Method for acting on a ground drilling device; device functionally linked to a ground drilling device; computer-readable storage medium and ground drilling device

Abstract

The invention relates to a method for acting on an earth drilling device configured to create a borehole by moving a drill string having rod sections from a starting point to a target point, wherein the method includes the process step of determining a bending radius of a section of the drill string when creating the borehole and acting on the earth drilling device depending on the height of the bending radius of the section of the drill string when creating the borehole.

Description

AREA OF INVENTION

[0001] The invention relates to a method for acting on an earth drilling device, a device that is functionally connected to an earth drilling device, a computer-readable storage medium and an earth drilling device. STATE OF THE ART

[0002] It is known to use earth drilling devices to create boreholes or boreholes in the ground.

[0003] Obstacles in the area of ​​the borehole to be created pose a problem, as these obstacles, such as water, gas, electricity, signal, and / or other lines or conduits, must be avoided. This maneuvering, especially to circumvent unknown obstacles and still reach the target, regularly places stress on the drill string, which includes drill rod sections.

[0004] From EP 3 690 185 B1, it is known to detect bending loads on the drill string to improve the service life calculation of a drill string section and / or to increase the operational reliability of an earth drilling rig, whereby the load is not determined at the drive device, but rather in the borehole or borehole itself by detecting the borehole's path, particularly a curved section. EP 3 690 185 B1 aims to determine the service life of the drill string section in order to replace it before the end of its service life or before it breaks. SUMMARY OF THE INVENTION

[0005] The object of the invention is to safely create a borehole, to conserve resources and / or to efficiently create or create the borehole.

[0006] The core idea of ​​the invention is to pursue a previously unconsidered approach of influencing the earth drilling device depending on the stress on the drill string, in order to keep the load on the drill string within such a range that an adjustment is made, confirmed by the operator and / or modified by the earth drilling device, whereby the aim can be to exert only a small (manageable) overload or even virtually no overload on the drill string. The invention thus takes a different approach than EP 3 690 185 B1, in which the stress on the drill string is merely noted and a service life calculation is performed for each individual drill string section.

[0007] The invention has recognized for the first time that the approach of influencing the earth drilling process even when creating a planned borehole represents a departure from the mere determination of the service life calculation, and offers the possibility of using the drill string sections for longer and / or creating the borehole more efficiently, which represents a significant added value for the operator of an earth drilling device.

[0008] The problem is solved by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the respective dependent claims and the description. GENERAL DESCRIPTION

[0009] The invention provides a method for controlling an earth drilling device configured to create a borehole by moving a drill string with rod sections from a starting point to a target point. The method includes the step of determining the bending radius of a section of the drill string during the creation of the borehole. Furthermore, the earth drilling device is controlled depending on the bending radius of this section of the drill string during the creation of the borehole.

[0010] For the purposes of this description, the term "earth drilling device" encompasses any device designed to move a drill string, including drill sections, within a borehole in the ground. An earth drilling device may, in particular, be a high-pressure (HD) or horizontal-pitch (HD) drilling device. In directional drilling, the drill head can be repositioned, allowing for a curvature of the borehole, which in turn necessitates a curvature of the drill string. An earth drilling device can be a device that drives a drill string, displacing soil and driving the drill string translationally into the ground along its longitudinal axis. An additional rotational movement of the drill string around its longitudinal axis may also be incorporated.

[0011] The borehole is typically created in the ground, where the term "ground" is used broadly and can encompass any material. The ground can include any type of soil, such as sand and / or earth, solid or loose rock, and / or rock. The composition of the ground in which the borehole is created can change along its length. Mixed soil compositions, such as a combination of sand and stone or rock, are possible.

[0012] For the purposes of this description, the term "borehole" encompasses the course of a borehole. The borehole, as used in this description, can be an existing or future borehole, preferably at least partially horizontal. Therefore, the term "creating a borehole" can include both a newly drilled borehole and the enlargement of an existing borehole. In particular, when enlarging an existing borehole, at least one pipeline and / or at least one other long object can be inserted into the ground. Specifically, the borehole can be planned, and the drilling rig can be configured to create the borehole according to the plan. Planning a borehole includes planning a trajectory for the drill string between the starting point and the target location, taking into account any known obstacles in the ground.

