A system for measuring the rate of penetration or distance traveled for a drilling operation, and a method for controlling the drilling performance of a drilling system.
Patent Information
- Application Number
- BR112022022374
- Authority / Receiving Office
- BR · BR
- Patent Type
- Patents
- Current Assignee / Owner
- Publication Date
- 2026-09-08
Smart Images
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Abstract
Description
1 / 34 A system for measuring the rate of penetration or distance traveled for a drilling operation, and a method for controlling the drilling performance of a drilling system. FIELD OF THE INVENTION
[001] The present invention relates to the rate of penetration (ROP) during a drilling operation.
[002] One or more embodiments of the present invention relate to the monitoring, detection and / or measurement of the rate of penetration, especially during drilling operations in hard rock on land.
[003] The present invention finds application as a method for monitoring, detecting and / or measuring a penetration rate of a drilling assembly while drilling and / or as an apparatus or system for monitoring, detecting and / or measuring a penetration rate according to the respective method. FUNDAMENTALS OF THE INVENTION
[004] Typically, the depth of a drill string in the wellbore is determined by measuring pipe inserted into the wellbore from the surface. The depth may be corrected for the effects of stress or compression on the drill string, such as due to the length of the drill string and ambient temperature.
[005] Thus, the total length of the wellbore can easily be determined from the total length of the number of known lengths of drill pipe (usually in lengths of 3 m and 6 m) added to the rear end of the drilling assembly which incorporates the drill bit or other downhole tool. The vertical depth of the wellbore can be determined from the length of the drill string, inclination and azimuth of the wellbore.
[006] Such absolute depth and vertical depth of Petition 870260034267, dated April 13, 2026, page 14 / 95 2 / 34 of the wellbore diameter and drill string length are useful data. However, to measure productivity and wellbore progress, and to predict when a preferred depth can be reached, the rate of penetration (ROP) of the drill bit into the underlying rock is a valuable measurement.
[007] Such ROP measurement for a drilling operation is typically calculated manually. For example, as a function of drilled depth over time. A simple calculation of the length of the drill string at the surface progressing downwards over time is used to determine the ROP.
[008] A known system for measuring the rate of penetration of a drill bit for a drilling operation is disclosed in US patent document 3,853,004, which describes the use of a measuring system that has a rotating transducer to measure the distance a traction cable advances during a drilling operation. The transducer has a wheel that rests on the traction cable. As the drill bit advances, the traction cable also advances. This causes the wheel of the rotating transducer in contact with the cable to rotate and provide an angular measurement equivalent to the distance. The rate of penetration can be calculated based on the time taken for the wheel to rotate a given number of degrees.
[009] Measuring or monitoring drill bit wear in hard rock streams (particularly diamond-tipped drill bits) is important so that drilling operators know with greater accuracy and reliability when the expensive and time-consuming operation of removing the drill string from the wellbore and changing a drill bit (diamond tip) needs to be performed.
[010] Furthermore, comparing the drill bit penetration rate with records from previously drilled holes can confirm whether a reduction in penetration is due to the geological formation or the stratified nature of the wellbore.
[011] Likewise, knowledge of ROP or change in ROP to Petition 870260034267, dated April 13, 2026, page 15 / 95 3 / 34 over time helps determine whether the weight on the drill bit (WOB) should be adjusted to control drill bit wear and potentially prevent drill bit failure, until an appropriate drill bit change time is reached.
[012] Although a general feel for the rate of penetration is often obtained in a drilling operation by dividing the total length of the drill rods by the time spent during the day drilling that length, such a measure is an overall average ROP and does not give any detail of variance in ROP during drilling operation shift(s) or due to different operators working the drill bit or different rock strata.
[013] It was found desirable to improve the determination of the rate of penetration for a drilling assembly that mitigates or overcomes at least one of the problems mentioned above.
[014] It was further found desirable to be able to provide an objective assessment of drilling performance for one or more drilling operations.
[015] It was further found desirable to obtain real-time rate of penetration data, which can be used to optimize drilling performance and reduce premature drill bit wear.
[016] It is with the above-mentioned problems and desires in mind that the present invention was developed.
[017] It should be understood that if any prior art is mentioned in this document, such reference does not constitute an admission that the prior art forms part of the general common knowledge in the art, in Australia or any other country. SUMMARY OF THE INVENTION
[018] One aspect of the present invention provides a system for measuring the rate of penetration of drilling or advanced distance for a drilling operation, the system including at least one sensor to provide an indication of rate and / or distance. Petition 870260034267, dated 04 / 13 / 2026, page 16 / 95 4 / 34 that a drill bit or other tool advances into a well hole.
[019] An additional aspect of the present invention provides a method of optimizing drilling performance of a drilling system, the method including determining the rate of penetration of the drill bit during a drilling operation by obtaining, from at least one sensor, an indication of a distance advanced by the drill bit during a drilling period.
[020] Preferably, the method includes calculating the drill penetration rate over the distance during a period of time, and controlling at least one drilling parameter based on at least the drilling penetration rate.
[021] Another aspect of the present invention provides a method of controlling the drilling performance of a drilling system, the method including determining the rate of penetration of the drill bit during drilling, and controlling at least one of: weight on drill bit (WOB), drilling fluid flow, torque applied to the drill bit and revolutions per minute (RPM) of the drill bit.
[022] The ROP value(s) can be used to influence the control of at least one of: weight on the drill bit (WOB), drilling fluid flow, torque applied to the drill bit, and revolutions per minute (RPM) of the drill bit. Therefore, feedback can be provided so that the measured or calculated ROP is used as a parameter / input in the calculation of a WOB, torque, RPM, or fluid flow required to circulate to / from the drill bit to modify or control drill bit wear or drill bit penetration rate.
[023] Preferably, the system, apparatus or method includes a timer or clock that provides an indication of an elapsed time during which the drill or other tool advances a distance.
[024] A measure of the rate of penetration of the drill bit or other tool into the well hole can preferably be calculated Petition 870260034267, dated April 13, 2026, p. 17 / 95 5 / 34 by dividing or differentiating the distance with respect to time for a given speed (penetration rate).
[025] Preferably, the penetration rate can be detected, measured or monitored automatically, so that a sensor communicates with a computer / central processor.
[026] The rate of penetration can be determined from the detection of one or more accelerations or positions, either at the bottom of the well or in relation to the movement of a drilling mast.
