CN113227531A - Optical tool joint assist for iron roughneck - Google Patents
Optical tool joint assist for iron roughneck Download PDFInfo
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- CN113227531A CN113227531A CN201980087336.7A CN201980087336A CN113227531A CN 113227531 A CN113227531 A CN 113227531A CN 201980087336 A CN201980087336 A CN 201980087336A CN 113227531 A CN113227531 A CN 113227531A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title description 46
- 229910052742 iron Inorganic materials 0.000 title description 23
- 230000003287 optical effect Effects 0.000 title description 5
- 238000005553 drilling Methods 0.000 claims abstract description 43
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- 150000002430 hydrocarbons Chemical class 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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- 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
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- 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
- E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
-
- 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
-
- 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
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/143—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater drilling
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- 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
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
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- Engineering & Computer Science (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
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Abstract
A tool joint assistance system for making and breaking a joint of tubulars in a drill string with respect to a drilling rig, the tool joint assistance system comprising: a roughneck having an upper jaw and a lower jaw; a camera positioned relative to the roughneck to enable capturing of an image of the tubular and the roughneck; a computer comprising a processor, a non-transitory storage medium, a display, a transmitter/receiver, and a set of computer readable instructions stored in the non-transitory storage medium and when executed by the processor: (i) presenting a captured image of the tubular, the driller, and an indicator of the driller's proposed height relative to the tubular; receiving instructions from an operator to adjust the indicated recommended height relative to the tubular in the captured image; and (ii) commanding the roughneck to move to the adjusted height.
Description
Cross-reference paragraphs
The present application claims the benefit of U.S. non-provisional application No. 16/193,295 entitled "OPTICAL TOOL join association FOR IRON roughhneck" filed on 16/11/2018, the disclosure of which is incorporated herein by reference.
Technical Field
The present disclosure relates to pipe treatment and drilling operations for hydrocarbons and other formation fluids and gases. In particular, the present invention relates to a system and method for determining the position of an iron roughneck relative to a pipe joint.
Background
In a drilling operation, a drill string is run into a wellbore and consists of a series of connected drill pipes. As the drill string is lowered into the wellbore, additional tubing is added to the top of the drill string to lengthen the drill string. The drill string is lowered in the wellbore until only the uppermost portion of the drill string extends above the rig floor. The distance that the upper end of the drill string extends above the rig floor is referred to as the "reach height". When the drill string is positioned at the appropriate "hoisting height" to trip a new section of drill pipe onto the drill string, the pipe handling apparatus positions the new section of drill pipe in axial alignment with the drill string immediately above the drill string. The new section of drill pipe is lowered until the pin end of the new section of drill string enters the box end of the drill string. The new length of drill pipe is then rotated relative to the drill string to engage the threads of the pin and box ends to form a pipe joint. An iron roughneck is then placed at the pipe joint to apply sufficient torque to make up the joint. Typically, the threads are engaged by a low torque pipe spinner and the connection is made-up by the iron roughneck's mechanical tongs, which applies high torque to the connection to ensure a complete and durable connection is made where the shoulders of the box and pin fully meet.
Because not all of the drill pipe sections are of the same length and there is a great variability in the drilling process, the "reach out" changes each time a new pipe joint is assembled in the drill string. Variable "reach out height" can be problematic because the low torque pipe spinner and iron roughneck must be properly positioned relative to the joint. In particular, the low torque pipe spinner must be positioned to engage a new pipe section and the iron roughneck must be positioned so that its upper jaw engages the pin end of the new pipe section and its lower jaw engages the box end of the uppermost section of the drill string.
Current systems use optical cameras to acquire data about the position of the pipe joint relative to the iron roughneck. Typically, these systems use a computer to process camera images of the pipe joints and control the position of the iron roughneck relative to the pipe joints.
US9,464,492 discloses a system for determining the position of a downhole drill pipe relative to a drill pipe handling apparatus. The system comprises: an imaging device arranged to capture an image of the drill rod in a region of the drill rod for engagement by the apparatus; and a processor operable to analyse the captured images and determine therefrom the position of the drill pipe relative to the apparatus. The processor is operable to analyze the captured image and provide a control signal to a control device of the position of the wrench.
