BR112017013562A2 - sistemas e métodos para posicionamento de tubulações rosqueadas de campo petrolífero em um ambiente de piso de perfuração e para fazer conexões rosqueadas tubulares. - Google Patents

sistemas e métodos para posicionamento de tubulações rosqueadas de campo petrolífero em um ambiente de piso de perfuração e para fazer conexões rosqueadas tubulares.

Info

Publication number
BR112017013562A2
BR112017013562A2 BR112017013562A BR112017013562A BR112017013562A2 BR 112017013562 A2 BR112017013562 A2 BR 112017013562A2 BR 112017013562 A BR112017013562 A BR 112017013562A BR 112017013562 A BR112017013562 A BR 112017013562A BR 112017013562 A2 BR112017013562 A2 BR 112017013562A2
Authority
BR
Brazil
Prior art keywords
tubes
positioning
tubular
drilling floor
systems
Prior art date
Application number
BR112017013562A
Other languages
English (en)
Other versions
BR112017013562B1 (pt
Inventor
Mailly Benjamin
I Harjes Daniel
King Davis
Daniel Nelson Eric
Padilla Hector
Enxing Hugh
Howe Smith Leland
Nancy Li Ranxing
Sedalor Teddy
Yu Wei
Liu Yinxiao
Original Assignee
Shell Int Research
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shell Int Research filed Critical Shell Int Research
Publication of BR112017013562A2 publication Critical patent/BR112017013562A2/pt
Publication of BR112017013562B1 publication Critical patent/BR112017013562B1/pt

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/165—Control or monitoring arrangements therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
    • G06F18/2411—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on the proximity to a decision surface, e.g. support vector machines
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/243—Classification techniques relating to the number of classes
    • G06F18/24323—Tree-organised classifiers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G06N20/10—Machine learning using kernel methods, e.g. support vector machines [SVM]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/02—Couplings; joints
    • E21B17/04—Couplings; joints between rod or the like and bit or between rod and rod or the like
    • E21B17/042—Threaded
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Software Systems (AREA)
  • Multimedia (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Computing Systems (AREA)
  • Medical Informatics (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Mathematical Physics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Earth Drilling (AREA)
  • Drilling And Boring (AREA)

Abstract

um sistema e um método para posicionar tubulações de campo petrolífero em um piso de perfuração (2), tendo um sistema de manipulação tubular automatizado, para permitir o alinhamento e maquinação e saída automáticas de operações de rosca entre um tubular estacionário (8) e um tubular móvel (34), usando informações de imagem de câmeras com deslocamento radial (54, 56), processando a informação de imagem para reconhecer os tubulares dentro da imagem e desenvolvendo informações de posição para os referidos tubulares, combinando a informação de posição dos dois sistemas de câmera para desenvolver informações tridimensionais para cada uma dos tubulares, desenvolvendo instruções para o sistema de manipulação tubular automatizado para colocar os tubos fixos e móveis em alinhamento vertical e abaixar o tubo tubular móvel em contato rosqueado e engatar uma chave de torque hidráulica automatizada para fazer a conexão rosqueada.
BR112017013562-0A 2014-12-23 2015-12-22 Sistemas e métodos para posicionamento de tubulações rosqueadas de campo petrolífero em um ambiente de piso de perfuração e para fazer conexões rosqueadas tubulares. BR112017013562B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462095837P 2014-12-23 2014-12-23
US62/095837 2014-12-23
PCT/US2015/067306 WO2016106294A1 (en) 2014-12-23 2015-12-22 System and method for positioning of tubular members

Publications (2)

Publication Number Publication Date
BR112017013562A2 true BR112017013562A2 (pt) 2018-03-06
BR112017013562B1 BR112017013562B1 (pt) 2022-03-22

Family

ID=55221517

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017013562-0A BR112017013562B1 (pt) 2014-12-23 2015-12-22 Sistemas e métodos para posicionamento de tubulações rosqueadas de campo petrolífero em um ambiente de piso de perfuração e para fazer conexões rosqueadas tubulares.