[0013] If the term "drilling a borehole" is described as including the reaming of an existing borehole, then it is self-evident that removing a drill string initially inserted into the ground can also be considered "drilling a borehole." This is particularly true given that, after the target location has been reached for the first time, preferably in conjunction with a pilot borehole, reaming typically occurs when the drill string is removed from the ground. Before reversing the direction of travel, especially at the target location, a drill bit intended for the pilot borehole at the end of the drill string can be replaced by a reaming tool, allowing the previously created pilot borehole to be reamed from the target location back to the starting point.

[0014] It goes without saying that the term "creating a borehole" also includes removing the drill string from the ground without widening it, since the drill string must be removed from the borehole to be created, even without widening, otherwise there is logically no "free" borehole.

[0015] The term "starting point" refers to a position from which drilling can begin using an earth auger to create a borehole. Typically, the starting point is a launch pit from which the earth auger inserts the drill string into the ground.

[0016] The term "target location" refers to the position to which the drill string is to be moved in order to create the borehole. Typically, the target location is a receiving pit from which the drill string can emerge from the borehole, particularly from the surrounding soil, into the open air.

[0017] The term "drilling rod section" as used in this description does not exclusively encompass rigid, individual power transmission elements that can be directly or indirectly connected to one another and that can be used in an earth drilling device. A drilling rod section may be subject to bending during the drilling of the borehole. A drilling rod section may, in particular, be rod-shaped. A drilling rod section may have a connection point, especially at one end, and most preferably at both ends, by means of which two drilling rod sections can be connected to one another. In particular, the connection point may be a screw thread, part of a plug connection, or another mechanical means of engagement. The connection point may also be a combination of several mechanical means of engagement.

[0018] The drill string sections can be connected to form a drill string. Depending on the drilling progress (especially during pilot drilling), the connection can be lengthened or shortened after completion of the drilling (when withdrawing and removing the drill string from the ground). Lengthening is generally achieved by adding one drill string section, which is attached to the drill string already in the ground. The drill string, now extended by one section, is then advanced further into the ground by the length of that additional section. Similarly, the drill string can be shortened, usually by one drill string section.During shortening – the pulling out of the drill string from the ground after drilling – the drill string is pulled out of the ground for the length of one drill rod section and the drill rod section is separated from the drill string that remains in the ground.

[0019] The linkage sections can be double-tube linkage sections, which may have an inner linkage section and an outer linkage section surrounding the inner linkage section.

[0020] The drill string can have a drill head and, if present, a drill bit at one end, particularly at the front. The drill string can also have a front-mounted drilling tool that can be replaced, in particular when creating the borehole at the target location, especially to be replaced by a reaming tool that allows for reaming when the direction of movement of the drill string is reversed.

[0021] Depending on its design and material stiffness, a rod section may have a minimum bending radius, usually specified by the manufacturer. This minimum radius should ideally not be undercut, as exceeding it can lead to overloading, damage to the rod section, and / or a reduction in its service life. For example, a rod section with a usable length of approximately 3 m and an outer diameter of approximately 7 cm may have a specified minimum bending radius of approximately 33 m. Manufacturers and / or operators commonly refer to this minimum bending radius as the minimum "permissible" bending radius.

[0022] The term "moving the drill string" as used in this description specifically refers to pushing the drill string. In particular, when creating an initial borehole (drilling a pilot hole), the drill string is pushed or pressed into the ground. When withdrawing the drill string, which typically involves widening the borehole (the drill bit may be replaced by a reaming tool), the drill string can be pulled through the ground (following the borehole). This pulling or pushing motion can be assisted by rotating the drill string.

[0023] A drive device is typically provided to impart the necessary movement to the drill string for creating the borehole. As described, the drive device comprises a drive mechanism by which the drive forces or movements are transmitted to the drill string. In a preferred embodiment, the drive device can be configured as a linear drive. The drive device can also be configured as a rack and pinion drive. Alternatively, the drive device can incorporate hydraulic cylinders as the drive mechanism.

[0024] The term "determining the bending radius of a section of the drill string" encompasses a wide variety of methods for measuring or determining the bending radius. Regarding the magnitude of the bending radius, the terms "determine," "record," "measure," and "ascertain" are used synonymously. This interchangeability of terms reflects the fact that, unlike determining a length, a standard cannot typically be applied to the quantity being measured. Instead, an evaluation process is used, taking into account the measurement / determination of potentially multiple quantities and / or signals to ascertain the bending radius.

