A rock-piercing flexible rock drilling robot and a rock breaking method therefor are disclosed. The robot includes a control system, a head, and at least one tail. The head includes a head housing, a propulsion turntable, a drilling mechanism, a hydraulic propulsion system, a first driving mechanism, and a second driving mechanism. The propulsion turntable includes a drill bit located at a center thereof and a cutting turntable arranged around the drill bit. The first driving mechanism is connected to the drill bit, and the second driving mechanism is connected to the cutting turntable. The tail includes a tail housing, an advancing and retreating power system, and a fixed support system. The head and the tail are connected through a flexible component, and the tails are connected through flexible components.

A drilling system, comprising a drill string; and a ranging tool mounted on the drill string, the ranging tool comprising a magnetic sensor pair comprising a first magnetic sensor and a second magnetic sensor mounted radially opposite one another on the ranging tool, wherein each of the magnetic sensors is structured and configured to detect at least a radial component and a tangential component of a magnetic field; a rotatable assembly, comprising a motor structured and arranged to actuate rotation of the magnetic sensor pair around the drill string; and an electronics package connected to at least one of the magnetic sensor pair, and the motor, wherein the electronics package comprises a controller and a wireless telemetry device.

A wellbore pumping unit comprising a main pump, a power source, a controller, and a plurality of sensors is provided. A method of performing a diagnostic check of the unit controller and the plurality of sensors when power is applied to the unit controller. A diagnostic application executing in memory writes a status of the plurality of analog inputs of a plurality of valve position sensors, a status of a plurality of frequency inputs of a plurality of flowmeters, and a plurality of calibration data files that correlate to a plurality of sensors to a diagnostic report file. The status of the sensor inputs and calibration data files can be a pass or a fail. The status of the sensor inputs can be displayed on a human machine interface.

A choke can include a variable flow restrictor, external ports in communication with a flow passage respectively upstream and downstream of the flow restrictor, and sensor(s) in communication with the external ports. A method can include flowing a well fluid through a flow passage in a body of a choke including a variable flow restrictor, measuring a pressure differential between external ports in communication with respective upstream and downstream sides of the flow restrictor, and operating the flow restrictor, thereby varying a restriction to the flow through the flow passage, in response to the measured pressure differential. A well system can include a well fluid pump, a flow choke including a variable flow restrictor operable by an actuator that includes a displaceable stem and a stem seal that isolates the actuator from the well fluid in the flow choke, and a control system that operates the actuator.

A mechanical automatic vertical drilling tool, with ends that are connected with an upper drilling tool and a bit by a detachable thread, is disclosed. The tool comprises a control device, an actuator and an auxiliary part. The control device detects status of wellbore and controls operations of the actuator when the wellbore leans. The actuator pushes a block out against the well wall to generate a radial force, which pushes against the drill bit to prevent deviation and modify the wellbore trajectory. The auxiliary part transmits the indispensable bit pressure and torque for drilling to assist the control device and the actuator to achieve the function. This disclosure can get automatic deviation correction with only mechanical structures. It is simple and reliable, and unlikely to fail in complicated wells without any manual operation.

A boring tool that is moved by a drill string to form an underground bore. A transmitter transmits a time varying dipole field as a homing field from the boring tool. A pitch sensor detects a pitch orientation of the boring tool. A homing receiver is positionable at a target location for detecting the homing field to produce a set of flux measurements. A processing arrangement uses the pitch orientation and flux measurements with a determined length of the drill string to determine a vertical homing command for use in controlling depth in directing the boring tool to the target location such that the vertical homing command is generated with a particular accuracy at a given range between the transmitter and the homing receiver and which would otherwise be generated with the particular accuracy for a standard range, different from the particular range. An associated system and method are described.

A drilling system, comprising a drill string; and a ranging tool mounted on the drill string, the ranging tool comprising a magnetic sensor pair comprising a first magnetic sensor and a second magnetic sensor mounted radially opposite one another on the ranging tool, wherein each of the magnetic sensors is structured and configured to detect at least a radial component and a tangential component of a magnetic field; a rotatable assembly, comprising a motor structured and arranged to actuate rotation of the magnetic sensor pair around the drill string; and an electronics package connected to at least one of the magnetic sensor pair, and the motor, wherein the electronics package comprises a controller and a wireless telemetry device.

A monitoring system operable to monitor an oilfield additive system having multiple components. The oilfield additive system is operable to transfer an additive-containing substance for injection into a wellbore. The monitoring system includes sensors each associated with, and operable to generate information related to an operational parameter of, a corresponding one of the oilfield additive system components. The monitoring system also includes a monitoring device in communication with the sensors and operable to record the information generated by the sensors to generate a database. The database includes information indicative of maintenance aspects of the oilfield additive system and/or the oilfield additive system components.

Downhole measurement systems and methods include deploying a bottomhole assembly having a multipole transmitter into a formation and transmitting acoustic signals into the formation. The multipole transmitter is of order n ≥ 2. Acoustic signals are received at respective receivers that are circumferentially aligned with the multipole transmitter, and are axially offset from the multipole transmitter, and axially offset from each other. The order of the first and second multipole receivers are equal to the order of the multipole transmitter. A controller is used to obtain first and second acoustic multipole data from the first and second multipole receivers at one or more azimuthal angles of a rotation of the bottomhole assembly in a formation during a drilling operation. Acoustic azimuthal anisotropy of the formation is determined from the first acoustic multipole data and the second acoustic multipole data.

The disclosed embodiments include a method, apparatus, and computer program product configured to performing automated downhole wellbore trajectory control for correcting between an actual wellbore trajectory path and a planned wellbore trajectory path. For example, in one embodiment, a PID controller is configured to obtain real-time data gathered during the drilling operation, determine whether the actual wellbore trajectory path deviates from the planned wellbore trajectory path, and automatically initiate the downhole wellbore trajectory control to change the actual wellbore trajectory path to a modified correction path that is determined using a minimum incremental wellbore energy method.