Country Status (7)

Country Link
US (1) US10196867B2 (pt)
EP (1) EP3237722B1 (pt)
CN (1) CN107251054A (pt)
AU (1) AU2015369675B2 (pt)
BR (1) BR112017013562B1 (pt)
CA (1) CA2972040A1 (pt)
WO (1) WO2016106294A1 (pt)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO343139B1 (en) * 2017-07-13 2018-11-19 Pipe Pilot As Method for aligning pipes coaxially
US11015402B2 (en) 2018-04-27 2021-05-25 Canrig Robotic Technologies As System and method for conducting subterranean operations
US11041346B2 (en) 2018-04-27 2021-06-22 Canrig Robotic Technologies As System and method for conducting subterranean operations
IT201800004926A1 (it) * 2018-04-27 2019-10-27 Manipolatore multifunzionale per la movimentazione di elementi di perforazione in un impianto di perforazione, impianto di perforazione e relativi metodi di movimentazione degli elementi di perforazione.
US10822891B2 (en) 2018-04-27 2020-11-03 Canrig Robotic Technologies As System and method for conducting subterranean operations
US10808465B2 (en) 2018-04-27 2020-10-20 Canrig Robotic Technologies As System and method for conducting subterranean operations
US10907466B2 (en) 2018-12-07 2021-02-02 Schlumberger Technology Corporation Zone management system and equipment interlocks
US10890060B2 (en) 2018-12-07 2021-01-12 Schlumberger Technology Corporation Zone management system and equipment interlocks
US10975681B2 (en) * 2019-04-09 2021-04-13 Weatherford Technology Holdings, Llc Apparatus and method for locating tool joint
US11384633B2 (en) * 2019-05-20 2022-07-12 Caterpillar Global Mining Equipment Llc Drill head position determination system
US11180964B2 (en) 2019-08-20 2021-11-23 Barry J. Nield Interlock for a drill rig and method for operating a drill rig
US11448019B2 (en) 2019-09-23 2022-09-20 Barry J. Nield Interlock for a drill rig and method for operating a drill rig
CN110751691B (zh) * 2019-09-24 2022-09-20 同济大学 一种基于双目视觉的管件自动抓取方法
US11913293B2 (en) * 2019-11-27 2024-02-27 Canrig Robotic Technologies As Slip wear detection
US11773662B2 (en) * 2020-05-14 2023-10-03 Weatherford Technology Holdings, Llc Tubular string make-up methods utilizing image processing
US11367202B2 (en) * 2020-05-14 2022-06-21 Weatherford Technology Holdings, Llc Optical monitoring of threaded connection make-up and break-out processes
US11643887B2 (en) * 2020-07-06 2023-05-09 Canrig Robotic Technologies As Robotic pipe handler systems
WO2022048924A1 (en) 2020-09-01 2022-03-10 Canrig Robotic Technologies As Tubular handling system
US11603720B2 (en) * 2020-09-04 2023-03-14 Sichuan Honghua Petroleum Equipment Co., Ltd. Methods for tripping a drilling rig or a workover rig

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2870659A (en) * 1957-07-01 1959-01-27 Fred G Burg Machine tool having a turret head
US5675214A (en) * 1994-09-21 1997-10-07 U.S. Philips Corporation Low-pressure discharge lamp having hollow electrodes
CN1648408A (zh) * 2004-09-20 2005-08-03 张复彦 石油天然气钻井作业监控管理系统
WO2007143842A1 (en) * 2006-06-14 2007-12-21 Roboweld Inc. Systems and methods for autonomous tripping of oil well pipes
US8812226B2 (en) 2009-01-26 2014-08-19 GM Global Technology Operations LLC Multiobject fusion module for collision preparation system
GB201007200D0 (en) 2010-04-29 2010-06-16 Nat Oilwell Varco Lp Videometric system and method for offshore and oil-well drilling
JP5675214B2 (ja) * 2010-08-18 2015-02-25 キヤノン株式会社 情報処理装置、情報処理方法およびプログラム
WO2013048260A2 (en) 2011-09-29 2013-04-04 Voca As Method and apparatus for finding stick-up height of a pipe or finding a joint between two pipes in a drilling environment
US9706185B2 (en) 2012-04-16 2017-07-11 Canrig Drilling Technology Ltd. Device control employing three-dimensional imaging
CN103456038A (zh) * 2013-08-19 2013-12-18 华中科技大学 一种井下环境三维场景重建方法

