49 detected depends on how much weight of the drill pipe 49 is applied to the drill bit. A penetration rate (ROP) sensor 73 measures how quickly the drill pipe 49 moves downward. A torque sensor 75 is mounted on or near the top drive and detects the amount of torque that is imposed during drilling. An annular flow meter (AFM) 76 is designed as a flow coil located on the marine riser and close to the subsea BOP stack. The annular flow meter indicates the mud flow rate at all times that exist within the annular marine riser 35. While drilling mud flows down through drill pipe 49, the detected mud flow rate is the flow rate of the return drilling mud out of drill pipe 49 at that point. A tool joint locator (TJL) 78 is located above the AFM 76. Tool joint locator 78 determines the relative location of the pipe joints within the BOP stack 17.
[0041] A kick 77 detection computing device on platform 40 receives signals from sensors 61, 65, 67, 69, 71, 73, 75, 76 and 78, and possibly others. As described herein, the kick detection computing device 77 processes these signals to detect whether a kick is occurring and issues alerts and / or control signals in response.
[0042] FIG. 2 is a block diagram of an exemplary computer device 205, such as a kick detection computing device 77 (shown
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13/25 in FIG. 1). The computer device 205 is configured to use an advanced mathematical model, known as a hydraulic drilling model, to determine the expected behavior of relevant variables during simulated normal drilling operations and during simulated abnormal drilling operations involving an occurrence of kicks. In the example, the pressure, temperature and flow rate measured at different positions in the drilling system can be used as relevant parameters. As further described below and in FIG. 3, the kick detection computer device 205 detects a kick by comparing data measurements received from sensors with the variables for normal operation and abnormal operation.
[0043] Computer device 205 includes a memory device 210 and a processor 215 operationally coupled to memory device 210 for executing instructions. In some embodiments, executable instructions are stored in memory device 210. Computer device 205 is configurable to perform one or more operations described here by programming processor 215. For example, processor 215 can be programmed by coding an operation as a or more executable instructions and providing executable instructions on memory device 210. In the exemplary embodiment, memory device 210 is one or more devices that allow storage and retrieval of information, such as executable instructions and / or other data. Memory device 210 may include one or more computer-readable media. Memory device 210 is configured to store sensor data and / or any other type of data. Likewise, memory device 210 includes, without limitation, sufficient data, algorithms, and commands to facilitate the generation of an initial detection triggered by kick data.
[0044] Computer device 205 receives data associated with drilling system 10. For example, computer device 205 receives data from, but not limited to, a tool joint locator (TJL), a subsea annular flow meter (AFM), a drill rig monitoring system, user input data and measurements from other sensors typically available on a drill rig. The AFM is configured as a flow coil located on riser 35 (shown in FIG. 1) and close to the BOP stack 17 (shown in FIG. 1) to monitor a flow rate of drilling fluid exiting the drill column to inside
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14/25 riser ring 35. The AFM provides local flow rate measurements (resuming the mud flow rate in the ring). The TJE is also located above the BOP stack 17 and scans the drill pipe 49 to identify when tool joints pass through a TJE sensor. The TJL sensor provides a signal that shows oscillation when a joint is detected. The TJL information allows computer device 205 to better define a real length of different sections of well 12 (shown in FIG. 1) in such a way that more accurate hydraulic calculations are made.
[0045] In addition to these sensors, the computer device 205 also receives variable measurements from conventional sensors located on the drilling rig (ie, drilling rig monitoring system). The measured variables include, but are not limited to, penetration rate of the drill pipe (ROP), pressures in the vertical pipe and return line, mud well level, inlet and outlet flow rate, pump status and rotation of the drill pipe. In addition, a user can provide data such as well planning data, drill pipe / liner geometry and fluid properties. Not all of the aforementioned data sources are necessary for the kick detection system to function, although additional data increases the accuracy of the system.
[0046] In the exemplary embodiment, computer device 205 includes a presentation interface 230 and a user input interface 220. Presentation interface 230 is coupled to processor 215 and presents information to user 225. The user input interface 220 is coupled to processor 215 and receives input from user 225.
[0047] Communication interface 235 is coupled to processor 215 and is configured to be coupled in communication with one or more other devices, such as one or more sensors, and to perform input and output operations in relation to such devices while performs as an input channel. For example, communication interface 235 of computer device 205 transmits a signal to communication interface 235 of another computing device (not shown). The computer device 205 also uses the communication interface 235 to transmit output indicators, diagnostics and alarms to the user 225.