[027] For example, one or more sensors may be provided in an instrument provided at the bottom of the well. Alternatively, or in addition, one or more sensors may be provided on a drilling mast at the surface.
[028] A measuring system may be provided to determine the distance advanced as the mast head moves, such as a top drive advancing downwards as a drill string and drill bit advancing into the wellbore.
[029] It will be understood that one or more sensors may be provided to detect or measure the relative change in movement of the drill bit, drill string or drill mast component, or a combination of two or more of these.
[030] One or more embodiments of the present invention provide(s) the determination / measurement of the penetration rate during drilling.
[031] For example, one or more sensors may include at least one pressure sensor such as at least one atmospheric pressure sensor or barometric pressure sensor arranged and configured to detect a change in ambient / surrounding air pressure.
[032] At least one atmospheric pressure sensor or barometric pressure sensor may include at least one such sensor arranged to move with forward or backward motion of a drill bit, drill rod, instrument in the well or other tool or pipe / tube in the well. Petition 870260034267, dated April 13, 2026, page 18 / 95 6 / 34
[033] Preferably, at least one reference is provided with respect to the movement of at least one atmospheric pressure sensor or barometric pressure sensor. The reference may be a fixed reference.
[034] For example, a first atmospheric pressure sensor or barometric pressure sensor may be positioned to move up and / or down during the respective movement of a drill bit / drill string or other tool in the well, and a second atmospheric pressure sensor or barometric pressure sensor may provide the reference. The reference may provide a reference atmospheric pressure or barometric pressure relative to any detected change in atmospheric pressure or barometric pressure detected by at least one atmospheric pressure sensor or barometric pressure sensor.
[035] The first or mobile atmospheric pressure sensor or barometric pressure sensor and the second or reference atmospheric pressure sensor or barometric pressure sensor can be mounted in a removable manner on a drill bit, such as a drilling mast.
[036] Removable mounting may be by magnetic attachment using at least one magnet provided in the respective first and / or second atmospheric pressure sensor or barometric pressure sensor. Alternative attachment may be provided, such as fastening straps, adhesive, mechanical fastener(s) (e.g. screws, nuts).
[037] The first and second atmospheric pressure sensor or barometric pressure sensor may individually include a memory for storing pressure and / or altitude values. Alternatively, one of the atmospheric pressure sensors or barometric pressure sensors may transmit detected values to the other.
[038] For example, the first atmospheric pressure sensor or barometric pressure sensor can transmit any Petition 870260034267, dated 04 / 13 / 2026, page 19 / 95 7 / 34 change in pressure / altitude or their absolute values at the second atmospheric pressure sensor or barometric pressure sensor.
[039] The first atmospheric pressure sensor or barometric pressure sensor can detect a change in atmospheric / barometric pressure as a change in altitude / height. When that change in pressure is known relative to a reference, such as an initial pressure measured at a known altitude / height or a reference pressure (such as measured by the second atmospheric pressure sensor or barometric pressure sensor), the change in altitude position of the first atmospheric pressure sensor or barometric pressure sensor can be determined.
[040] Preferably, the second atmospheric pressure sensor or barometric pressure sensor provides a fixed-point reference pressure so that if the atmospheric / barometric pressure varies during the day, such as with a change in weather or temperature, the first atmospheric pressure sensor or barometric pressure sensor will measure the atmospheric / barometric pressure relative to that reference. That is, if the first atmospheric pressure sensor or barometric pressure sensor is at the same height as the second atmospheric pressure sensor or barometric pressure sensor (such as with the top drive fully forward), the pressure reading from both the first and second atmospheric pressure sensors or barometric pressure sensors will be the same.
[041] When the first atmospheric pressure sensor or barometric pressure sensor differs in height from the reference, such as when it moves away from or towards the second atmospheric pressure sensor or barometric pressure sensor, the change in height / altitude relative to the reference can be detected.
[042] Preferably, the apparatus or device that includes the first atmospheric pressure sensor or barometric pressure sensor and the apparatus or device that includes the second Petition 870260034267, dated April 13, 2026, p. 20 / 95 8 / 34 atmospheric pressure sensor or barometric pressure sensor may be identical.
[043] Atmospheric air density can vary with air temperature. Atmospheric air on a 43°C day is less dense than atmospheric air on a cold day at the same baseline level. Initial altitude can affect this because air density also varies with altitude above sea level. However, with a second atmospheric pressure sensor or barometric pressure sensor to provide a fixed reference and a (first) mobile atmospheric pressure sensor or barometric pressure sensor to provide the measurement while moving, temperature and baseline altitude are compensated for.
[044] Preferably, two or more sensor devices or apparatus may be provided that synchronize with each other. For example, two or more sensor devices or apparatus may communicate with a reference (calibration) from one to the other, or may confirm that each is measuring the same current value, such as both being at the same temperature and / or atmospheric pressure.
[045] Alternatively or in addition, one or more of the sensor devices or apparatus may provide detected data, such as one or more values or changes in value of atmospheric / barometric air pressure, distance, acceleration / deceleration, altitude, speed, rate of change of acceleration or deceleration (also known as 'throttle'), temperature and / or humidity.
[046] Preferably, at least one sensor apparatus or device may be enabled to calibrate itself to a value provided by another such sensor apparatus or device or by a reference apparatus or device.
[047] The rate of penetration (ROP) measurement can be in real time or near real time, since one or more sensors provide(s) respective measurement signals during drilling, and Petition 870260034267, dated April 13, 2026, p. 21 / 95 9 / 34 preferably on a continuous, nearly continuous, or, if preferred, periodic basis.
[048] An instrument, apparatus or sensor may be provided at the masthead or downhole, or an instrument or sensor at both (so as to correlate values from both instruments to verify accuracy). The downhole instrument may include at least one accelerometer, preferably a multi-axis accelerometer (more preferably a three-axis accelerometer) or a number of accelerometers providing multi-axis acceleration detection.
[049] An alternative or additional sensor may include at least one of: an accelerometer or a multi-axis accelerometer, one or more electromagnetic wave sensors - such as one or more LiDAR sensors, MEMS mirror, radar sensor, ultrasonic sensor, optical sensor - such as a camera, magnetoresistive sensor, microwave sensor, infrared (IR) sensor, and / or at least one gyroscopic sensor.
[050] Alternatively, or in addition, a three-axis gyro output may be provided from a multi-axis gyro detector, with such detector provided at the wellhead or masthead, or at least one of each at the wellhead and masthead.