[0025] Determining the bending radius of a drill string section can be achieved using borehole data. For example, the position of the drill head or another drill string section can be continuously or intermittently recorded during borehole drilling, and the bending radius can be calculated from this data. Specifically, the drill head positions can be used to determine the positions, points, or locations within the borehole that the drill head, and consequently the drill string following it, traverses. A tracking system can be used to continuously and / or intermittently determine the position of the drill head or another drill string section.

[0026] The locating system can be, among other things, a locating system commonly known in the field as a "walk-over system." For this purpose, a transmitter located on the drill string, preferably at the leading end of the drill string, particularly in or on the drill head, can be located using a search device or locating probe that can move above and outside the ground. The depth of the transmitter, i.e., the drill string relative to the search device, can then be determined, for example, from the strength of the signal received by the search device. A two-dimensional profile of the borehole can be directly determined from the data of the walk-over system by determining the depth of the transmitter. The position of the search device is referenced or determined once the depth has been determined.If, for example, a GNSS (Global Navigation Satellite System) is used, a three-dimensional trajectory of the borehole (depth plus the position of the search device above ground) can be determined. Besides the walkover system, numerous other locating systems are known, which can also be combined. A person skilled in the art can use any of these locating systems alternatively or additionally. For example, locating can be done using a gyrocompass that can determine the strength of the Earth's magnetic field and / or via cable.

[0027] It may be provided that the discontinuous determination of the position of the drill string, in particular the drill head, can take place after drilling a section of the drill string and before further insertion of the drill string extended by one section.

[0028] The locating system can also be used after the drill string has reversed direction to determine the position of any section of the drill string, particularly the leading end. However, it can also be additionally or alternatively provided that, for example, during (preferably every) locating operation, the determined position before the direction reversal is assigned to the number of drilled drill string sections and this information is stored. This allows the respective position to be deduced from the remaining number of drill string sections in the borehole during the return movement. This information can be helpful, especially considering that the drill head with the probe may have been replaced by a reaming tool.

[0029] Since the drill string essentially follows the previously drilled bore after reversing direction, the position of the previously located section of the drill string, particularly the leading end, can be determined from the number of remaining drill rod sections. Therefore, during the drill string's movement after reversing direction, the position of a section of the drill string, especially the drill head or the replaced reamer, can be determined directly via the locating system and / or indirectly via the remaining number of drill rod sections in the bore.

[0030] The bending radius can be determined in either three or two dimensions. A three-dimensional calculation allows for the consideration of the load state of the linkage sections in all three spatial directions. A two-dimensional calculation essentially involves a "section" through a plane connecting the starting point and the target point.

[0031] The term "section of drill string" whose bending radius is determined includes, in the sense of the description, the radius of the drill string over its course, whereby in particular the radius over the length of a drill string section in the borehole can be considered.

[0032] The term "during the drilling of the borehole" encompasses, for the purposes of this description, the period during which the drill string is creating the borehole, i.e., when the drill string is in the ground. While the description "during the drilling of the borehole" does not necessarily imply any movement of the drill string, particularly in the longitudinal direction, it does not preclude this. It includes the state in which one drill string section has been completed, the drill string is at rest, particularly in the longitudinal direction, and another drill string section is being attached; rotational movement is not excluded.

[0033] The term "influence" as used in this description encompasses an active, and in particular targeted, influence on the earth drilling device or the means controlling the earth drilling device, such that influence can be exerted on the borehole and / or the settings on the earth drilling device for creating the borehole. This influence can be exerted during both pushing movements, for example, when drilling a pilot hole, and pulling movements, for example, during (subsequent) reaming. It is also possible that an influence occurs only in one direction of movement of the drill string during the creation of the borehole.

[0034] The term "depending on the bending radius of the drill string section" encompasses, in the context of this description, the query as to whether the determined bending radius falls below a threshold value representing a critical bending radius of the drill string section, and in particular, by how much – in quantitative terms – the threshold is undercut. The threshold value may, in particular, be correlated with a minimum "permissible" bending radius that a drill string section should not fall below.

[0035] In principle, it can be stipulated that if the threshold value is increasingly undercut, the intervention will be stronger or carried out in a different manner.

