An automated pipe tripping apparatus includes an outer frame and an inner frame. The inner frame includes a tripping slips and iron roughneck. The automated pipe tripping apparatus may, in concert with an elevator and drawworks, trip in a tubular string in a continuous motion. The tripping slips and iron roughneck, along with the inner frame, may travel vertically within the outer frame. The weight of the tubular string is transferred between the tripping slips and the elevator. The iron roughneck may make up or break out threaded connections between tubular segments, the upper tubular segment supported by the elevator and the lower by the tripping slips. An automated pipe handling apparatus may remove or supply sections of pipe from or to the elevator. A control system may control both the automated pipe tripping apparatus and the elevator and drawworks.

An automated slide drilling system (ASDS) may be used with a drilling rig system to control slide drilling. The ASDS may autonomously control slide drilling without user input during the slide drilling. The ASDS may further support a transition from rotary drilling to slide drilling to rotary drilling without user input during the transitions. The operations can inclue receiving a first orientation of a drill string from a top drive; beginning a drilling operation, including one of: a slide drilling or a rotary drilling operation; recording a second orientation of the drill string in response to the drilling operation; and calculating a starting position of a quill associated with the drill string based on the recorded second orientation of the drill string. The ASDS may also support user input and user notifications for various steps to enable manual or semi-manual control of slide drilling by a driller or an operator.

The present disclosure relates to systems and methods for automated drill pipe handling operations, such as trip in, trip out, and stand building operations. A pipe handling system of the present disclosure may include a lifting system for handling a load of a pipe stand, a pipe handling robot configured for engaging with the pipe stand and manipulating a position of the pipe stand, and a feedback device configured to provide information about a condition of the pipe stand, the lifting system, or the pipe handling robot. In some embodiments, the pipe handling robot may be a first robot configured for engaging with and manipulating a first end of the pipe stand, and the system may include a second pipe handling robot configured for engaging with and manipulating a second end of the pipe stand.

The invention discloses a micro-rotating drilling method in directional drilling, a computer device and a readable storage medium. Including: acquiring rotation speed and torque and on-site drilling information; taking the rotation speed and the torque as a micro-rotating drilling state learning sample, taking the on-site drilling information as a second learning sample, inputting to a neural network control model for training, outputting a micro-rotating drilling algorithm for controlling the top drive; controlling the top drive with the micro-rotating drilling algorithm to achieve the micro-rotation operation. In the invention, an maximum torque and an maximum speed of the top drive can be continuously controlled during the operations such that the drill string can drive the drill tool to drill forward at a preset speed, static frictional resistance exerted on the drill string can be better eliminated.

A construction machine for special civil engineering, includes a leader on which an advancing carriage is guided, which carriage has a holder for a work device, in particular a drilling implement or pile-driving implement, and which carriage is connected with a first drive, by way of which it can be moved along the leader. An additional auxiliary carriage is arranged on the leader, which carriage can be moved along the leader by way of a second drive, wherein at least one actuator and/or at least one sensor is/are arranged on the auxiliary carriage.

A back-up wrench device of a top drive assembly of a drilling rig comprises a gripper device operable to grip an end of a drill pipe, and at least one fluid actuator operable to compensate for thread travel during makeup or breakout operations. The back-up wrench device can comprise a first housing coupled to the gripper device and a second housing coupled to a support structure of the top drive assembly, and can comprise a primary hydraulic housing movably coupled to the first and second housings. The at least one fluid actuator can include upper and lower fluid actuators each movable through upper and lower fluid chambers of the primary hydraulic housing during respective makeup and breakout operations to compensate for thread travel. Associated systems and methods for thread compensation with the back-up wrench are provided.

A single trip liner running and tie-back system includes a liner string to case a formation, a polished bore receptacle installed in a liner hanger, and a tie back casing string to tie back the liner string to a wellhead. The tie back casing string is fit with a seal assembly comprised of a no-go stopper, and the seal assembly of the tie back casing string is anchored inside the polished bore receptacle of the liner hanger to run the liner string and the tie back casing string in tandem.

Methods and systems for optimizing timing for drilling and tripping operation. An example method may include receiving a plurality of sensor data characterizing rig equipment and tripping status. The method may include identifying a plurality of multi-thread rig states based on the plurality of sensor data. The method calculates a plurality of optimal rig state characteristics (RSCs), wherein the plurality of optimal RSCs are calculated based on the plurality of sensor data as it relates to the plurality of multi-thread rig states. The method also performs a tripping operation with the rig equipment after applying the plurality of optimal RSCs. The method may also gather a plurality of updated sensor data from the rig equipment during the tripping operation for a recalculation of the plurality of optimal RSCs.

Systems and methods for automated filtering and normalization of logging data for improved drilling performance may enable smoothing and amplitude scaling of log data for meaningful comparison and analysis without scaling artefacts. The logging data may be collected from downhole sensors or may be recorded by a control system used for drilling. A computer implemented method may enable industrial scale automated filtering and normalization of logging data, including calibration to a known standard. In particular, the filtering and normalization may be used for stratigraphic analysis to correlate true vertical depth to measured depth along a wellbore.

The aspects described herein assist in mitigating vibrations arising from torsional energy accumulating on a drill string in a wellbore during drilling operations. A first sensor obtains torque measurement data at or near the top drive of the drilling rig. A second sensor may obtain weight on bit information. The controller receives the measured data, combines it with a first gain to obtain a first output value and a second gain to obtain a second output value. The first output value is provided to the top drive to adjust a speed of operation of the top drive, and the second output value is provided to the axial drive providing motion along a vertical axis of the drilling rig to adjust a speed of the vertical motion. In combination, the adjustments to the top drive and axial drive movements mitigate stick-slip in an automated manner more effectively than either individually.