[051] A downhole instrument, apparatus or sensor may be provided in the drill string, such as behind the drill bit, or in or attached to a pipe that forms part of the drill string.
[052] Progression and / or rate of progress measurements of drilling may be date-stamped and / or position / location-stamped. For example, GPS location, date and time may be recorded periodically or continuously as a function of ROP and / or depth measurements.
[053] Temperature compensation may be provided for calibration of the instrument, accelerometer(s) and / or sensor(s) Petition 870260034267, dated April 13, 2026, page 22 / 95 10 / 34 gyroscopic(s).
[054] The instrument, accelerometer(s) and / or gyroscopic sensor(s) may be powered by a battery, such as a rechargeable battery.
[055] A user interface can be provided to monitor and / or manage such automatic control.
[056] One or more embodiments of the present invention may include at least one limit detector. For example, to warn operators when optimization parameters have fallen below the preferred state to indicate that a drill bit needs to be replaced.
[057] Therefore, one or more embodiments of the present invention may preferably include monitoring one or more drilling parameters, such as RPM, WOB, drilling fluid flow, torque, etc., and providing a warning or alert to an operator and / or initiating deceleration or stopping drilling when a drilling parameter meets or exceeds a limit.
[058] For example, if the drilling rate cannot be increased due to a worn drill bit, or if the torque exceeds a maximum allowable value, or the weight on the drill bit exceeds or may exceed a maximum allowable value or may cause damage to the drill bit, the warning or alert allows the operator to stop or modify drilling, or drilling can be automatically modified to compensate for or mitigate the detected parameter. WOB can be reduced, torque can be reduced, penetration rate can be reduced, applied RPM can be reduced, or drilling can be stopped.
[059] It will be understood that one or more embodiments of the present invention advantageously provide(s) a reliable and robust sensor apparatus or system that can be used to determine the magnitude of the linear motion of a drill bit or other downhole tool into the ground, and preferably in Petition 870260034267, dated April 13, 2026, p. 23 / 95 11 / 34 in relation to time. This provides a sensor arrangement that accurately measures the rate of penetration.
[060] Preferably, the penetration rate sensor device or system interfaces with other detection equipment. For example, the device may be configured to interface with sensors or devices, sensor arrays or apparatus, such as to detect or measure acceleration, inertia, gyroscopic values, force, torque, pressure, vibration, temperature and flow (of mud), or a combination of any two or more of these, to assist in tracking wear and abrasion on the drill bit and predicting drill bit change times.
[061] The ROP sensor apparatus or system provides means for measuring, and both displaying and recording, or providing measurements for remote display and recording, for the rate of penetration of the drill bit during a drilling process by measuring the angular rotation, such as of the drill string or top drive.
[062] Preferably, the sensor device or system may be mounted on a drilling assembly, such as a drilling mast.
[063] More preferably, the sensor can be mounted on the drilling assembly by means of one or more resilient mounts to reduce or avoid unwanted vibration from the drilling that affects the signal quality produced by the sensor.
[064] Preferably, one or more resilient assemblies may include rubber, urethane or other vibration damping materials.
[065] The sensor or sensor device or instrument may be fixed to the mast or drilling column.
[066] The sensor or sensor device or instrument may have a cable or cord that connects to a moving portion of a drill string drive assembly. Consequently, as the drill string drive assembly Petition 870260034267, dated April 13, 2026, p. 24 / 95 12 / 34 advances when the drill bit pierces the rock at the bottom of the well; the cable or rope compensates.
[067] Alternatively, or in addition, the sensor apparatus, instrument or sensor may include one or more accelerometers, LiDAR, radar, infrared motion sensors. For example, the movement of a drill string into a wellbore may be detected by measuring the change in distance of a mast head or top drive towards the ground or other fixed component / element.
[068] Angular measurement can be obtained by using a rotary or shaft encoder, such as an optical disc or shaft encoder. The encoder can be operated by a rope or cable, such as a cord, connected to the drilling platform (such as the drilling mast) so that the rope or cable extends from the encoder and thus causes the rotation of an encoder component to produce values equal to the distance the rope or cable has extended.
[069] The cable or rope may be connected to a shaft in the sensor, which shaft rotatably drives an encoder disc, so that as the rope or cable compensates, the rotating encoder disc turns and provides an angular measurement of the length of the rope or cable extension, that which is related to the distance the drilling unit has advanced and therefore to the distance the drill bit has advanced.
[070] Preferably, the encoder's angular measurement combined with the time consumed for an associated penetration movement is displayed as the drill penetration rate (distance divided by time). Similarly, the change in penetration rate can be determined, i.e., acceleration (advancement in the wellbore) or deceleration (retraction of the wellbore).
[071] The sensor device or system can communicate wirelessly from the drilling mast with a remote data storage and measurement processing location. Therefore, the Petition 870260034267, dated April 13, 2026, page 25 / 95 The 13 / 34 sensor can provide angular position values to a processor that creates a distance measurement from the angular measurements.
[072] The incorporation of GPS time of day and / or computer processing ensures that the ROP measurement is recorded accurately and reliably.
[073] It will be understood that one or more embodiments of the method, apparatus or system of the present invention may incorporate wireless technology to wirelessly transmit ROP data from the drilling platform to a remote data receiver / processor.
[074] As an example, the sensor that provides a drill penetration measurement can be arranged and configured to provide such distance data to a remote computer or recording device / system. Such a wireless arrangement allows retrointegration of the device / system of the present invention with old or new drills.
[075] One or more embodiments of the present invention may include an energy harvester, such as a vibrational energy harvester, to generate sufficient energy to power the apparatus or system or its components. Therefore, a power supply from the main power supply of the drilling rig may not be necessary. Beneficially, the apparatus or system may be self-sufficient in terms of its own power supply when powered from its own energy harvester. For example, vibrational energy created by operation of the drilling rig may be converted into electrical energy and either used to power the apparatus / system or stored (by means of a battery and / or capacitor storage configuration) for later use.
[076] Regarding onshore mineral exploration drills, current technology for measuring ROP is unreliable due to vibration and weather exposure. A particular benefit of Petition 870260034267, dated 04 / 13 / 2026, page 26 / 95 14 / 34 less one embodiment of the present invention is that the apparatus or system can be hermetically sealed against the ingress of moisture and dust.
[077] At least one embodiment of the present invention may also or alternatively include a resilient mounting system to advantageously avoid vibrations from drilling operations that cause errors in ROP measurement data.