[0036] In a preferred embodiment, the method includes the step of assigning the bending radius of the drill string section to a location in the borehole. In particular, it can be provided that the determined bending radius is assigned to the respective locations in the borehole. This allows, especially when the drill string is withdrawn from the borehole and there is no longer a location in the drill string with a bending radius below the minimum required value, the settings of the drilling rig parameters for creating the borehole can be adjusted to standard settings and / or the operator can be notified that no critical bending radii remain. This enables more efficient borehole creation.

[0037] For the purposes of this description, the term "parameter" of the earth drilling device for creating the borehole includes, in particular, a quantity set on the earth drilling device in the form of the torque, tensile force, and / or thrust force exerted on the drill string. Where the plural is used for the term "parameter," it is implied that only one of the aforementioned quantities can be changed during operation; changes to multiple quantities / parameters are not excluded.

[0038] The invention identifies one way of influencing the bending process: for example, in the case of a rod section with a usable length of approximately 3 m, an outer diameter of approximately 7 cm, and a minimum permissible bending radius of approximately 33 m, the rod section can be "protected" if the torque does not exceed approximately 4,550 Nm and / or the maximum tensile / push force does not exceed approximately 130 kN. The exemplary values ​​for the parameters mentioned can be determined as described in the description.

[0039] In a preferred embodiment, the method comprises the step of issuing a warning regarding the bending radius of the drill string section at an output device when acting on the earth drilling device. The operator is informed of the bending radius by the warning, which may be a simple warning. Additionally or alternatively, the warning may include a specific indication of the bending radius.

[0040] The term "output device" as used in this description includes an electronic or electrical device, in particular in the form of a screen, display, monitor, or the like, which may be an electrically controlled display for reproducing information such as images or characters. The electronic or electrical device may also include a loudspeaker or signal transmitter. The output device may be part of a human-machine interface (HMI). In particular, the output device may be part of the HMI for controlling the earth drilling device.

[0041] The term "warning" encompasses a notification that can be visual, audible, and / or haptic. The operator can be informed via one of these sensory impressions that a warning exists regarding the measured bending radius.

[0042] The warning may be issued in conjunction with a "stop to drilling," causing the auger to cease further movement of the drill string, particularly any pushing motion. Stopping the drilling process can be achieved i) by halting the advance of the auger, ii) by switching off the auger, and / or iii) by putting the auger into a standby mode in which it remains powered on but no drilling occurs.

[0043] In a preferred embodiment, the method includes the step of further querying an input by means of which the warning can be acknowledged, and upon successful acknowledgment, drilling continues. This allows for the possibility that a rod section, particularly near the target location, may have a bending radius that, due to its proximity to the target location, is only temporarily and, for example, only slightly below the minimum bending radius.

[0044] The term "acknowledgment," as described above, encompasses an input from an operator that demonstrates their response to the displayed shutdown warning, indicating that they acknowledged or accepted it. An "acknowledgment" as described above can be a security prompt that can only be answered by authorized operators. To answer the security prompt or make the corresponding input, the aspects of "knowledge" and / or "possession" can be utilized. An "acknowledgment" can be a qualified input that cannot be made accidentally, carelessly, and / or unintentionally. The acknowledgment can ensure that a) no random person acknowledges the warning and / or b) the warning is not acknowledged by mistake. Two-factor authentication is possible.

[0045] In a preferred embodiment, acknowledgment is performed by means of an alphanumeric input, a key input, and / or the actuation of one or more actuators. It is also possible to have an acknowledgment performed via an external device (e.g., a mobile device, e.g., by a supervisor) after the supervisor has received a warning, for example, via a cloud service or SMS. This allows the level of protection against unintentional acknowledgment to be set. For example, the necessary alphanumeric input for acknowledgment is known only to specific operators, or is only made known to them, while the possibility remains that this alphanumeric input could be passed on to third parties without being logged and / or traceable.It may be possible to assign alphanumeric input to different operators or operator groups, so that it can be traced which operator or operator group gave the acknowledgment in the form of the alphanumeric input. The same applies to a mechanical or electromagnetic key (e.g., a code card) that may be issued to a specific operator or operator group. This can also be the case with the activation of one or more operating elements, which, for example, must be activated in a specific sequence. When activating multiple operating elements, it may also be stipulated that the operating elements must be activated at least partially simultaneously. The method for activating multiple operating elements may, in turn, only be communicated to a specific operator or operator group, so that here too it can be traced.It can be logged which operator or operator group performed the acknowledgment.