[0048] In the exemplary modality, the computer device 205 includes or is in communication with four modules, a module of identification of operation of
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15/25 drilling 240, a hydraulic drilling modeling module 245, a joint position estimation module 250, and a data analysis module 255, as described below.
[0049] The drilling operation identification module 240 manages the data flow between the monitoring systems, the data analysis module 255, and the different output system used to transmit the results of the analyzes carried out. The drilling operation identification module 240 also involves different communication protocols, different data acquisition rates and a varied number of inputs and outputs. More specifically, drilling operation identification module 240 is configured to receive operational probe data, such as a drilling phase, a drilling method and a drilling operation. The drilling phases can be exploratory or developmental. Drilling methods can be conventional drilling, low weight drilling, pressure controlled drilling (MPD) or double gradient drilling (DGD). The current drilling operation includes drilling at the front, making a connection, transporting or pulling out of the hole. The drilling phase and the drilling method are predefined. Different sources of data and analysis can be selected depending on the drilling phase, the drilling method and the drilling operation being performed.
[0050] The hydraulic drilling modeling module 245 is configured to generate a hydraulic drilling model to perform simulations using measurements of received data. The hydraulic drilling modeling module 245 performs simulations of normal drilling operation conditions to obtain one or more reference values. A reference value, also known as a kick indicator, is an estimated variable, such as pressure, that is relevant to whether a kick condition exists. The hydraulic drilling modeling module 245 also simulates drilling operation conditions during kick conditions to obtain one or more reference values. The hydraulic drilling modeling module 245 performs a comparative analysis with the reference values and measurements of received data. The reference values for normal conditions and kick conditions are compared with the data measurements received to determine a deviation. The hydraulic drilling modeling module 245 identifies a kick based on whether the deviation exceeds a predefined threshold. In the example, pressure, temperature and flow rate measured in different positions
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16/25 in the drilling system can be used as reference values.
[0051] In the exemplary mode, the simulation of the normal drilling operation refers to a drilling operation in which there is no inflow from the reservoir. Thus, the hydraulic drilling modeling module 245 is capable of calculating flow rates, pressure profile and temperature profile along the drill pipe 49 (shown in FIG. 1) and ring, which are the reference values for a normal operation. The simulation of the abnormal drilling operation refers to a drilling operation in which an inflow from the reservoir is considered to be occurring. Different flow rates, compositions and locations for inflow can be considered. Thus, the hydraulic model is capable of calculating the flow rates, the pressure profile and the temperature profile along the drill pipe 49 and the ring, which are the reference values for an abnormal operation.
[0052] The hydraulic simulation refers to the solution of conservation equations (mass, momentum and energy conservation equations) for a pseudo-stable condition, in which the drill is considered to deepen the hole. In the exemplary mode, hydraulic simulation includes, but is not limited to, the following assumptions: simulations of pseudo steady state, for example, drill bit is considered to be deepening the hole; One-dimensional flow, Discretization based on section lengths (also known as control volumes); For normal operation (that is, no kick occurring), monophasic flow of mud in the drill pipe 49 and multiphase flow of mud and particles in the ring are considered; or abnormal operation (that is, the kick occurs during drilling), it is considered a single-phase mud flow in the drill pipe 49 and multiphase mud flow, particles, gas and oil in the ring; Liquid and solid phases are homogenized, that is, without sliding between the phases of mud, oil and particles; Slip is considered between the gas and liquid and solid phases; Drift flow model is considered to be a closing law; Pressure drop, with gravitational and frictional components, is calculated using the No-Pressure-Wave (NPW) model; Heat transfer calculations consider the temperature of the mixture in each control volume, heat conduction in the tube through the walls and heat convection in the inner and outer regions of the nearby wall; mud rheology module includes Bingham plastic, power law, among others; Black oil approximation can be used to estimate the properties of oil and gas fluid and mass transfer; Pressure drop from
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17/25 drill bit is calculated considering an orifice pressure drop equation.
[0053] In the exemplary modality, the hydraulic drilling model will receive the flow rate of mud injected into the well, together with the mud properties, so that the hydraulic calculation of the given geometry of the system (that is, probe pipe system , marine riser and well hole being drilled). To update the well geometry, the hydraulic drilling modeling module 245 will update the well depth using the ROP and the time for a given section of the well being drilled along with data from the Tool Joint Location sensor data. The hydraulic drilling modeling module 245 can use the rest of the received data for the initial fine tuning of the hydraulic model to obtain the reference line.