Also Published As

Publication number Publication date
CN107251054A (zh) 2017-10-13
EP3237722B1 (en) 2019-09-18
US20170362905A1 (en) 2017-12-21
AU2015369675B2 (en) 2018-11-08
AU2015369675A1 (en) 2017-07-13
US10196867B2 (en) 2019-02-05
CA2972040A1 (en) 2016-06-30
WO2016106294A1 (en) 2016-06-30
EP3237722A1 (en) 2017-11-01
BR112017013562B1 (pt) 2022-03-22

Similar Documents

Publication Publication Date Title
BR112017013562A2 (pt) sistemas e métodos para posicionamento de tubulações rosqueadas de campo petrolífero em um ambiente de piso de perfuração e para fazer conexões rosqueadas tubulares.
BR112017009746B8 (pt) Sistema e método para colocação e remoção de tubo de uma prateleira de uma plataforma de perfuração, e sistema para monitoramento das condições de conservação de uma multiplicidade de engates em um suporte tipo barra de uma plataforma de perfuração
CL2019002091A1 (es) Acoplamiento mecanico para tuberia mecanica y estructural.
EP3234513A4 (en) System, apparatus and method for automatic pipe type detection
BR112016028501A2 (pt) sistema e método de soldagem com sistema de captação de orientação para determinação da orientação de solda com base na força gravitacional
BR112018068469A2 (pt) método e sistema de detecção de defeitos eletromagnéticos.
FR3052529B1 (fr) Robot pour la renovation de conduites forcees, muni d'un systeme anti-vrille de deplacement
NO343149B1 (no) Fremgangsmåte for visuell inspeksjon og logging
EP3526571A4 (en) SYSTEMS, DEVICES AND METHODS FOR IN-TUBE LEAK DETECTION
FR3021740B1 (fr) Procede et systeme d'evaluation d'un debit d'un fluide
SG11202100676XA (en) Assembly- and disassembly-free pipeline system for pipe jacking machine, and construction method therefor
BR112016021677A2 (pt) aparelho, sistema e método para inspeção de cimento de fundo de poço.
FR3016220B1 (fr) Systeme et procede de localisation d'un objet
FR3055686B1 (fr) Systeme de canalisations avec detection de fuite
FR3042893B1 (fr) Procede de detection de fraude par projection d'image pre-enregistree
FR3045772B1 (fr) Raccord de connexion pour canalisation de circuit de fluide d’aeronef, canalisation et procede de raccordement
BR112018000312A2 (pt) método de desdobramento de tubulação de navios, sistema de transferência de junções de campo, e navio de lançamento de canos
BR112017014359A2 (pt) método e aparelho para detectar conflito de transação e sistema de computador.
DK3516282T3 (da) Universalt rørforbindelsessystem
EP3557154A4 (en) SYSTEM FOR DETECTING PIPE ANOMALIES, METHOD FOR DETECTING PIPE ANOMALIES AND PROGRAM
ES1216734Y (es) Sistema de suspension acoplado para bicicletas
FR3087362B1 (fr) Installation de projection de fluide et procede de deplacement d'un fluide associe
SI3538308T1 (sl) Vrtalna naprava za obdelavo cevi na dnih cevi prenosnikov toplote v radioaktivnem okolju
IT201700044294A1 (it) Sistema e rubinetto di spillatura, e metodo
UY36970A (es) Sistema de acoplamiento y método para acoplar dos extremos de tubería

Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 22/12/2015, OBSERVADAS AS CONDICOES LEGAIS.