[0046] As explained above, the threshold for unintentional acknowledgment can be set. In accordance with the exemplary acknowledgment mentioned above, other forms of acknowledgment are also possible. For example, biometric input can be used for acknowledgment, either additionally or alternatively, where the biometric input can correspond to key input. It may be possible, for instance, to recognize a fingerprint, a face, or an iris, provided a corresponding reader or input device is available. Key input and biometric input can be considered acknowledgment using a code that is in the user's possession.

[0047] It may be provided that, analogous to the aforementioned exemplary alphanumeric input, a pattern or a graphic sequence can be entered alternatively or additionally, whereby the input of a pattern or a graphic sequence can correspond analogously to the input of an alphanumeric input. The alphanumeric input and the input of a pattern or a graphic sequence can be considered an acknowledgment by means of a code that has been made known to the user (aspect "knowledge").

[0048] Alternatively or additionally, an image code can be presented to an image reader to trigger an acknowledgment, which can be seen as analogous to key input. Image input or the input of an image code can also be considered an acknowledgment using the aspect of "possession."

[0049] In a preferred embodiment, the method comprises the step of reversing the insertion movement towards the starting point, in particular, at least partially withdrawing the drill string, in order to insert a modified drill channel from a location closer to the starting point to the target location. This makes it possible to insert a drill channel that ideally has no "critical" bending radius for the drill string sections. It can be provided that the earth drilling device or...The control of the earth drilling device and / or by means of another computing unit functionally connected to the earth drilling device allows the course of a borehole to be planned; in particular, it may be provided that a modification of the originally planned borehole can be carried out while maintaining the target location, especially in the event of an unexpected obstacle appearing in the course of the originally planned borehole.

[0050] In a preferred embodiment, the method comprises the step of displaying one or more suggested parameters for the operation of the earth auger that can be used to create the borehole depending on the bend radius of the drill string section, and / or the actuation includes setting parameters of the earth auger that are used to create the borehole depending on the bend radius of the drill string section. Suggested parameters, which may include, in particular, the torque, thrust, and tensile force applied by the earth auger to the drill string, can be displayed to the operator, who can then select from the suggestions.It is also possible for the process to perform at least a temporary and / or optional automatic selection, without requiring operator involvement. This allows for support of the operator, particularly if parameter adjustments are possible, enabling the drilling process to be completed without potential damage to the drill string. The operator can benefit from the display of the suggested parameters in the form of indirect support. If this is not desired, the process itself can influence the parameter settings of the drilling rig, providing complete support to the operator through an automated sequence. In the "automatic variant," the operator can select the parameters, i.e.,The parameters are automatically set by influencing the user.

[0051] In a preferred embodiment, the method includes the step—when one or more suggestions are displayed—of prompting the user for input regarding the selection of the suggestion or a selection from among the multiple suggestions. This allows for a simple presentation of the selection that the operator can easily grasp and choose. For example, the operator can select whether a gentler or a faster drilling method is desired. The operator can also cancel the selection, for example, to stop further drilling.

[0052] In a preferred embodiment, the method includes the step of determining the parameter values ​​by means of a calculation, an estimation, and / or the use of artificial intelligence. This opens up the possibility of identifying a suitable alternative and resorting to appropriate methods for selecting the parameters.

[0053] In principle, a person skilled in the art can calculate the stress on the drill string, and in particular the stress on a section of the drill string (which can correspond to a drill section), essentially analytically. This involves determining the forces exerted on the drill string by the drilling rig, such as tension, compression, or torque, and the bending radius to which the drill string or drill section is subjected. The stresses for torsion, tension / compression, and bending can be calculated using the outer diameter, the inner diameter, the feed force / tensile force, the torque, and the bending moment. The calculated bending stress incorporates the determined bending radius, and a relationship can be established between the bending radius and the torque or tensile / compressive force. Corresponding formulas can be derived for the torque and the tensile / compressive force, allowing for the calculation of an equivalent stress.

[0054] It is possible to approximate the formulas for torque and tensile / compressive force by linearization or changes to the factors. Functions for torque and tensile / compressive force can be chosen as a function of the bending radius.