US9,657,539 discloses an automatic roughneck comprising back-up tongs and make-up tongs. The make-up tong and back-up tong are selectively movable relative to each other. The make-up tong and back-up tong may include spinner and gripper assemblies adapted for make-up and break-out threaded connections, respectively. A positioning sensor may be positioned on an upper surface of the make-up tong, wherein the positioning sensor may scan the drill string to detect the tool joint as the make-up tong and backup tong move vertically. The positioning sensor may alternatively be located at any other location on the autodriller or any other surrounding structure. The positioning sensor may be any sensor capable of detecting the position of the tool joint to position the make-up tong and back-up tong. The positioning sensor may be, for example, an optical sensor such as a camera, an infrared range finder, or a sound-based sensor such as an ultrasonic sensor. Multiple positioning sensors may be used.
WO2016/106294 discloses a system and method for positioning oilfield tubulars on a drilling rig (2) having an automated tubular handling system to allow alignment and automatic make-up and break-out operations between fixed and moving tubulars, utilizing image information from radially offset cameras, processing the image information to identify the tubulars within the image and generate position information for the tubulars, combining the position information from the two camera systems to generate three dimensional information for each tubular, commanding the automated tubular handling system to vertically align the fixed and moving tubulars and lower the moving tubulars into threaded contact, and engaging an automatic hydraulic torque wrench to make-up the threaded connection.
Camera image data sometimes proves unreliable in the event that edges and boundaries of the box and pin ends of the drill pipe are occluded. When tripping the drill string out of the borehole, the edges and boundaries are particularly obscured because the pipe is covered with dirt, soil and minerals. When the automatic camera system cannot ensure that the iron roughneck is correctly aligned, the drilling operator is forced to let the driller perform visual inspection on the position of the iron roughneck. This requires personnel to be present on the rig floor in person, which is not the optimal choice for safety reasons.
While previous automated systems positioned the iron roughneck relative to the pipe joint based on image data, they did not provide a visual check to the drilling operator to visually confirm that the position was correct. In view of the existing systems, there is a need for a joint control system that provides remote visual inspection of iron roughnecks during make-up and break-out operations.
Disclosure of Invention
In accordance with the teachings of the present disclosure, the disadvantages and problems associated with existing rig control systems are alleviated.
According to one aspect of the present invention there is provided a tool joint assistance system for making up and breaking out pipe joints of tubulars in a drill string with respect to a drilling rig, the tool joint assistance system comprising: a roughneck having an upper jaw and a lower jaw; a camera positioned relative to the roughneck to capture images of the tubular and the roughneck; a computer comprising a processor, a non-transitory storage medium, a display, a transmitter/receiver, and a set of computer readable instructions stored in the non-transitory storage medium and when executed by the processor: (i) presenting a tubular, a captured image of a roughneck, and an indicator of a suggested height of the roughneck relative to the tubular; receiving an indication from an operator to adjust an indicated recommended height relative to the tubular in the captured image; and (ii) commanding the roughneck to move to the adjusted height.
Another aspect of the invention provides a tool joint assistance method for making up and breaking out a joint of tubulars in a drill string with respect to a drilling rig, the tool joint assistance method comprising: capturing an image of the tubular and the driller; presenting the captured images to a rig operator on a display; presenting, in the captured image, an indicator of the proposed height of the roughneck relative to the tubular; and receiving confirmation from the rig operator that the proposed height is approved.
According to another aspect of the present invention there is provided a tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig, the tool joint assistance system comprising: a tube handling apparatus; a camera positioned relative to the pipe handling apparatus so as to be able to capture an image of a tubular being handled by the pipe handling apparatus; a computer comprising a processor, a non-transitory storage medium, a display, a transmitter/receiver, and a set of computer readable instructions stored in the non-transitory storage medium and that when executed by the processor: capturing an image of the tubular; presenting the captured images to a rig operator on a display; presenting an indicator of a suggested height of the pipe processing device in the captured image; and receiving confirmation from the rig operator that the proposed height is approved.