[078] Geological models and data from previously drilled boreholes can be combined with drilling data obtained for comparison with drilling data obtained for a borehole being drilled to help determine drilling performance indicators for that borehole, such as excessively rapid drill bit wear or to indicate when a drill bit needs to be replaced. Such data can be displayed on a screen associated with the device / system.
[079] Drilling data, including ROP measurements, can be handled and / or provided using a common protocol shared by various devices or systems on the drilling platform.
[080] For example, a device or system according to an embodiment of the present invention may provide penetration rate data to a surrogate device, such as a wireless surrogate device, and / or other peripherals that handle drilling-related data associated with that drilling platform.
[081] Preferably, real-time ROP information can be displayed on a screen, such as by a 'dashboard' style software application. For example, ROP can be displayed in millimeters per second (mm / s), millimeters per minute (mm / min) or meters per minute (m / min).
[082] One or more embodiments of the present invention may detect the distance advanced (penetration amount, say in mm) by the drill bit during a known period of time or Petition 870260034267, dated 04 / 13 / 2026, page 27 / 95 15 / 34 calculated, and this can be displayed as ROP. The rate of change of ROP time can also be calculated to determine sudden acceleration or deceleration of the drill bit (such as sudden penetration of a void or softer rock / sand).
[083] Status information may also be displayed. Status information may show whether ROP has increased or decreased over time. Drill torque, drill weight, RPM and / or penetration fluid pressure / flow rate may also be displayed.
[084] The detection of one or more limits may be provided. For example, one or more detectors to provide an indication or warning to be displayed to an operator. An action may then be taken to modify drilling activities, such as reducing WOB, decreasing RPM, increasing drilling fluid flow.
[085] It will be understood that it is highly advantageous for drilling operators to be able to measure wear and abrasion of deep drilling (diamond) bits for hard rocks so that drilling operators know with greater accuracy and reliability when the expensive operation of changing a bit needs to be carried out.
[086] For example, on average, a diamond-tipped drill bit can penetrate 30 meters of hard rock during a 12-hour shift, at an average of 2.5 m per hour.
[087] Changing a drill bit, even at shallow wellbore depths of only a few hundred meters, can take two hours to complete. This equates to 5 m of lost drilling productivity, increasing operating costs in personnel time and site / operation costs, and production time. A drill bit that wears out too early is financially expensive to repair, depending on the materials used, and this cost can occur several times a week until drilling operators catch the incident in the field through their daily drilling reports. Petition 870260034267, dated 04 / 13 / 2026, page 28 / 95 16 / 34
[088] Comparing the rate of penetration of the drill bit (ROP) with records of previously drilled holes can help confirm whether a drop in the rate of penetration is due to the geological formation or the stratified nature of the wellbore. Using at least one embodiment of the present invention, this rate of penetration and geological comparison can be automatically calculated by means of a central computer in a user interface.
[089] Limit detectors can warn operators when optimization parameters fall, to inform the driller that a drill bit needs to be changed.
[090] During diamond core drilling, a well hole is drilled into the ground by the drilling rig by driving a rotating hollow shaft with a diamond-impregnated drill bit attached to the bottom of the drill string. As the well hole is drilled deeper into the ground, the drill string is lengthened by adding rods at the surface.
[091] One or more embodiments of the ROP apparatus / system of the present invention measures(s) the rate of penetration of the drill bit as the rock is eroded by the cutting action of the diamond drill bit. During this operation, the drilling fluid flows down the hollow drill rod through the drill bit and is forced back to the surface carrying the drilling chips to the surface as well as providing lubrication and cooling of the drill bit.
[092] The physical condition of a drill bit, the rotation rate, weight applied to the bit, and the viscosity of the drilling fluid and the fluid flow rate around the flow loop are important measurements. During drilling, the only variable that cannot be directly detected is the physical condition of the drill bit. The ability and skill to measure the condition of the drill bit can be provided by applying constant weight on the drill bit (WOB), and the rotation rate (RPM) then monitors the rate of Petition 870260034267, dated April 13, 2026, page 29 / 95 17 / 34 penetration of the bottom of the well as the rock decreases and the hole progresses. Decreasing penetration rates may be a sign of drill bit deterioration.
[093] In most drilling scenarios, the rate of penetration measurement is a manual calculation usually determined as a function of time over a given penetration depth. Such manual calculation introduces a risk of user error.
[094] However, due to the precision of the present invention, many small increments of depth penetration can be determined during fixed time intervals to determine the depth of cut.
[095] The user interface can provide clear digital readings to an operator and a mapped history feature for real-time and post-drilling analysis.
[096] Operators will be able to access and compare the performance of their drillers across their entire fleet of drilling rigs. The data will be sent remotely to a base as a monitor for daily performance.
[097] An important benefit of the apparatus or system of the present invention is its immunity to erroneous measurements caused by vibration during the drilling process.
[098] One or more embodiments of the present invention may include sending an electromagnetic signal, such as a light signal, for example visible light or IR laser to a detector, the travel time relating the distance between the transmitter and the detector. Any change in the distance between the transmitter and the detector represents a movement of one relative to the other, such as the movement of a part of the drill string or top drive towards the base of a drill mast.
[099] The electromagnetic signal can be transmitted to a reflector and returned to a detector at or near the transmitter, that is, reflecting a signal from a reflector. Petition 870260034267, dated 04 / 13 / 2026, page 30 / 95 18 / 34
[100] The detector can receive the signal travel time and process it as distance traveled or speed.
[101] For example, an electronic replacement device in the drill string may include the transmitter and / or detector of the electromagnetic signal. That is, the replacement device may include the transmitter to emit the EM signal to the remotely located detector, such as on a fixed part of the mast, or it may include the detector, and a separate reflector is provided on a fixed part of the mast. Therefore, in one scenario only one direction of travel time is used, or both directions of travel time may be used.
[102] The electronic replacement equipment transmitter can send an optical signal (visible light) or an IR signal.
[103] It will be understood that one or more embodiments utilize(s) separate transmitter and receiver, such that using optical devices, i.e., not electronic substitute instruments, the transmitter and receiver or a transmitter, receiver and reflector being on the mast of the drilling platform, or: • The transmitter and receiver are movable and the reflector is fixed; or, • The reflector is movable and the transmitter / receiver is fixed; or, • The transmitter is movable and the receiver is fixed; or, • The receiver is movable and the transmitter is fixed.