[0054] The hydraulic drilling modeling module 245 performs continuous hydraulic simulations under normal operating conditions; as a result, rates of flow, pressure and temperature profile throughout the system will be recorded. The profiles of normal operating variables are then compared with the actual measurements from the on-site monitoring system (submarine and surface) so that any deviation is detected and quantified. Hydraulic simulations under different kick conditions (ie, previously selected inflow values) are performed so that these variable profiles are available for comparison with the actual measurements. This comparison will give the severity of the kick that will help the decision-making process on the control actions to be taken.
[0055] The joint position estimation module 250 receives data signals from the TJL and estimates the position of a tool joint in relation to the various BOP pistons (shear piston, blind piston and annular piston). A distance from the position of the tool joint in relation to the pistons is presented to the user 225. The joint position estimation module 250 also estimates a true measured depth (TVD) of the well 12, which can be used in the hydraulic drilling model.
[0056] The data analysis module 255 uses supervised and unsupervised machine learning techniques to find trends and identify characteristic deviations caused by kicks. The data analysis module 255 receives measurement data as described here and generates time series graphs so that trends can be identified or potential deviations can be detected. The 255 data analysis module can apply a variety of methods to detect trends, patterns and
Petition 870190060284, dated 06/27/2019, p. 25/95
18/25 anomalies in time series graphs. For example, in one embodiment, the data analysis module 255 uses multivariate anomaly detection techniques to take into account the covariance between multiple signals to be monitored when looking for anomalies. In another embodiment, the data analysis module 255 uses unsupervised learning techniques to classify and test historical data.
[0057] The data analysis module 255 also analyzes deviations detected by crossing with other relevant variables to establish the magnitude and criticality of an event. Methods such as trend evaluation and comparison between data measurements and reference values are used.
[0058] The data analysis module 255 was designed to work with an artificial intelligence software program and / or a machine learning software program. The known techniques of data analysis are expected to be applicable here, including machine learning, cognitive systems, pattern recognition, cluster recognition (SVM clustering), genetic algorithms, heuristics and big data analysis. In some modalities, an artificial intelligence algorithm that learns from the sensor data and / or the operator input is implemented. For example, data analysis module 255 is configured to learn, based on sensor data or operator input, the characteristic deviations caused by inflows.
[0059] In some modalities, the data analysis module 255 identifies and responds to defective sensors to prevent biased data from leading to an unresponsive detection system. The 255 data analysis module generates indicators, diagnostics and alarms for the user 225 using, for example, presentation interface 230, allowing the user 225 to respond quickly to a possible kick occurrence.
[0060] Also in some embodiments, the computer device 205 facilitates the operation of one or more components of the Í0 drilling system. Computer device 205 includes computer-readable / executable instructions, data structures, program modules and program sub-modules, to facilitate control of one or more components of the I0 drilling system. Computer device 205 includes input interface 220 and display interface 230 to introduce automated or manual operating commands to the drilling system Í0 while simultaneously receiving information that allows user 225 to monitor an operational status of the drilling system.
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19/25 drilling 10 according to the operating commands. In such an embodiment, the computer device 205 controls at least part of the operation of the drilling system 10 according to the operating commands, for example, using the processor 215 to implement a control strategy. In additional embodiments, computer device 205 instructs the operator to suspend operations, automatically suspend a predefined sequence of operations, initiate drilling to stop, or trigger an automatic shutdown of the well, based on a determined deviation.
[0061] FIG. 3 is a schematic view 300 of an exemplary flowchart for automatically detecting a kick. Data measurements 302 from sensors associated with drilling system 10 (shown in FIG. 1) are transmitted to a kick detection computing device, such as the kick detection computing device 77, and stored in a database 304. Data measurements 302 include, but are not limited to, drilling rig measurements, subsea annular flow meter (AFM) measurements and TJL measurements. Probe measurements include, but are not limited to, pump pressure, liner pressure, vertical pipe pressure, return line pressure, inlet temperature, joint count, mud flow rate injected into the drill column (calculated based on pump stroke rate, pump volume and efficiency), mud level in a tank volume totalizer (PVT) or mud tank, displacement tank indicator, ROP (drill bit penetration rate), inlet and outlet flow rate, drill column pressure and surface level temperature, annular pressure and surface level temperature, mud properties, pump status, drill pipe rotation, pump speed (rpm), pressure differential and cutting characteristics (size, shape and volume). Drill probe measurements are used as boundary conditions for calculations. Submarine AFM measurements include annular flow rate. The TJL measurement determines a pipe joint location in the BOP, a number of joints in well 12 (shown in FIG. 1) and provides data to estimate the total measured depth (TMD). The TJL can be used to ensure that only the drill pipe (without joints) is located in the shear plunger section in an activation event. A user also provides the kick detection computing device with well planning data and probe operational data, including a well profile and open casing / orifice configuration.