Drawings
A more complete understanding of the present embodiments may be derived by referring to the following description when considered in conjunction with the following figures, wherein like reference numbers refer to similar features throughout the figures.
FIG. 1 is a schematic view of a tool joint assistance system having a roughneck, a camera and a computer for making and breaking out joints of tubulars in a drill string relative to a drilling rig;
FIG. 2 is an example of a graphical user interface presenting images captured by the camera of FIG. 1 via a display, with pipe joints shown in the images;
fig. 3 is an example of a graphical user interface via a display that presents a real-time video stream and a "red line" indicator of a proposed height of a driller via the camera of fig. 1 of the pipe joint.
FIG. 4 is a flow chart of an algorithm for make-up and break-out of joints of tubulars in a drill string with respect to a drill rig;
the objects and features of the present invention will be more readily understood from the following detailed description and appended claims when read in conjunction with the accompanying drawings, in which like reference numerals identify like elements.
The drawings constitute a part of this specification and include exemplary embodiments of the present invention, which may be embodied in various forms. It is to be understood that in some instances various aspects of the invention may be exaggerated or enlarged to facilitate an understanding of the invention.
Detailed Description
The preferred embodiments are best understood by referring to fig. 1-4 below, in view of the following general discussion. The present disclosure may be understood more readily in the context of high-level descriptions of certain embodiments.
Fig. 1 is a perspective view of a tool joint assistance system 5 of the present invention in which an iron roughneck 10 is positioned adjacent a drill string 40 and a camera 20 is positioned to capture images of the drill string 40. The computer 30 includes a display 32, a keyboard 34, and a mouse 36. The computer 30 receives a signal feed from the camera 20, wherein the signal feed includes an image of the drill string 40 above the drilling platform. The computer 30 also provides command signals to the iron roughneck 10 to raise/lower the iron roughneck relative to the drill string 40.
Fig. 2 shows a graphical user interface GUI50 of the tool joint assistance system 5, which may be illuminated on the display 32 of the computer 30. The GUI50 includes video images 52 of a scene at the drilling rig at which the drill string 40 and iron roughneck 10 are collectively positioned. The GUI50 provides icons and navigation buttons that allow the user to navigate and control the system. In particular, the GUI50 allows the user to zoom in/out on the image 52 and change the configuration of the image 52. Such control may be accomplished by controlling the camera 20 or may be accomplished by simply modifying the manner in which the image 52 is displayed in the GUI 50.
Fig. 3 shows a graphical user interface GUI50 of the tool joint assistance system 5 with a video image 52 of a scene at the drill rig floor where the drill string 40 and the iron roughneck 10 are located. The tool joint assistance system 5 may use the high resolution camera 20 or cameras to capture images of the target drill string 40. When the roughneck 10 is ready to make/break pipe connections/joints, the capture of the image may be triggered by the computer 30. These images may be presented to the operator with a "red line" 54 representing the current height configuration of the driller 10. The operator may easily adjust the up or down height setting using the operator mouse 36 or any other interface device, such as a joystick known to those skilled in the art, before confirming the correct extension height. The operator adjustment may dynamically adjust the height indicator in the presented image as the iron roughneck 10 is vertically repositioned relative to the drill string 40. The tool joint assistance system 5 assists the operator in setting the correct protrusion height for the driller 10. The tool joint assistance system 5 is particularly useful in situations where the operator cannot directly see the opening of the driller's tongs from the control chair, because other machines block the view or the driller 10 is physically placed on the drilling platform. The image seen by the operator is a clear picture with no machine obstructing the view. The tool joint assistance system 5 may provide a graphical view of the drill string and presentation of the protrusion height integrated in the overall control system, which may be controlled from the operator's seat. The tool joint assistance system 5 enables quick operation and precise extension height adjustment of the iron roughneck 10.