[104] The detector can send data to a remote computer wirelessly. The replacement equipment can receive the signal (reflected or direct) and combine that data with other data and then send it wirelessly to the remote computer. Alternatively, a detector in a fixed position on the drilling platform sends the signal to the remote computer. Alternatively, the transmitter sends a signal from a fixed position on the platform to a reflector, then the mast sensor receives and processes the data and sends it to the remote computer. Petition 870260034267, dated April 13, 2026, p. 31 / 95 19 / 34 BRIEF DESCRIPTION OF THE DRAWINGS
[105] One or more embodiments of the present invention will be described hereinafter with reference to the accompanying drawings, in which.
[106] Figure 1 shows a schematic arrangement of an embodiment of the present invention associated with a drilling operation.
[107] Figure 2 shows a cord-type distance encoder mounted on a drilling platform in relation to an embodiment of the present invention.
[108] Figure 3 shows an alternative view of the features shown in Figure 2.
[109] Figure 4 shows at least one alternative embodiment of the present invention.
[110] Figure 5 shows a graph of height variation through measured change in atmospheric / barometric pressure for the advance of a drill bit / drill string for a drilling operation according to an embodiment of the present invention.
[111] Figure 6 shows an example of a sensor apparatus according to an embodiment of the present invention.
[112] Figure 7 shows a transmitter / emitter for sending an EM signal (such as a light, laser, optical, IR signal) to a detector, and the detector sends data to a wireless user interface / computer, according to one embodiment of the present invention.
[113] Figure 8 shows the EM signal sent by a transmitter / emitter of an electronic replacement device to a reflector, and receives the reflected signal back, then these data are optionally combined with all other data, then wirelessly sent to a user interface / computer, according to one embodiment of the present invention.
[114] Figure 9 shows an EM emitter / transmitter sending a signal to the detector at a fixed position on the platform, and a Petition 870260034267, dated April 13, 2026, page 32 / 95 A 20 / 34 transmitter in a fixed position on the platform sends a signal to the receiver on the mast. The distance measurement can be processed for the receiver, and the measured / processed data can be transmitted by each device to a remote user interface / computer, according to one embodiment of the present invention.
[115] Figure 10 shows an EM emitter / transmitter sending a signal from a fixed position on the platform to the reflector on the drilling platform mast, then the sensor receives the reflected signal, processes the data and sends it to the remote user interface / computer, according to one embodiment of the present invention. DESCRIPTION OF PREFERRED MODALITY(IES)
[116] The detailed description below refers to the accompanying drawings which form part of the detailed description. The illustrative embodiments described in the detailed description, represented in the drawings and defined in the claims, are not intended to be limiting. Other embodiments may be used and other changes may be made without departing from the spirit or scope of the subject matter presented.
[117] It will be readily understood that aspects of the present disclosure, as described in this document and illustrated in the drawings, can be arranged, substituted, combined, separated, and projected in a wide variety of different configurations, all of which are contemplated in this disclosure.
[118] One or more forms of the present invention find(s) specific application in hard rock drilling applications with diamond in the field of mineral exploration.
[119] During diamond drilling, a well hole is drilled in the ground by the drilling platform by driving a rotating hollow shaft with a diamond-impregnated drill bit fixed in a fixed position on the drill string.
[120] As the well hole is drilled deeper into Petition 870260034267, dated April 13, 2026, page 33 / 95 21 / 34 soil, the drill string is increased by adding rods at the surface.
[121] The ROP detection apparatus / system of the present invention measures the rate of penetration of the drill bit as the rock is eroded by the cutting action of the diamond drill bit. During this operation, the drilling fluid (e.g., drilling mud) flows down the hollow drill rod through the drill bit and is forced back to the surface, carrying the drilling chips to the surface as well as providing lubrication and cooling of the drill bit.
[122] One or more embodiments of the present invention may obtain the following measurements: the physical condition of the drill bit, the rate of rotation of the drill bit, weight applied to the drill bit (such as by the downward pressure of the weight of the drill rods fixed above the drill bit, as well as the downward force applied by the drilling platform), the viscosity of the drilling fluid and the fluid rate around the flow mesh down and back from the wellbore.
[123] During drilling, one variable that cannot be directly detected is the physical condition of the drill bit.
[124] One method that can be used to measure the condition of the drill bit is to apply weight to the drill bit at a constant rate of rotation and then monitor the rate of penetration of the wellbore as the rock decreases and the wellbore progresses. Decreasing penetration rates may be a sign of drill bit deterioration.
[125] One or more embodiments of the present invention advantageously allow for the determination or measurement of very small increments of penetration depth, and preferably, the penetration distance during fixed time intervals to determine the rate of cut depth. Such very small increments can be measured by one or more embodiments of the present invention in the millimeter or submillimeter range, such Petition 870260034267, dated April 13, 2026, p. 34 / 95 22 / 34 as + / - 1.0 mm.
[126] Preferably, a user interface has clear readings / displays and preferably a mapped history feature for real-time and post-drilling analysis. Operators benefit from being able to access and compare the performance of their drillers across their entire fleet of drilling rigs.
[127] Data related to ROP obtained by the present invention can be provided to a remote location to provide a record and monitoring of daily performance of the drilling operation(s).
[128] One or more embodiments of the present invention advantageously provide(s) the reduction or avoidance of erroneous measurements caused by vibration during the drilling process.
[129] Calculating ROP from a position signal requires differentiation, which can amplify high-frequency noise, and given that the total range of the position signal is on the order of 10 m, there may be a trade-off in bandwidth between acceptable noise and signal response. Therefore, to maximize the signal-to-noise ratio, a distance sensor with digital output can be used to avoid introducing any noise during signal transmission between the distance sensor and the data acquisition system, and any noise introduced by the data acquisition system itself.
[130] Thus, one or more distance sensors with a digital pulse or SSI output can be used, since they can be synchronized with other signals measured by a data acquisition system, and are supported by a wide variety of data acquisition systems.
[131] In addition, most data acquisition systems that can interface with these types of signals are also capable of providing sensor power supply, which eliminates the need for external power supplies for the(s) Petition 870260034267, dated April 13, 2026, page 35 / 95 23 / 34 distance sensor(s).
[132] Given that the distance sensor may need to be adapted to an existing drilling platform, the distance sensor may have a mounting arrangement configured for various mounting position options.
