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1. WO2020060921 - SYSTEMS, METHODS AND APPARATUS FOR CHARACTERIZING STICK-UP HEIGHT, POSITION AND ORIENTATION OF A DRILL PIPE

Publication Number WO/2020/060921
Publication Date 26.03.2020
International Application No. PCT/US2019/051286
International Filing Date 16.09.2019
IPC
E21B 47/00 2012.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
47Survey of boreholes or wells
E21B 19/00 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
19Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
E21B 19/16 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
19Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
16Connecting or disconnecting pipe couplings or joints
E21B 19/20 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
19Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
20Combined feeding from rack and connecting, e.g. automatically
E21B 41/00 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
41Equipment or details not covered by groups E21B15/-E21B40/95
E21B 44/00 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
44Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
CPC
E21B 19/161
EFIXED CONSTRUCTIONS
21EARTH DRILLING; MINING
BEARTH DRILLING, e.g. DEEP DRILLING
19Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick
16Connecting or disconnecting pipe couplings or joints
161using a wrench or a spinner adapted to engage a circular section of pipe
E21B 19/165
EFIXED CONSTRUCTIONS
21EARTH DRILLING; MINING
BEARTH DRILLING, e.g. DEEP DRILLING
19Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick
16Connecting or disconnecting pipe couplings or joints
165Control or monitoring arrangements therefor
G01C 9/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
9Measuring inclination, e.g. by clinometers, by levels
G01S 17/42
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02Systems using the reflection of electromagnetic waves other than radio waves
06Systems determining position data of a target
42Simultaneous measurement of distance and other co-ordinates
G01S 17/86
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
86Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
Applicants
  • BLAKELY, Charles [US]/[US]
  • PREVOST, Brad [US]/[US]
Inventors
  • BLAKELY, Charles
  • PREVOST, Brad
Agents
  • TALBOT, C. Scott
  • HUTTER, Christopher
  • BINSTOCK, Jeremy D
Priority Data
62/732,22517.09.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEMS, METHODS AND APPARATUS FOR CHARACTERIZING STICK-UP HEIGHT, POSITION AND ORIENTATION OF A DRILL PIPE
(FR) SYSTÈMES, PROCÉDÉS ET APPAREIL POUR CARACTÉRISER LA HAUTEUR DE FIXATION, LA POSITION ET L'ORIENTATION D'UNE TIGE DE FORAGE
Abstract
(EN)
A processor is operably coupled to a time of flight (TOF) camera, a light detection and ranging (LIDAR) sensor, and an optical camera. The processor can receive a TOF signal representative of a first coordinate associated with a stick-up height of a tool joint of a pipe of a drill string during a tripping operation on a rig drill floor, and a pitch and a roll of the tool joint. The processor can receive a LIDAR signal representative of a second coordinate associated with the stick-up height, and the pitch of the tool joint. The processor can receive an optical camera signal representative of a third coordinate associated with the stick-up height of the tool joint and the roll of the tool joint. The processor can generate a pose estimate and an orientation estimate based on the signals.
(FR)
Selon l'invention, un processeur est couplé fonctionnellement à un appareil de prise de vues à temps de vol (TOF), un capteur de détection de lumière et de télémétrie (LIDAR), et un appareil de prise de vues optique. Le processeur peut recevoir un signal TOF représentatif d'une première coordonnée associée à une hauteur de fixation d'un raccord de tige d'un tube d'un train de tiges de forage pendant une opération de forage sur un plancher de forage d'appareil de forage, et un tangage et un roulis du raccord de tige. Le processeur peut recevoir un signal LIDAR représentatif d'une deuxième coordonnée associée à la hauteur de fixation, et le pas du raccord de tige. Le processeur peut recevoir un signal d'appareil de prise de vues optique représentatif d'une troisième coordonnée associée à la hauteur de fixation du raccord de tige et du roulis du raccord de tige. Le processeur peut générer une estimation de pose et une estimation d'orientation en se basant sur les signaux.
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