The tool joint assistance system 5 may include one or more digital cameras located in a secure area (DCR) or ATEX approved camera housing on a rig platform. A computer-based system is connected to the camera and uses vision software to evaluate the image and help the operator set the correct extension or tool joint height. The tool joint assistance system 5 may enable the drill control system to assist the operator in adjusting the extension or tool joint height in order to position the iron roughneck 10 at the correct height during the automatic cycle operation. With the camera-based system, the need for personnel to visually inspect the extension height positioning directly on the rig floor is greatly reduced and, in most cases, eliminated. The tool joint assistance system 5 may thus assist the operator in efficient and safe make-up and break-out operations.
The tool joint assistance system 5 may provide: high quality images from a camera; integrated into the overall rig control system; precise height adjustment of the driller relative to the drill string; no mechanical abrasion exists; the fast and efficient automatic cycle operation of the iron roughneck; a tool joint finder computer interfaced with the roughneck control system; easy configuration and storage of predefined pipe profiles (profiles). The tool joint assistance system 5 may provide safety enhancements such as: reducing the need for rig platform personnel; and confirming the protrusion height before the driller obstructs direct operator view.
The tool joint auxiliary system 5 can accommodate a diameter of
To
(31/2"to 10" U.S. (US)). The working area range may be the camera height SI (23 "+ -11)1/2English (US)) of about 600 mm. + -. 300 mm. The design temperature minimum/maximum that may be associated with only the ATEX shell may be-20 ℃ to +40 ℃ SI (-4 ° F to +104 ° F english (US)). The system may be classified as applicable to ATEX1 zone.
According to another embodiment of the present invention, a method for making-up and breaking-out a drill pipe joint is provided. A sequence of steps of the method comprises: (1) the driller is in an idle state; (2) the operator confirms the start of the sequence; (3) the tool joint assistance system captures images of the extension/tool joint and proposes the height setting of the driller; (4) the operator adjusts the height setting of the roughneck to match the detected extension/tool joint height; and (5) the tool joint assistance system commands the driller to move to the adjusted height setting before gripping the drill string.
FIG. 4 shows a flow chart of a process of processing an algorithm of an embodiment of the present invention. The process begins with the driller positioned 62 in an idle state. In particular, stopping the driller at a location remote from the well center to clear obstacles for pipe handling operations. For example, if a tubular is being run down into the wellbore, the drill string is lowered until a portion of the drill string extends above the rig floor to an extended height, and a new section of tubular may be placed directly above the drill string to be tripped up thereon. In another example, if the tubular is tripped out of the wellbore, the drill string is raised until the pipe joints are above the rig floor within the working range of the driller to trip the upper section from the drill string. In either case, the operator confirms 64 the start of the driller's automated sequence. For drill-down it is an automatic make-up sequence and for drill-up it is an automatic break-out sequence. The automated sequence then positions 66 the roughneck at the recommended height by using sensors, cameras, etc. to identify the extension height or the height of the tool joint. The localization by automatic sequence may be done by any known system or method, for example as described in US9,464,492; US9,657,539; and those disclosed in WO2016/106294, the entire disclosures of which are incorporated herein by reference. The tool joint assistance system then captures 68 an image of the extension or tool joint and the driller. The tool joint assistance system then presents 70 a graphical user interface GUI to the operator so that the operator can view the captured images and an indicator of the proposed roughneck height for the reference extension or tool joint. The operator may then determine 72 whether the suggested height is the same as the actual protrusion height or the height of the tool joint shown in the image. If the heights are different (NO), the operator adjusts 78 the suggested height setting to align with the top of the overhang in the captured image or the seam of the tool joint. The tool joint assistance system then commands 80 the roughneck to move to the adjusted height position. The algorithm steps 68 and 70 are then repeated and the operator again determines 72 whether the adjusted height is the same as the actual protrusion height or the height of the tool joint shown in the image. If the heights are the same (YES), the operator confirms 74 the continuation of the driller's automated sequence. The automated sequence then commands 76 the driller to perform an operation (make-up or break-out) on the drill string. Finally, the automatic sequence then commands 62 the driller to return to the idle state position.