[133] It has been determined that a 'pull wire' sensor with rotary encoder is a usable type of distance sensor, such as a Micro-Epsilon pull wire sensor WDS-10000P115-TTL or WDS-10000-P115-SSI.
[134] One or more embodiments of the present invention may incorporate an optical axis encoder.
[135] For example, an optical axis encoder that measures angular displacement may be adopted. For example, measuring 0oa 360o divided by 4,096 counts gives an angular displacement resolution of approximately 0.09o, which gives a measure of encoder movement, and therefore of the punch column, in microns.
[136] The sensor's cable or cord pulls the encoder, converting angular displacement to linear displacement. One or more timers or clocks may be used to assist in determining the rate of motion (and therefore ROP) by differentiating the distance measurement from time. The use of one or more GPS clocks provides an accurate time measurement and therefore a rate that becomes linear velocity.
[137] An alternative or additional sensor may include at least one of: an accelerometer or a multi-axis accelerometer, one or more electromagnetic wave sensors - such as one or more LiDAR sensors, MEMS mirror, radar sensor, microwave sensor, infrared sensor, and / or at least one gyroscopic sensor.
[138] One or more of the above-mentioned sensors may be provided at the surface and / or bottom of the well. For example, one or more accelerometers and / or electromagnetic wave sensors. Petition 870260034267, dated April 13, 2026, page 36 / 95 24 / 34 can be provided on a mast head to detect movement of a drill string or top drive as the drill string advances into the ground during drilling. The rate of penetration or distance traveled can be measured by a change in distance detected by the sensor and / or by changes in movement / displacement.
[139] One or more optical sensors may be provided to detect forward movement as the drill advances and / or to detect rate of penetration. For example, one or more cameras may be provided to move as the drilling progresses. One or more cameras may observe a fixed indicator. The change in relative size of the fixed indicator features may be used to determine the change in distance from the camera(s) to the indicator. Change in spacing between multiple indicators may also, or alternatively, be used to determine the change in distance.
[140] It will be understood that the indicator(s) may move with the drilling advance while the camera(s) remain fixed, that is, the opposite of the configuration mentioned above.
[141] A resistance sensor, such as a magnetoresistive sensor, can be used to determine movement that indicates rate of penetration or drilling advance, or both. For example, the magnetoresistive sensor can use magnetism / electromagnetism to detect a change in resistance relative to a fixed element in order to indicate a change in distance or rate of change of movement.
[142] It will be understood that one or more embodiments of the present invention provide(s) an instantaneous relative rate of penetration (ROP) measure.
[143] As a result of using the present invention, drilling performance can be objectively assessed based on the ROP obtained and other preferred parameters, such as weight. Petition 870260034267, dated April 13, 2026, page 37 / 95 25 / 34 over the drill bit (WOB).
[144] Moreover, by using the present invention, it is possible to track the evolution of drilling performance over time and / or well depth.
[145] Also, the use of the present invention allows a drilling operator to access the effect of control parameters on ROP, and thus maintain or modify a current drilling activity for optimization.
[146] By using the present invention, it is preferably possible to generate a graph of drilling performance measurement reports, such as ROP versus depth, a histogram / graph of ROP per rod or depth, such as at depths of 30 m, 100 m etc. The average and variance of ROP can also be monitored.
[147] In use, as a drill bit advances into a wellbore during drilling, the string or cable extends from an encoder. The distance advanced is measured by the encoder. The rate of penetration is calculated by comparing the distance with the time elapsed to advance. An operator or an automatic control system then controls one or more drilling parameters to keep the drilling operation within required limits. If the rate of penetration is too low (leading to low productivity), the operator or system may increase RPM and / or may increase WOB. Alternatively, if ROP is too high (risking premature wear or damage to the drill bit), RPM or WOB may be decreased.
[148] Automatic drilling control can be provided with continuously or periodically monitored ROP feedback. Real-time ROP monitoring allows drilling operators to optimize drilling to avoid premature wear or drill bit failure.
[149] As shown in Figure 1, one embodiment of the present invention provides a system 10 for obtaining and using Petition 870260034267, dated April 13, 2026, page 38 / 95 26 / 34 penetration rate measurements. An encoder 14 provides 15 distance data to a computer 12. The encoder is of the pull-wire type whereby the free end of the pull wire is attached to a drilling assembly that advances with the drill bit as drilling progresses. The pull wire causes an internal rotating encoder to spin, providing a measurement of the distance advanced. The computer or other timer can associate the measured distance with the elapsed time during that advance. Therefore, the real-time penetration rate measurement can be calculated and displayed 17 and / or recorded 21.
[150] The time component can be obtained from satellite time 23 (GPS) for accuracy.
[151] Other sensors provide measurements, such as RPM, torque, flow and / or drilling fluid pressure, etc., which are shown along with the ROP measurement on a screen 16.
[152] Power for the system 10 or for the sensor / encoder 14 can be obtained from the energy collector 25, such as by collecting energy 24 from drilling vibrations, temperature fluctuations, solar energy, wind energy, and / or a combination of one or more of these.
[153] 21 reports 20 can be produced that provide monitoring and records of drilling operations. In addition, reports and / or data from other drilling operations can be combined with data from the current drilling operation, such as a comparison of penetration rate data on different drilling platforms, to gain a useful understanding of the type and variability of rock strata at depths. This information can be used to plan other drilling operations and / or where mineral deposits may or may not be found.
[154] The system can use wireless communications 18. For example, the encoder mounted high on a drilling mast of a drilling platform can communicate 19 Petition 870260034267, dated April 13, 2026, page 39 / 95 27 / 34 wireless with a computer or other receiving device that communicates with the computer. This avoids the need for installing communication cables, and power cables can be shortened by connecting to the 24-hour energy harvesting system.
[155] As shown in Figures 2 and 3, a distance encoder 15 (in this embodiment being a draw-wire operated encoder for measuring distance) is mounted on the mast 30 of a drilling platform 32. The free end 34 of the draw wire is attached to the mobile top drive assembly 32. As the top drive assembly moves downwards during drilling when the drill bit penetrates the rock, the draw wire is pulled, which causes the rotating device inside the encoder housing to indicate a measured distance in real time.
[156] As shown as an example in Figure 4, instead of, or in addition to, the distance encoder mentioned in Figures 2 and 3, one or more embodiments of the present invention may include at least one distance sensor that utilizes electromagnetic wave detection and / or acceleration and / or gyroscope effects. The rate of penetration and / or distance traveled as the drill string advances during drilling can be detected by measuring, on the surface, the change in distance of a traveling component of the mast head relative to a fixed component.