[0062] The hydraulic drilling modeling module 245 (shown in FIG.
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20/25
2) analyzes 306 data measurements 302 using data analysis techniques to determine a kick occurrence. More specifically, the hydraulic drilling modeling module 245 (shown in FIG. 2) is configured to generate a hydraulic drilling model to perform hydraulic simulations using received data measurements 302. The hydraulic drilling model uses 302 data measurements to perform hydraulic simulations of normal drilling operation conditions to obtain one or more reference values. The hydraulic drilling model also uses 302 data measurements to perform hydraulic simulations of drilling operation conditions during kick conditions to obtain one or more reference values. In the example, the pressure, temperature and flow rate measured at different positions in the drilling system can be used as reference values. The hydraulic drilling model performs comparative analysis with the reference values and 302 data measurements. The hydraulic drilling model determines a deviation between the reference values and the 302 data measurement. The hydraulic drilling module identifies a kick based on whether the deviation exceeds a predefined threshold. The hydraulic drilling model uses case-based limits and expected deviations for a given drilling operation to determine whether a kick has occurred.
[0063] For example, the data analysis module receives a real value of a flow rate measured by the annular flow meter (Qaem). The data analysis module also receives a flow rate reference value for a normal drilling operation (Qaem_est_normal), estimated using the hydraulic drilling model. The data analysis module also receives a flow rate reference value for an abnormal drilling operation (Qafm_est_abnormal), related to the occurrence of a kick, estimated using the hydraulic drilling model. The data analysis module then determines the deviation between the actual value and the expected value for normal drilling operation (AQnormal) and abnormal drilling operation (AQ abnormal). The data analysis module compares the determined deviations (normal AQ and abnormal AQ) with the predefined expected deviations for a given drilling operation, to determine whether a kick has occurred. For example, the data analysis module can check the temporal evolution of the deviations, using data analysis techniques to assess whether normal AQ increases and abnormal AQ decreases. This combination would indicate a kick occurrence. The hydraulic drilling model can also estimate other variables, such as
Petition 870190060284, dated 06/27/2019, p. 28/95
21/25 pressure, temperature profiles and flow rate profiles throughout the drilling system. Such variables estimated in different positions could be compared to sensor measurements to verify the occurrence of a kick. In some modalities, the data analysis module performs the flow rate comparison in real time (AQ = Q _or t - Qin) to determine flow inconsistencies that may indicate fluid inflows and a potential kick.
[0064] If there is no 308 deviation between the actual data measurements and the reference values for normal drilling operation, no kick is detected. In some embodiments, the data analysis module 245 activates a green state 309 to indicate that the perforation is safe. If the difference 310 between the actual data measurements and the reference values for the normal drilling operation is equal to or greater than a predefined deviation, the data analysis module 245 activates an amber warning 312 to indicate that further analysis is required. An operator 313 then determines 315 whether it is safe to drill or whether a red alarm 318 should be raised. If the difference 310 between the actual data measurements and the reference values for normal drilling operation exceeds the predefined deviation, the data analysis module 245 activates red alarm 318 to indicate that a kick condition has been detected. Once a kick condition is detected, appropriate measurements must be taken, such as stopping drilling and closing well 12.
[0065] The kick detection threshold is configurable according to the well design. In one embodiment, a graphical user interface (GUI) 320 in communication with the kick detection computing device allows the operator 313 to use a dedicated window to define an acceptable deviation value for variables to be used as the 312 amber trigger. and / or red alarm 318. This helps to avoid unnecessary false alarms. The deviation value can be changed during drilling operations based on new operating conditions or training data.
