EP2666955B1 - Method and device for semi-automatic adjustment of a handling device - Google Patents

Description

The invention relates to a method for the semi-automatic adjustment of a handling device, in particular an automatic handling device, and a device provided for carrying out the method.

The invention is in the context of considerations for better automation of operations on a rig, namely a drilling rig for deep wells, so for drilling holes on fossil energy sources or for the use of geothermal energy, etc., and on the basis of the older, not yet published German patent application 10 2010 060 823.8 from 26.11.2010 emerged.

An example of a handling device to be positioned when drilling holes is a per se known pincer system which is provided for connecting and separating linkage elements of a drill string and / or a so-called casing string with tubes for lining the borehole. During operation of a drilling rig, it is sometimes necessary, for example to change the drill head, to remove the entire drill string from the borehole. In this case, each individual linkage elements or groups of linkage elements, for example two or up to three linkage elements (so-called states), must be separated from the drill string so that it can be pulled up successively further out of the borehole.

To improve the readability of the following description, only the terms drill string or drill string are used in the following. However, this is without departing from a broader generality, so that any use of the term drill string is also intended to include a casing string and any use of the term drill string also includes one or more pipes (casings) for lining the wellbore.

For separating such a drill string, the clamp system is provided and the adjustment of the clamp system with respect to a connection point of the drill string has been done manually. For this, the forceps system is first positioned over the wellbore, and for proper alignment with respect to the joint to be loosened, suitable mobility of the forceps system, e.g. a translational mobility provided, so that in this regard a manual adjustment of the pliers system takes place until reaching the respective height of the connection point.

In the above-mentioned German patent application, the use of a laser pointer acting as a position indicator is proposed. The laser pointer allows a pivoting movement in one plane (pitch movement) to Depending on the position of the drill string to be able to designate different heights of the joint. The laser pointer as a position indicator is aligned with the respective junction and after positioning the respective orientation of the position indicator is confirmed. This orientation of the position indicator is recorded and converted into motion data for positioning the forceps system.

However, the use of a laser pointer is sometimes problematic. For devices that are to be used in potentially explosive atmospheres, a special certification is usually required. This is not yet available for simple and cost-effective and usable as a laser pointer beam sources and would also be available only with the usual in such certification measures time and cost.

From the WO 2007/061315 A1 For example, a solution is known in which a camera is movable along a vertical guide and the camera is moved upwards or downwards until the connection point appears in a digital image recorded by the camera. From the WO 2011/135311 A2 A solution is known in which it is assumed that the connection point is automatically recognizable in a digital image recorded by means of a camera with image processing algorithms.

Accordingly, it is an object of the present invention to provide an alternative method and an alternative device with which a handling device, eg a tong system as mentioned above, can be semi-automatically adjusted without the intervention or presence of an operator at the location of the respective handling device is required, in particular to provide a method and a device which avoids or a laser pointer as a position indicator device and thus the problem of certification.

In the US 4,468,959 For example, a method is described for determining a length of interconnected drill string members.

In the US 2009/0314137 A a pincer system for handling pipe string is described, with a possibility for handling of drill pipe with different diameters in the foreground.

From the WO 2009/148304 A is a method for welding pipe segments for underwater pipelines and concretely the detection of the end of a last segment of the pipeline and an end to be connected to another pipe segment described. The measuring device provided for this purpose is movable relative to the ends of the tube segments to be detected, and the acquired data serve to control a welding device.

The above object is achieved with a method for semi-automatic adjustment of a handling device, in particular an automatic handling device, with the features of claim 1. For this purpose, it is envisaged that in such a method with a fixed and fixed with respect to their orientation camera, a portion of the drill string is detected and a captured with the camera from the drill string image is displayed on a screen. In the picture, a joint between two linkage elements of the drill string is then marked. This is done by one for that provided mark is brought to the junction to cover or at least substantially brought to coincidence. A position of the mark in the image is finally converted into movement data for positioning the handling device. With this movement data, for example a height information derived from the position of the marking, a positioning of the handling device, in particular a tong system as a handling device, can finally take place. For example, a completion of the process of marking the joint is confirmed. The position of the marking given at the time of the confirmation is recorded and made available in the form of a position value for further processing. The position value determined in this way can then be converted into movement data for positioning the handling device. Based on this movement data can be automatically positioned as a handling device, a pliers system with respect to the connection point and activated a control of the pliers system or enabled for activation. Activation of the forceps system then involves subsequent steps of disconnecting the linkage members at the junction.