[0055] Using primarily analytical formulas, it is possible, when a threshold for the minimum permissible bending radius is undershot, to adjust the values ​​for the torque and / or compressive / tensile force parameters exerted by the earth drilling rig on the drill string in such a way that the torque and / or compressive / tensile force is reduced to maintain a constant equivalent stress. The reduction of the compressive / tensile force or the torque can be implemented using a step function.

[0056] The invention also provides a device that is functionally connected to an earth drilling device, wherein the earth drilling device is configured to create a borehole by moving a drill string comprising rod sections, and wherein the device is configured to receive the bending radius of a section of the drill string. The device is further configured to act on the earth drilling device depending on the height of the bending radius of the section of the drill string. This makes it possible to provide a device that can implement the method described in the description.

[0057] If the device is described as being designed to receive the bend radius of a section of the drill string, then the term "receive" includes both actively querying or passively receiving a signal that correlates with the bend radius. The device can then evaluate this signal.

[0058] The term "functionally connected" encompasses, for the purposes of this description, an interaction in which signals and / or power can be transmitted from the device to the earth drilling rig. Specifically, the device can transmit signals and / or power to the earth drilling rig's control system to influence its operation. This "functional connection" can also be bidirectional. Signals can be exchanged between the aforementioned entities to enable interaction. The device can influence the earth drilling rig by transmitting signals. For example, the device can be designed as part of a human-machine interface (HMI), which can be, in particular, part of the HMI used to control the earth drilling rig. It is possible that the device can be at least partially identical to the earth drilling rig's control system for creating the borehole.It is possible that a functional connection involves a direct exchange of signals and / or data; in an alternative or additional configuration, a functional connection can involve an indirect exchange of data via a storage or buffer, which may be designed as a cloud, for example.

[0059] In a preferred embodiment, the device has access to a memory in which the bending radius of a section of the drill string is assigned to a location in the borehole. This memory allows the device to determine, upon withdrawal of the drill string, that, for example, the drill string no longer exhibits a bending radius below a critical threshold, particularly the minimum permissible bending radius. The intervention—for example, by reducing the load through appropriate adjustments to the drilling rig parameters—can then be stopped, and the drill string can be withdrawn from the ground with its parameters restored. Furthermore, drill string sections that have been subjected to increased loads with a corresponding bending radius can be stored and / or marked separately during withdrawal.

[0060] In a preferred embodiment, an output device functionally connected to the device is provided, which is configured to issue a warning regarding the height of the bending radius of the section of the drill string at an output device in order to act on the earth drilling device.

[0061] In a preferred embodiment, an input device functionally connected to the device is provided, which is designed to query an input by means of which the warning can be acknowledged and, upon successful acknowledgment, to act on the earth drilling device to further advance the borehole.

[0062] In a preferred embodiment, a modification device is provided which modifies the borehole, in particular planned, and causes a reversal of the insertion movement towards the starting point, in particular a, in particular at least partial, withdrawal of the drill string, and the modified borehole is inserted from a location of the borehole closer to the starting point to the target location.

[0063] In a preferred embodiment, a display device functionally connected to the device is provided, on which one or more suggestions concerning the height of parameters of the operation of the earth drilling device can be displayed, which can be used to create the borehole depending on the height of the bending radius of the section of the drill string, and / or a functional connection of the device to the earth drilling device is provided, which is configured to set parameters of the earth drilling device that are used to create the borehole depending on the height of the bending radius of the section of the drill string.

[0064] In a preferred embodiment, provided that the alternative of a functional connection with the display device is included, an input device is provided which is configured to prompt for the selection of one or more suggestions. The selected settings can be used for the further installation of the borehole on the earth drilling device.

[0065] In a preferred embodiment, a determination device functionally connected to the device is provided, which is designed to determine the level of the parameters by means of a calculation, an estimation and / or using artificial intelligence.

[0066] The invention also provides a computer-readable storage medium containing a sequence of instructions for controlling a device, in particular a device described within the scope of the description, for carrying out the method described within the scope of the description in conjunction with an earth drilling device. Since earth drilling devices have computers for their control, the method as described can be carried out as needed by feeding a computer program, which may be located on the computer-readable storage medium, into the computer of the earth drilling device. For example, it is possible to "enhance" an earth drilling device with a computer-readable storage medium that is read by the computer of the earth drilling device, thus providing the operator with added value that was previously considered impossible.