[0066] Data analysis module 245 transmits green state 309, amber warning 312 or red alarm 318 to an operator computing device, such as computer device 205, which includes GUI 320. The computing device operator is associated with the drilling system operator 313. If the red alarm 318 is triggered, warnings and alarms are presented to a drilling system operator 313 via GUI 320 or a separate alarm system. GUI 320 also emphasizes graphs and analysis results that show a kick occurrence (inflow). The warnings
Petition 870190060284, dated 06/27/2019, p. 29/95
22/25 and alarms ensure that the 313 operator is aware of a potential operational risk. This allows the 313 operator to concentrate on a task at hand and to avoid observing a vast stream of data coming from different sensors of a monitoring system that can overload the 313 operator. Therefore, the modalities described here allow the 313 operator to control with safely the inflow that enters the drilling system.
[0067] In one embodiment, drilling operation identification module 240, hydraulic drilling modeling module 245, joint position estimation module 250, and / or data analysis module 255 presents information about drilling system 10 for the operator 313 using GUI 320. GUI 320 is a software tool that links and integrates the data available during drilling operations. For example, the data analysis module 255 presents operational information for operator 313 through GUI 320. The data analysis module 255 generates plotting of the main drilling variables, trend graphs and trend analysis, BOP joint position , length of the drilling column in well 12, pressure profile, equivalent circulating density (ECD), and updated well geometry. GUI 320 also visualizes the position of the drill pipe joints in relation to the BOP stack 17 (shown in FIG. 1) through dynamic illustrations. As used herein, the term "operator" includes anyone in any capacity associated with the operation and maintenance of the drilling system 10, including, without limitation, moving operations personnel, maintenance technicians and facility supervisors.
[0068] The integrated use of the data displayed in GUI 320 generates an improved image of the operational conditions and assists in the detection of possible deviations indicating a kick event. GUI 320 allows operator 313 to view and respond appropriately to kick conditions to ensure safe and reliable operation of the drilling system 10. GUI 320 allows quick comparison of reference values for normal simulated conditions, simulated abnormal conditions and data real measurement. The 313 operator can then take a variety of corrective actions to control a kick.
[0069] FIG. 4 is a schematic view of an exemplary method 600 for detecting a kick using the initial kick detection computing device 77 (shown in FIG. 1) described herein. The initial kick detection computing device 77 includes a plurality of sensors associated with the drilling system 10 (shown in
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23/25
FIG. 1). The initial kick detection computing device 77 further includes the kick detection computing device 77 (shown in FIG. 1) coupled to the plurality of sensors and an operator computing device that includes GUI 320 (shown in FIG. 3 ). The kick detection computing device 77 is configured to receive 602 measurement data from the plurality of sensors, where the measurement data includes data measurements associated with one or more kick indicators (also referred to as “reference values”) used to identify a well kick. The kick detection computing device 77 generates 604 an estimated value for each or more kick indicators during normal simulated drilling conditions. The kick detection computing device 77 also generates 606 an estimated value for each or more kick indicators during a simulated kick condition. The detection computing device 77 then determines 608 a deviation value between the estimated values of one or more kick indicators and the data measurements associated with one or more kick indicators.
[0070] Based on the deviation value, the kick detection computing device 77 generates 610 a signal that activates green status 309, amber warning 312 or red alarm 318 (all shown in FIG. 3). The green status 309, the amber warning 312 and the red alarm 318 indicate a kick detection status of the drilling system 10. The kick detection computing device 77 transmits 612 the signal to the operator's computing device, where the operator's computing device is configured to display the kick detection status of drilling system 10 in GUI 320.
[0071] The initial kick detection system, described above, provides a system and method for the initial automatic detection of a kick event during deepwater drilling. Specifically, the modalities described here include a kick detection computing device configured to analyze data streams from different sources in real time to identify an early kick occurrence for quick response. The kick detection computing device includes a memory and processor in communication with the memory and a plurality of sensors. The fault management computing device receives data measurements from the plurality of sensors, particularly a tool joint locator and an annular flow meter. The kick detection computing device processes the acquired data using a hydraulic mathematical drilling model based on physics and
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24/25 data analysis to determine whether a kick has occurred. Once the kick is detected, warnings and alarms are presented to the operators of the drilling system. The modalities described here allow the operators of the drilling system to safely control the kick, thereby improving well control, reducing unnecessary well closure events and reducing costs related to drilling operations.