This method is especially for use on a drilling rig, so a drilling rig for drilling deep wells, into consideration, so that the above-mentioned operator of such a drilling rig, such as a drill master, his tasks usually from a cab designed as cab (the Drillerkabine) performed in a simple and straightforward way for a correct positioning of the handling device and thus ensure a rapid and smooth distribution of the drill string.

As well as for a division of the drill string, the approach presented here can also be used when connecting rod elements (boring bars or casings) to the drilling or casing string. Namely, when the topmost segment of the drill string approaches the drillfloor, a new linkage element must be combined with the drillstring. This is done with a drilling device, for example, a so-called top drive, or a so-called pipe manipulator - collectively referred to as a drilling device - brought a new linkage element and positioned above the drill string to then be connected to the pliers system with the drill string. Vertical movements of the drilling device are required to raise the new linkage vertically above the drill string and to bring the lower end of the new linkage near the drill string or in contact with the drill string. Above all, this last vertical movement can be automated if the vertical position of the upper end of the drill string is known. The vertical position of the upper end of the drill string may be marked as well as a joint between two linkage members in an image taken from the respective section of the drill string. The vertical position of the upper end of the drill string can then be converted into movement data for a drilling device of the above type. Thereafter, the drilling device with the new linkage element can automatically approach the upper end of the drill string, ie lower the new linkage element in the direction of the upper end of the drill string. With the now well-known vertical position of the upper end of the drill string, this can be done a sufficient distance from the upper end of the drill string at high speed, which is then reduced near the upper end of the drill string for accurate positioning (creep). Such a drilling device is so far a further example of adjustable according to the approach described here handling equipment. The upper end of the drill string provides a potential connection with a new linkage, and once the new linkage is combined with the drill string, there is an actual joint at the particular location. Therefore, if it is assumed for the remainder of the description that any use of the term interconnection also includes such potential interconnections.

The above object is also achieved with a device for semi-automatic adjustment of a handling device, in particular an automatic handling device, having the features of the second independent claim. For this purpose, it is provided that the device comprises means for carrying out the method or its embodiments, in particular a Camera and means for confirming a position of the marker in the image captured by the camera and means for detecting a position of the marker in the image and means for converting the detected position into motion data for positioning the handling device.

Individual advantages of the approach described here are that it is possible to dispense with a laser pointer as a position indicator. By positioning the camera in a fixed position and also fixing it in its orientation, no actuators are required with which a camera could be pivoted approximately in one plane. A motor which can be used as an actuator has, in connection with the problem already described above, of being able to use only appropriately certified devices in potentially explosive areas, has the disadvantage that such motors are expensive. An alternative to a certified motor possible encapsulation of a non-certified engine in a certified housing is complex and provides no or at most a minimal cost savings due to the additional required certified housing. This cost issue is circumvented with the fixed and fixed in their orientation camera , In addition, such a mounting of the camera no bearings or the like is required, so that wear parts omitted and the maintenance is reduced.

Advantageous embodiments of the invention are the subject of the dependent claims. This used backlinks point to the further development of the subject matter of the main claim by the features of the respective subclaim; they should not be construed as a waiver of obtaining independent, objective protection for the feature combinations of the dependent claims. Furthermore, with a view to an interpretation of the claims in a closer specification of a feature in a subordinate claim, it is to be assumed that such a restriction does not exist in the respective preceding claims.

In one embodiment of the method it is provided that the operator in the picture denotes (marks) the connection point between two linkage elements of the drill string by means of a mark which is movable in the picture. In this case, a horizontal line that can be moved in the image is considered as a marking. This horizontal line is moved vertically in the image until coverage or sufficient coverage with the junction of two linkage elements is achieved. The thus achieved vertical position of the mark can be converted into movement data for adjusting the handling device. This embodiment of the method has the advantage of easy implementation. The camera takes exactly one picture of the drill string and the mark is moved in this picture. For the feasibility of this aspect of the invention is only required that of the image captured portion of the drill string is taken by the camera with a sufficiently high resolution, so that there is sufficient detail in the captured image, which allows to detect a joint between two drill string elements and bring the mark with this connection point to cover ,

In the following, in order to avoid formulations such as "marking with a marking", starting from the embodiment described above, in which a horizontal line acts as marking, the marking in the following will be made in order to improve the readability of the text, but without going further Generality, called a line cursor. For an interpretation of the term line cursor but still applies that any form of a distinguishable on the screen from other content picture mark is meant.