Returning again to FIG. 1, the display 32 may include any type of display device for displaying information associated with the GUI, such as an LCD screen (e.g., a Thin Film Transistor (TFT) LCD or a Super Twisted Nematic (STN) LCD), an Organic Light Emitting Diode (OLED) display, or any other suitable type of display. In some embodiments, the display 32 may be an interactive display (e.g., a touch screen) that allows a user to interact with the GUI. In other embodiments, the display 32 may be a strictly display device, such that all user input is received via other input/output devices.
A keyboard and mouse are shown in fig. 1. However, the input/output devices may include any suitable interface that allows a user to interact with the GUI. For example, the input/output devices may include touch screens, physical buttons, joysticks, sliders, switches, data ports, keyboards, mice, voice activated interfaces, or any other suitable devices.
The processor may comprise a microprocessor, microcontroller, Digital Signal Processor (DSP), Application Specific Integrated Controller (ASIC), Electrically Programmable Read Only Memory (EPROM) or Field Programmable Gate Array (FPGA), or any other suitable processor and may generally be used to execute instructions of the GUI, as well as to provide any other functionality of the system. The memory may include any one or more devices suitable for storing electronic data, such as RAM, DRAM, ROM, internal flash memory, external flash memory cards (e.g., multi-media cards (MMC), reduced size MMC (RS-MMC), Secure Digital (SD), MiniSD, MicroSD, compact flash, ultra-compact flash, sony memory stick, etc.), SIM memory, and/or any other type of volatile or non-volatile memory or storage device. The computer code instructions of the system may include application software, firmware, and/or any other type of computer readable instructions and/or any related, required, or useful application, plug-in, reader, viewer, update, patch, or other code for executing an application program, which may be downloaded over the internet or installed in any other known manner.
The systems and methods disclosed herein may be used for make-up and break-out of tubulars in a drill string relative to joints of a drilling rig. They can also be used during pipe treatment operations while draining (racking) the legs of the pipe section. Some drilling rigs are capable of building a stand (stand) of pipe during tripping or drilling operations. Also, some drilling rigs are capable of removing a stand of pipe during tripping or drilling operations. The system and method of the present invention may be applied to any situation where a roughneck is engaged with a tubular to perform a make-up or break-out operation.
Furthermore, the invention may be applied to other pipe handling operations, for example when connecting lengths of tubular pipe to a drill string using a top drive. An automated sequence of top drives may be used to lower a length of tubular to a drill string suspended by a spider in a rig floor. However, due to the different lengths of tubular pipe sections and the varying extension heights of the suspended drill string, the automated sequence may not be able to lower the tubular pipe sections to a height suitable for pipe engagement. The system and method of the present invention may be used to present an image of a tubular and an indicator of a proposed height of a lower pin end of the length of tubular to a drilling operator. The drilling operator may then adjust the height indicator of the lower pin end, which may command the top drive to position the height of the lower pin end at the adjusted height. An automated sequence may then be initiated to screw the tubular via the top drive.
This description is provided to enable any person skilled in the art to make and use the invention, and is provided in the context of a particular application and its requirements. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The term "substantially" if used herein is intended to mean "more so than not".
Having thus described the present invention by reference to certain of its preferred embodiments, it is noted that the embodiments disclosed are illustrative rather than limiting in nature and that a wide range of variations, modifications, changes, and substitutions are contemplated in the foregoing disclosure and, in some instances, some features of the present invention may be employed without a corresponding use of the other features. Many such variations and modifications may be considered desirable by those skilled in the art based upon a review of the foregoing description of preferred embodiments. Accordingly, it is appropriate that the appended claims be construed broadly and in a manner consistent with the scope of the invention.
Although the disclosed embodiments have been described in detail in this disclosure, it should be understood that various changes, substitutions, and alterations can be made hereto without departing from the spirit and scope thereof.
Industrial applicability
The tool joint assistance system of the drilling rig of the present invention has many industrial applications including, but not limited to, drilling in the oil and gas industry.