[0072] An exemplary technical effect of the methods, systems and devices described here includes at least one of: (a) increasing the detection reliability automatically recedes during drilling operations; (b) improve the performance of drilling operations by automatically identifying kicks at an early stage; (c) integrating a wide range of measurements and sensor techniques to promote data integration and improve the overall ability to detect a kick in the initial stage; (d) automatic warning of a kick event at the initial stage; and (e) incorporate a new class of sensors, such as TJL and AFM, for kick detection.
[0073] Exemplary modalities of methods, systems and devices for the initial detection of well kick are not limited to the specific modalities described here, but instead, the components of the systems and / or the steps of the methods can be used independently and separately from the other components and / or the steps described here. For example, the methods can also be used in combination with other drilling systems involving kicks, and are not limited to practice only with the systems and methods as described herein. Instead, the exemplary modality can be implemented and used in connection with many other applications, equipment and systems that can benefit from the initial well kick detection.
[0074] Although specific features of various disclosure modalities may be shown in some drawings and not in others, this is only for convenience. According to the principles of disclosure, any feature of a design can be referenced and / or claimed in combination with any feature of any other design.
[0075] Some modalities involve the use of one or more electronic or computing devices. These devices typically include a processor, processing device or controller, such as a central processing unit (CPU), a graphics processing unit (GPU), a microcontroller, a reduced instruction set computer (RISC) processor, a specific integrated circuit
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25/25 application (ASIC), a programmable logic circuit (PLC), a field programmable port arrangement (FPGA), a digital signal processing device (DSP) and / or any other processing circuit or device capable of executing the functions described here. The methods described herein can be encoded as executable instructions embedded in a computer-readable medium including, without limitation, a storage device and / or a memory device. Such instructions, when executed by a processing device, cause the processing device to perform at least part of the methods described herein. The above examples are illustrative only and therefore are not intended to limit the definition and / or the meaning of the term processor and processing device in any way.
[0076] This written description uses examples to publicize the modalities, including the best mode, and also to allow anyone skilled in the art to practice the modalities, including making and using any device or system and executing any built-in methods. The patentable scope of the disclosure is defined by the claims and may include other examples that occur for those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with non-substantial differences from the literal language of the claims.

权利要求:
Claims (14)
[1]
1. Initial kick detection system, characterized by the fact that it comprises:
at least one sensor associated with a well drilling system (10) (12); and a kick detection computing device (77), wherein said kick detection computing device (77) is coupled to said at least one sensor and an operator computing device (205), said kick detection device. kick detection computation (77) configured for:
receiving measurement data from said at least one sensor, wherein the measurement data includes data measurements (302) associated with one or more kick indicators used to identify a well kick;
generate an estimated value for each or more kick indicators during normal simulated drilling conditions;
generate an estimated value for each or more kick indicators during a simulated kick condition;
determining a deviation value between the estimated values of one or more kick indicators and the data measurements (302) associated with one or more kick indicators;
generate a signal based on the deviation value, where the signal activates a green status (309), an amber warning (312) or a red alarm (318), where the green status (309), amber warning (312 ) and the red alarm (318) indicates a kick detection status of the drilling system (10); and transmitting the signal to the operator's computing device (205), where the operator's computing device (205) is configured to display the kick detection status of the drilling system (10).
[2]
2. Initial kick detection system according to Claim 1, characterized by the fact that one or more kick indicators is at least one of the pressure, temperature and flow rates measured at different positions in the drilling system ( 10).
[3]
3. Initial kick detection system, according to Claim 1, said kick detection computing device (77), characterized by the fact that it is still configured to generate a hydraulic drilling model, in which the model
Petition 870190061050, of 06/29/2019, p. 6/11
2/5 hydraulic drilling generates the estimated value for each or more kick indicators during normal simulated operating conditions and the estimated value for each or more kick indicators during the simulated kick condition.
[4]
4. Initial kick detection system, according to Claim 1, characterized in that said kick detection computing device (77) is further configured to, based on the deviation, at least one to automatically advise a drilling operator (313) to suspend a predefined operating sequence, initiate stop drilling, and trigger a well shutdown.
[5]
5. Initial kick detection system according to Claim 1, characterized in that said at least one sensor includes at least one of an annular flow rate meter (76) and a tool joint locator ( 78).