[157] For example, as shown in Figure 4, an electromagnetic wave apparatus 36 measures 'shift time' and / or 'shift time change' of an electromagnetic signal, such as with respect to a transmitter / emitter 38 and reflector 39 or detector / receiver 40 arrangement.
[158] Alternatively, or in addition, one or more motion detection devices 42, such as one or more accelerometers and / or gyroscopic devices 44, may be provided to detect changes in movement / displacement of the drill string, such as the rate of change of movement of the masthead as the drill string advances. Petition 870260034267, dated 04 / 13 / 2026, page 40 / 95 28 / 34
[159] It will be understood that the accelerometer(s) may include a three-axis accelerometer.
[160] The motion sensor device and / or the distance sensor may be battery powered, such as having an internal rechargeable or replaceable battery, and / or may use vibration for energy collection, such as by means of an internal piezoelectric device.
[161] As shown in relation to Figure 5, changes in atmospheric or barometric pressure can be used to measure / detect changes in altitude / height.
[162] Preferably at least one sensor device detects changes in barometric or atmospheric air pressure. At least one other sensor device may be provided to detect barometric or atmospheric air pressure as a reference against which the changes detected by the at least one sensor device are compared.
[163] For example, at least one other sensor device may be mounted or attached to a lower part of a drilling rig, such as a protrusion on a pipe casing of a drilling operation, to provide the reference pressure.
[164] At least one sensor device may be mounted or attached to a moving part of a drilling platform / mast or to a drill pipe to be advanced towards or into the ground.
[165] The attachment or mounting of any of the sensor devices may be by means of magnets which removablely attach the respective device(s) to the metal structure of the drilling equipment, such as the mast / platform or drilling protrusion or other suitable local equipment.
[166] Any change in pressure detected by at least one sensor that moves up or down during drilling operations as the drill bit respectively advances or is Petition 870260034267, dated April 13, 2026, p. 41 / 95 29 / 34 extracted can be compared to the fixed reference, and a penetration rate, advance / distance that the drill rods / drill bit progressed and / or rate or distance of well withdrawal can be determined.
[167] Figure 6 shows the distance in meters on the geometric y-axis obtained from the change in atmospheric / barometric pressure detected in relation to incremental counts on the geometric x-axis.
[168] The section on the right side of the graph clearly shows the drilling progression, of approximately 3 meters (from approximately a relative height of 4.5 m progressing to a relative height of approximately 1.5 m) in relation to a reference value.
[169] The sensor device can be programmed to detect another, such as by a push-button calibration by a user or automatically when in range or in contact with each other. For example, 'the collision' of two such sensor devices with each other can be used to activate calibration for the current temperature and / or atmospheric pressure at that position.
[170] Alternatively or in addition, one or more of the sensor devices may include a transmitter and / or receiver arranged and configured to provide respective data detected or measured by the respective device, such as one or more of a detected value or change in atmospheric / barometric air pressure, distance, acceleration / deceleration, altitude, speed, rate of change of acceleration or deceleration (also known as 'throttle'), temperature and / or humidity. The detected or measured data may be transmitted to a remote device, such as a computer, tablet, laptop, data recorder, etc., for instant reading and / or future processing.
[171] As shown by the example in Figure 6, a sensor apparatus 100 of an embodiment of the present invention includes a body Petition 870260034267, dated April 13, 2026, page 42 / 95 30 / 34 102.
[172] A control button 104 may be provided to initialize / start the device and / or the device to calibrate itself to a reference and / or to a similar device and / or to a computer 120, such as a laptop.
[173] One or more indicator lights may be provided, such as lights 106, 108. One or more of the lights may show that data is being recorded and / or has been successfully recorded or transmitted, or that the device is operating correctly, or that the device has been successfully set to a reference value, or that the device is switched on / off, or that the device is transmitting data, or combinations of two or more of these.
[174] The body hosts a transmitter and / or receiver device 110 to transmit and / or receive data.
[175] The body may include fastening means, such as one or more magnets 112 for magnetically attaching the sensor device to the equipment, such as a drilling mast. The magnets may allow two or more of the sensor devices to be fastened together for storage and / or transport, reducing the risk of the devices being inadvertently separated, which may be particularly useful if the devices are used in pairs where they can be calibrated together and then one set in a fixed position and the other fixed to move with the movement of the moving part of the equipment to which it is attached.
[176] The sensor apparatus may include at least one atmospheric / barometric air pressure sensor to detect an air pressure value and / or changes in air pressure.
[177] The sensor apparatus may include at least one battery 116. Alternatively, or in addition, means of energy collection 118 may be provided, such as a piezoelectric energy producer that collects vibrational energy from the movement of Petition 870260034267, dated April 13, 2026, page 43 / 95 31 / 34 device in use. The battery can be charged from the surplus energy harvested.
[178] One or more sensors 120 may be supplied instead of or in combination with the atmospheric / barometric pressure sensor. For example, a humidity sensor, one or more accelerometers, one or more gyroscopes, or a combination of any two or more of these.
[179] As shown as an example in Figure 7, a transmitter / emitter 200 EM (e.g., optical, laser, IR) mounted on a moving part of a drilling platform 202, such as an electronic backup device, part of the drill string, top drive, transmits a signal to a detector / receiver 204. The detector / receiver can transmit travel time / distance data to a remote user interface / computer 206.
[180] Figure 8 shows an EM signal sent by a transmitter / emitter 200 of an electronic replacement device 201 to a reflector 208, and receives the reflected signal back, then these data are optionally combined with all other data, then wirelessly sent to a user interface / computer 206, according to one embodiment of the present invention.
[181] It will be understood that a transmitter / emitter and / or receiver / detector mounted on a rotating part of the mast, such as an electronic replacement device, can be used by a system incorporating the present invention wherein the average of the transmitted / received and detector signal values can be used to produce a precise distance / speed. A high number of signals is possible, particularly in the case of laser / optical / IR light signals, due to the large number of samples in one revolution. For example, 1,000 RPM provides 16 rotations in one second. The average measurement for laser is approximately 20 nanoseconds, and sampling at, for example, 50 Hz, provides Petition 870260034267, dated April 13, 2026, page 44 / 95 32 / 34 a high sampling rate at different points of rotation. Vibration can be detected / measured by such a sensor arrangement. The reflector can be annular / circular, and an annular / circular device can be provided at the base of the platform for maximum resolution. Approximately 16 samples of 16 Hz can be obtained with one reflection point.