[0067] The invention also provides an earth drilling device with a device described within the scope of the present description, which delivers the aforementioned added value.

[0068] The invention also provides an earth drilling device with a computer-readable storage medium described in the description.

[0069] The term "aufweisen" encompasses, in the sense of description, both the inherent meaning of the term, that further elements may be included in addition to the elements mentioned (non-exhaustive list), and the meaning that the term "aufweisen" is used synonymously with "consist of" or "formed of".

[0070] The term "approximately" in the context of numerical data includes, in the sense of description, not only the specifically stated number but also deviations of + / -10% from the specifically stated numerical value, which may result, among other things, from manufacturing with a tolerance.

[0071] The descriptions of the various aspects concerning the method, the equipment, the earth drilling device, and the computer-readable storage medium are to be understood as complementary to one another, whereby descriptions concerning one aspect also apply to embodiments of another of the three aspects and are thus also disclosed for another aspect. The descriptions of the equipment also disclose structural or physical embodiments through the method steps, such as how the method steps can be carried out using the equipment, and conversely, a description of the physical design can also disclose method steps.

[0072] The foregoing statements, as well as the following description of exemplary embodiments, do not constitute a waiver of certain embodiments or features. FIGURES

[0073] The invention is explained in more detail below with reference to an embodiment shown in the drawings.

[0074] The drawings show: Fig. 1 shows a schematic representation of an earth drilling device with a drill string during the pushing insertion of the drill string; and Fig. 2 shows the earth drilling device according to Fig. 1 , whereby the drill string was pushed further in by extending it with additional rod shots. FIGURE DESCRIPTION

[0075] Fig. 1 Figure 1 shows a schematic representation of an earth drilling device 1, which can create a borehole 2 in soil 3. In the exemplary embodiment of the Fig. 1 A pilot borehole is created between a starting point 4, where the earth drilling device 1 is positioned, and a target point 5, where the borehole 2 is to emerge from the ground 3.

[0076] To introduce the in Fig. 1In the drill channel 2, shown in dashed lines, a drill string 6, having rod sections 5, is initially moved by pushing through the earth drilling device 1.

[0077] In the Fig. 1 The schematic representation shows that the drill string 6 has two rod sections 5 which are connected to each other at the point marked V. At the front end of the drill string 6, spaced apart from the earth drilling device 1, there is a drill head 7 which, in the illustrated embodiment, has a probe 8 by means of which, in conjunction with a referencing system, the drill head 7 can be located three-dimensionally after each drilling operation. The course of the drilled borehole 2 can be determined using the drill string 6 still located in the borehole 2.

[0078] A device 11 is provided which, in the embodiment shown in the figures, is part of the earth drilling device 1.

[0079] Essentially, after each drilling operation of a drill string section 5 attached to the drill string 6, the drill head 7 is located, thus determining the course of the drill string 6, which should essentially correspond to the planned borehole 2. The determined location of the drill head 7 is transmitted to the device 11. The actual course of the drilled borehole 2 is derived from the course of the drill string 6.

[0080] The Fig. 1 It can be seen that a bending radius R1 can be determined for each section of the drill string 6 based on its path. This radius is then compared to a threshold value representing the minimum permissible bending radius. If the determined bending radius R1 of the section of drill string 6 does not fall below the threshold value, no action needs to be taken on the earth drilling device 1.

[0081] At the Fig. 2Four rod sections 5 are inserted into the ground 3, and a bending radius is determined at point K that is smaller than the threshold for the minimum bending radius. Now, action can be taken on the earth drilling device 1, whereby various options are available, which can be implemented selectively.

[0082] The earth drilling device 1 is equipped with an output device 9 that indicates whether a minimum bending radius has been breached. The earth drilling device 1 may also be equipped with an input device 10, which allows an operator to acknowledge the presence of a minimum bending radius in the drill string 6 as a safety check.

[0083] In the embodiment shown in the figures, it is also or alternatively possible, in particular by means of the output device 9, to suggest a change to one or more parameters for introducing the borehole 2 to the operator, which the operator can select in particular by means of an input at the input device 10.

[0084] Alternatively or additionally, at least temporarily, it is possible for the device 11 to automatically control parameters for introducing the borehole 2 of the earth drilling device 1.