[6]
6. Initial kick detection system according to Claim 1, characterized by the fact that the kick detection computing device (77) is further configured to:
determine operational data associated with the drilling system (10), where the operational data includes at least one of the graphs associated with a kick event, operational information from the rig, plotting the main drilling variables, trend graphs, trend analysis, a position of the explosion prevention joint, length of a drilling column in the well (12), a pressure profile, a temperature profile, a flow rate profile, equivalent circulation density and updated well geometry; and transmitting operational data to the operator's computing device (205), where the operator's computing device (205) is configured to display at least one of the graphs and analysis results associated with a kick event, the operational information of the rig, the plotting of the main drilling variables, the trend analysis, the position of the explosion prevention joint, the length of a drilling column in the well (12), the pressure profile, the temperature profile, the profile flow rate, equivalent circulation density (ECD) and updated well geometry.
[7]
7. Initial kick detection system, according to Claim 1, characterized by the fact that said kick detection computing device (77) is further configured to use supervised machine learning techniques and not
Petition 870190061050, of 06/29/2019, p. 7/11
3/5 supervised in the measurement data to determine trends and identify characteristic deviations caused by kicks.
[8]
8. Non-transitory computer-readable storage medium, characterized by the fact that it has instructions executable by computer, in which when executed by a kick detection computing device (77) coupled to at least one sensor associated with a drilling system (10) from a well (12) and an operator computing device (205), the instructions executable by the computer make the kick detection computing device (77):
receiving measurement data from at least one sensor, where the measurement data includes data measurements (302) associated with one or more kick indicators used to identify a well kick;
generate an estimated value for each or more kick indicators during normal simulated drilling conditions;
generate an estimated value for each or more kick indicators during a simulated kick condition;
determining a deviation value between the estimated values of one or more kick indicators and the data measurements (302) associated with one or more kick indicators;
generate a signal based on the deviation value, where the signal activates a green status (309), an amber warning (312) or a red alarm (318), where the green status (309), amber warning (312 ) and the red alarm (318) indicates a kick detection status of the drilling system (10); and transmitting the signal to the operator's computing device (205), where the operator's computing device (205) is configured to display the kick detection status of the drilling system (10).
[9]
9. Non-transitory computer-readable storage medium according to Claim 8, characterized by the fact that one or more kick indicators is at least one of the pressure, temperature and flow rates measured at different positions in the system. perforation (10).
[10]
10. Non-transitory computer-readable storage medium according to Claim 8, characterized by the fact that the computer executable instructions cause the kick detection computing device (77) to generate a hydraulic drilling model, in which the hydraulic drilling model generates the estimated value
Petition 870190061050, of 06/29/2019, p. 11/11
4/5 for each or more indicators during normal simulated operating conditions and the estimated value for each or more kick indicators during the simulated kick condition.
[11]
11. Non-transitory computer-readable storage medium according to Claim 8, characterized by the fact that computer-executable instructions make the kick detection computing device (77) at least automatically advise a drilling operator (313 ) to suspend a predefined operational sequence, start drilling to stop and trigger a well shutdown, based on the deviation.
[12]
12. Non-transitory computer-readable storage medium according to Claim 8, characterized in that the data measurements (302) are received from at least one of an annular flow meter (76) and a joint locator tool (78).
[13]
13. Non-transitory computer-readable storage medium according to Claim 8, characterized by the fact that instructions executable by computer cause the kick detection computing device (77):
determine operational data associated with the drilling system (Í0), where the operational data includes at least one of the graphs associated with a kick event, operational information from the rig, plotting the main drilling variables, trend graphs, trend analysis, a position of the explosion prevention joint, length of a drilling column in the well (12), a pressure profile, a temperature profile, a flow rate profile, equivalent circulation density and updated well geometry; and transmitting operational data to the operator's computing device (205), where the operator's computing device (205) is configured to display at least one of the graphs and analysis results associated with a kick event, the operational information of the rig, the plotting of the main drilling variables, the trend analysis, the position of the explosion prevention joint, the length of a drilling column in the well (12), the pressure profile, the temperature profile, the profile flow rate, equivalent circulation density (ECD) and updated well geometry.
[14]
14. Non-transitory computer-readable storage medium according to Claim 8, characterized by the fact that instructions executable by computer make the kick detection computing device (77) use
Petition 870190061050, of 06/29/2019, p. 9/11
5/5 supervised and unsupervised machine learning in the measurement data to determine trends and identify characteristic deviations caused by kicks.

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法律状态:
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