[182] Figure 9 shows an EM 200 transmitter / emitter sending a signal to detector 204 at a fixed position on the platform, and a transmitter / emitter 200 at a fixed position on the platform sending a signal to receiver 204 on the mast. Distance measurement can be processed for each receiver, and measured / processed data can be transmitted by each device to a remote user interface / computer 206, according to one embodiment of the present invention.
[183] Figure 10 shows an EM emitter / transmitter sending a signal from a fixed position on the platform to a reflector on the drilling platform mast, then the sensor receives the reflected signal, processes data and sends it to the remote user interface / computer 206, according to one embodiment of the present invention.
[184] LIDAR can be used to obtain depth information. Embodiments of the present invention may utilize one or more Augmented Reality (AR) and / or Artificial Intelligence (AI) algorithms / processes to determine specific measurement between points on the drilling platform. For example, recognizing a feature on the drilling platform as a reference point, and the camera and LIDAR focus on that reference recognized as a datum.
[185] The detection can utilize MEMS mirror technology, such as using at least one laser to reflect off a MEMS mirror to determine spatial distance and / or determine spatial details / measurements. MEMS mirror technology can use a single mirror and multiple lasers, or multiple mirrors. Petition 870260034267, dated April 13, 2026, p. 45 / 95 33 / 34 with a single laser or multiple lasers.
[186] The use of LIDAR scanning as part of the modality sensor arrangement or apparatus of the present invention allows the use of image depth information relating to the scanned / viewed environment, such as the drilling rig. The image depth information can be used by modalities of the present invention for distance measurement, such as spacing between drilling rig features, identification of a reference / data point and movement relative to that reference data point.
[187] The combination of three-dimensional mesh data and depth information allows the placement of virtual objects within a visualized / detected environment, such as on the drilling platform. This functionality allows for improved measurement data and enables location and position information to be assigned to an image.
[188] Microelectromechanical mirror systems (MEMS) or micro-optoelectromechanical systems (MOEMS), such as scanning mirror / micromirror devices and / or luminous mechanisms, can be used in one or more embodiments of the present invention to create 3D optical spatial maps, such as of the drilling platform or its parts.
[189] Microelectromechanical mirror (MEMS) systems may include a laser directed at a rapidly rotating (e.g., tilt-swivel) mirror reoriented to view a space. A second dimension may use a second mirror that moves up and down or another laser may illuminate the first mirror but from a different angle than the first laser. Shock / vibration resilience may be provided to dampen vibrations that might otherwise throw the MEMS system out of calibration.
[190] Mirrors, photodetectors, can be used Petition 870260034267, dated April 13, 2026, page 46 / 95 34 / 34 benchtop silicon optical technology, for example, pellet-level optical integration technology.
[191] For example, a MEMS digitizing module can be used for 3D distance measurement using a laser / LIDAR emitter / transmitter on the drilling platform, such as with a single emitting mirror, and a synchronized micro-digitizer array as a receiving unit.
[192] In the following claims and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word comprise or variations such as comprises or comprising is used in an inclusive sense, that is, to specify the presence of the mentioned features, but not to preclude the presence or addition of additional features in various embodiments of the invention. Petition 870260034267, dated April 13, 2026, page 47 / 95
Claims
1 / 3 CLAIMS 1. A system for measuring the rate of penetration of drilling or distance traveled for a drilling operation, characterized in that it comprises at least one sensor device mounted on a drilling platform, wherein the at least one sensor device includes a first sensor and a second sensor, wherein the first sensor is a barometric pressure sensor mounted on the mast or drill string to move vertically with the advance of the drill bit and is configured to detect a change in the surrounding air pressure with the advance or retreat movement of the drill bit, and the second sensor is a second barometric pressure sensor mounted in a fixed position on the drilling platform to provide a reference pressure measurement, and at least one processor in data communication with at least one sensor device,where at least one processor calculates an incremental drill bit progression distance based on the difference between the barometric pressure measured by the first barometric pressure sensor and the second barometric pressure sensor.
2. System according to claim 1, characterized in that the first barometric pressure sensor is removablely mounted on a drill bit or drilling mast, and wherein the removable mounting is any one or more of the following: magnetic attachment via at least one magnet provided on the respective first barometric pressure sensor, tie strap(s), adhesive, or mechanical fastener(s).
3. System according to claim 1, characterized in that any one or more of the first barometric pressure sensor and the second barometric pressure sensor includes any one or more of: Petition 870260034267, dated 04 / 13 / 2026, page 48 / 95 2 / 3 a memory for storing pressure values and / or altitude values, and a transmitter configured to transmit measured pressure values and / or altitude values to other barometric pressure sensors.
4. System according to claim 1, characterized in that the first barometric pressure sensor and the second barometric pressure sensor, when in use, synchronize with each other.
5. System according to claim 1, characterized in that at least one of the sensor devices is enabled to calibrate itself to a value provided by another sensor device or by a reference device.
6. System according to claim 1, characterized in that it further comprises one or more sensors that detect or measure any one or more of the following: acceleration, inertia, gyroscopic values, force, torque, pressure, vibration, temperature and (mud) flow, wherein at least one sensor device is configured to interact with one or more sensors, and at least one limit detector, wherein the limit detector emits an alert when the optimization parameters fall below a preferred state.
7. System according to claim 6, characterized in that it includes display means and recording means, or communication means for sending measurements for remote display and recording.
8. Method for controlling the drilling performance of a drilling system, characterized in that the method includes determining the rate of penetration (ROP) of the drill bit during drilling, wherein the determination of the ROP is based on the detection of barometric pressure by means of a first barometric pressure sensor that moves with the drill string during the Petition 870260034267, dated 04 / 13 / 2026, p.49 / 95 3 / 3 advance or retraction of the drill bit, and in the detection of a reference barometric pressure at a fixed point on the drilling platform, and using a second barometric pressure sensor arranged to provide the reference barometric pressure, and wherein the first barometric pressure sensor transmits the pressure variation or its absolute values to the second barometric pressure sensor and the incremental distance traveled is based on the difference between the barometric pressure measured by the first barometric pressure sensor and the second barometric pressure sensor during a given period of time. Petition 870260034267, dated 04 / 13 / 2026, p. 50 / 95.