Claims

1. Method for acting on an earth drilling device (1) configured to create a borehole (2) by moving a drill string (6) having rod sections (5) from a starting location (4) to a target location (12), wherein the method comprises the process step: - determining a bending radius (R1) of a section of the drill string (6) when creating the borehole (2), characterized by the fact that - acts on the earth drilling device (1) depending on the height of the bending radius (R1) of the section of the drill string (6) when inserting the borehole (2).

2. Method according to claim 1, characterized by the fact that The bending radius (2) of the section of the drill string (6) is assigned to a location in the borehole (2).

3. Method according to claim 1 or 2, characterized by the fact that The action on the earth drilling device (1) includes issuing a warning concerning the height of the bending radius of the section of the drill string (6) at an output device (9).

4. Method according to claim 3, characterized by the fact that The intervention also includes querying an input by means of which the warning can be acknowledged and, if acknowledged, further drilling is carried out.

5. Method according to claim 3 or 4, characterized by the fact that The action causes a reversal of the insertion movement towards the starting point (4) in order to insert a modified borehole (2) to the target point (5) from a location of the borehole (2) closer to the starting point (4).

6. Method according to any one of claims 1 to 5, characterized by the fact thatThe action includes a display of one or more suggestions concerning the height of parameters of the operation of the earth drilling device (1) that can be used to create the borehole (2) depending on the height of the bending radius (R1) of the section of the drill string (6) and / or the action includes setting parameters of the earth drilling device (1) that are used to create the borehole (2) depending on the height of the bending radius (R1) of the section of the drill string (6).

7. The method of claim 6, insofar as it includes the alternative of displaying one or more proposals, characterized by the fact that An input is requested regarding the selection of the proposal or multiple proposals.

8. Method according to claim 6 or 7, characterized by the fact thatthe height of the parameters of the earth drilling device (1) for the insertion of the borehole (2) is determined by a) a calculation, b) an estimation and / or c) using artificial intelligence.

9. Device (11) functionally connected or connectable to an earth drilling device (1), wherein the earth drilling device (1) is configured to create a borehole (2) by moving a drill string (6) having rod sections (5) from a starting location (4) to a target location (12), wherein the device (11) is configured to receive the bending radius (R1) of the section of the drill string (6), characterized by the fact that the device (11) includes at least one means designed to act on the earth drilling device (1) depending on the height of the bending radius (R1) of the section of the drill string (6).

10. Device (11) according to claim 9, characterized by the fact thati) the device (11) has access to a memory in which the bending radius (R1) of the section of the drill string (6) is assigned to a location in the borehole (2); ii) an output device (9) functionally connected to the device (11) is provided, which is configured to issue a warning regarding the height of the bending radius (R1) of the section of the drill string (6) in order to act on the earth drilling device (1); iii) an input device (10) functionally connected to the device (11) is provided, which is configured to request an input by means of which the warning can be acknowledged and, upon acknowledgment, acts on the earth drilling device (1) to further advance the borehole (2);iv) a modification device is provided which modifies the borehole (2), in particular the planned one, and causes a reversal of the insertion movement towards the starting point (4), and the modified borehole (2) is inserted from a location of the borehole (2) closer to the starting point (4) to the target location (12); v) a display device (9) functionally connected to the device is provided, on which one or more suggestions concerning the level of parameters of the operation of the earth drilling device (1) can be displayed, which can be used to insert the borehole (2) depending on the level of the bending radius (R1) of the section of the drill string (6) and / or a functional connection of the device (11) to the earth drilling device (1) is provided, which is configured to set parameters of the earth drilling device (1) that are used to insert the borehole (2) depending on the level of the bending radius (R1) of the section of the drill string (6);wherein in particular an input device (10) is provided which is configured to query the selection of the proposal or proposals; and / or vi) a determination device functionally connected with the device (11) is provided which is configured to determine the level of the parameters of the earth drilling device (1) for creating the borehole (2) by means of a) a calculation, b) an estimation and / or c) using artificial intelligence.

11. A computer-readable storage medium comprising a sequence of instructions for controlling a device (11), in particular according to one of claims 9 or 10, for carrying out the method according to one of claims 1 to 8 in conjunction with an earth drilling device (1).

12. Earth drilling device (1) comprising a device (11) according to one of claims 9 or 10.

13. Earth drilling device (1) according to claim 12 and the computer-readable storage medium according to claim 11.

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