Claims (20)
1. A tool joint assistance system for making and breaking a joint of tubulars in a drill string with respect to a drilling rig, the tool joint assistance system comprising:
a roughneck having an upper jaw and a lower jaw;
a camera positioned relative to the roughneck to enable capturing images of the tubular and the roughneck;
a computer comprising a processor, a non-transitory storage medium, a display, a transmitter/receiver, and a set of computer readable instructions stored in the non-transitory storage medium and when executed by the processor: (i) presenting a tubular, a captured image of a roughneck, and an indicator of a suggested height of the roughneck relative to the tubular; receiving instructions from an operator to adjust the indicated recommended height relative to the tubular in the captured image; and (ii) commanding the roughneck to move to the adjusted height.
2. The tool joint assistance system for making and breaking a tubular in a drill string with respect to a drilling rig of claim 1, wherein the camera comprises a digital camera capable of capturing digital images of the tubular and a driller in real time.
3. The tool joint assistance system for making and breaking out pipe joints of a tubular in a drill string with respect to a drilling rig of claim 1, wherein the set of computer readable instructions, when executed by the processor, further presents a graphical user interface via the display, wherein the graphical user interface is capable of presenting the tubular, a captured image of a driller, and an indicator of a suggested height of the driller with respect to the tubular, wherein the graphical user interface is capable of receiving instructions from an operator to adjust the indicated suggested height with respect to the tubular in the captured image.
4. The tool joint assistance system for making and breaking pipe joints of tubulars in a drill string with respect to a drilling rig of claim 1, wherein the set of computer readable instructions, when executed by the processor, further adjusts a position of an indicator of a proposed height of the roughneck with respect to the tubulars in the presented image.
5. The tool joint assistance system for making and breaking pipe joints in a drill string with respect to a drill rig as recited in claim 1, wherein the set of computer readable instructions, when executed by the processor, further adjust the position of the indicator in response to instructions received from an operator to adjust the indicated recommended height in the captured image with respect to the pipe.
6. The tool joint assistance system for make-up and break-out of pipe joints of tubulars in a drill string with respect to a drill rig of claim 1, wherein the set of computer readable instructions further comprises a roughneck automation sequence for commanding the roughneck to perform a make-up or break-out operation.
7. A tool joint assistance method for making-up and breaking-out a joint of tubulars in a drill string with respect to a drilling rig, the tool joint assistance method comprising:
capturing an image of the tubular and the driller;
presenting the captured images to a rig operator on a display;
presenting, in the captured image, an indicator of a suggested height of the roughneck relative to the tubular; and
confirmation is received that the proposed height is approved from the driller of the rig operator.
8. The tool joint assistance method for make-up and break-out of a tubular in a drill string with respect to a drilling rig of claim 7, wherein the capturing the image comprises capturing a real-time video stream.
9. The tool joint assistance method for make-up and break-out of pipe joints of tubulars in a drill string with respect to a drilling rig of claim 7, wherein presenting the captured image and the indicator of the proposed height comprises presenting a graphical user interface via a display, and wherein receiving the confirmation from the drilling rig operator comprises receiving the confirmation through the graphical user interface.
10. The tool joint assistance method for make-up and break-out of a tubular in a drill string with respect to a drilling rig of claim 7, further comprising: instructions from a rig operator are received to adjust the indicated recommended height relative to the tubular in the captured images.
11. The tool joint assistance method for make-up and break-out of a tubular in a drill string with respect to a drilling rig of claim 10, further comprising: the position of the indicator in the image is adjusted in response to a received instruction from a drilling operator to adjust the indicated recommended height relative to the tubular.
12. The tool joint assistance method for make-up and break-out of a tubular in a drill string with respect to a drilling rig of claim 11, further comprising: the roughneck is commanded to move to the height of the adjusted position of the indicator in the image.
13. The tool joint assistance method for make-up and break-out of a tubular in a drill string with respect to a drilling rig of claim 11, further comprising: the driller is instructed to perform an automated sequence of drillers to make-up or break-out operations.
14. A tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig, the tool joint assistance system comprising:
a tube handling apparatus;
a camera positioned relative to the pipe handling apparatus so as to be able to capture an image of a tubular being handled by the pipe handling apparatus;
a computer comprising a processor, a non-transitory storage medium, a display, a transmitter/receiver, and a set of computer readable instructions stored in the non-transitory storage medium and executed by the processor to:
capturing an image of the tubular;
presenting the captured images to a rig operator on a display;
presenting an indicator of a suggested height of the pipe processing device in the captured image; and
receiving confirmation from a rig operator that the proposed height of the pipe handling apparatus is approved.
15. The tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig of claim 14, wherein the set of computer readable instructions, when executed by the processor, further: a real-time video stream is captured.
16. The tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig of claim 14, wherein the set of computer readable instructions, when executed by the processor, further: a graphical user interface is presented via the display and a confirmation is received from the rig operator through the graphical user interface.
17. The tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig of claim 14, wherein the set of computer readable instructions, when executed by the processor, further: instructions from a rig operator are received to adjust the indicated recommended height in the captured images.
18. The tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig of claim 14, wherein the set of computer readable instructions, when executed by the processor, further: the position of the indicator in the image is adjusted in response to a received instruction from the rig operator to adjust the indicated recommended height.
19. The tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig of claim 14, wherein the set of computer readable instructions, when executed by the processor, further: the pipe processing device is commanded to move to the height of the adjusted position of the indicator in the image.
20. The tool joint assistance system for connecting tubulars in a drill string with respect to a drilling rig of claim 14, wherein the set of computer readable instructions, when executed by the processor, further: instructing the pipe handling apparatus to perform an automated sequence for make-up or break-out operations.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US16/193,295 | 2018-11-16 | ||
| US16/193,295 US20200157893A1 (en) | 2018-11-16 | 2018-11-16 | Optical tool joint assist for iron roughneck |
| PCT/US2019/060758 WO2020102089A1 (en) | 2018-11-16 | 2019-11-11 | Optical tool joint assist for iron roughneck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113227531A true CN113227531A (en) | 2021-08-06 |
Family
ID=70727432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980087336.7A Pending CN113227531A (en) | 2018-11-16 | 2019-11-11 | Optical tool joint assist for iron roughneck |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20200157893A1 (en) |
| CN (1) | CN113227531A (en) |
| NO (1) | NO20210602A1 (en) |
| WO (1) | WO2020102089A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020060921A1 (en) * | 2018-09-17 | 2020-03-26 | Blakely Charles | Systems, methods and apparatus for characterizing stick-up height, position and orientation of a drill pipe |
| 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 |
| US11448019B2 (en) * | 2019-09-23 | 2022-09-20 | Barry J. Nield | Interlock for a drill rig and method for operating a drill rig |
| US11836018B2 (en) * | 2020-03-19 | 2023-12-05 | Canrig Robotic Technologies As | Robotic system including an internal cooling system |
| CN112096315B (en) * | 2020-08-11 | 2022-01-11 | 四川宏华石油设备有限公司 | Multifunctional manipulator |
| US11761273B2 (en) * | 2021-03-12 | 2023-09-19 | Schlumberger Technology Corporation | Determining stickup height based on pipe tally, block position, and digital images |
| WO2023277868A1 (en) * | 2021-06-29 | 2023-01-05 | Landmark Graphics Corporation | Casing wear and pipe defect determination using digital images |
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| CA3025392A1 (en) * | 2016-05-25 | 2017-12-07 | Schlumberger Canada Limited | Image based system for drilling operations |
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2018
- 2018-11-16 US US16/193,295 patent/US20200157893A1/en not_active Abandoned
-
2019
- 2019-11-11 WO PCT/US2019/060758 patent/WO2020102089A1/en active Application Filing
- 2019-11-11 NO NO20210602A patent/NO20210602A1/en not_active Application Discontinuation
- 2019-11-11 CN CN201980087336.7A patent/CN113227531A/en active Pending
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| US20130345878A1 (en) * | 2010-04-29 | 2013-12-26 | National Oilwell Varco, L.P. | Videometric systems and methods for offshore and oil-well drilling |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20200157893A1 (en) | 2020-05-21 |
| WO2020102089A1 (en) | 2020-05-22 |
| NO20210602A1 (en) | 2021-05-12 |
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