In an alternative embodiment of the method it is provided that a section of the recorded image is displayed to the operator and that the operator marks the connection point between two linkage elements of the drill string by moving the section relative to the recorded image. This aspect of the invention takes into account that today suitable cameras are available for industrial use, which can produce digital images with a very high resolution; at eight megapixels, for example, 3,264 x 2,448 pixels, at 14 megapixels to Example 4,536 x 3,024 pixels. Such image dimensions and expected future even higher image dimensions can be displayed on conventional screens only if the image is reduced with a loss of detail shown. However, a loss of detail is sometimes problematic if, as here, it is important to reliably identify comparatively small details. The joint of two linkage elements appears in the captured image in the broadest sense as a horizontal line. A reduction of the image taken in each case for displaying an image on a screen can therefore result in such a line no longer being or no longer being reliably recognizable. By not displaying the entire recorded image, but only a section at a time on the screen, this problem can be avoided. The representation of the section is preferably matched to the resolution of the respective screen. If this permits a resolution of, for example, 1024 × 768 pixels, this specifies the dimensions of the detail. As a result, each snapshot pixel of the captured image within the snippet is represented by exactly one pixel of the screen. All recorded details of the image can thus also be displayed on the screen. A loss of detail does not arise. However, because the desired connection point between two linkage elements can lie in each section of the recorded image, the section shown in each case can be moved relative to the recorded image. One for the operator Particularly practical embodiment consists in the fact that the section shown has a fixed marking, for example in the form of a horizontal line (line cursor) in the center of the picture, and that for marking a recognized connection point between two linkage elements of the cutout is moved relative to the overall picture, until the stationary line cursor and the connection point shown in the picture are brought into line. This has the advantage that a suitable movement of the cutout to designate the connection point is sufficient. The otherwise also possible movement of the section until it detects the junction between two linkage elements and a subsequent displacement of a line cursor within the section means two independent positioning operations and it is expected that two independent positioning operations take more time than the movement of a section with a fixed line cursor relative to the overall image.

In one embodiment of the method, it is provided that a position of the line cursor in the image is converted into movement data for positioning the handling device on the basis of a distance between the camera and the drill string. The determination of movement data for the handling device is thus attributed to simple trigonometric conditions in a right-angled or a general triangle. For calibration is only one Determining the distance between the location of the camera and the drill string necessary.

In a particular embodiment of the method it is provided that a position of the line cursor in the image is converted into movement data for positioning the handling device on the basis of a correlation table. In such a correlation table can be deposited as part of a calibration, which height is detected on the drill string, for example, by the bottom and the top line of the image. By interpolation can then be determined for each line of the image, a corresponding height value. In the same way, a corresponding height value can be determined on the basis of a position of the line cursor. The respectively determined height value can be used to control the handling device.

For movement and positioning of the line cursor is an operating element in the manner of a trackball or the like into consideration. In addition, it is considered that as an operating element an operating device is used, which is already present on a control station, for example in a cab of the drill, and is used there for other control or positioning tasks, for example a so-called master switch. Then, by switching to the functionality for semi-automatic adjustment of a handling device, the already existing operating device as a control element to move and position the line cursor.

Based on the position of the mark in the image and movement data for positioning a handling device therefrom, the handling device is automatically adjustable relative to the joint and a related development of the method and its embodiments is that the respective handling device is automatically adjusted relative to the joint.

As a handling device, a tong system for separating two linkage elements, but also a so-called top drive or a so-called pipe manipulator can be adjusted relative to the connection point. When using a Topdrive, a Pipe Manipulator or the like, a new linkage element is adjusted relative to an upper end of the drill string as a marked joint, the approach presented here is not only in removing linkage elements and splitting the drill string, but also in installing linkage elements, ie Combining new linkage elements with the downhole drillstring usable.

If a drilling device, in particular a top drive, a pipe manipulator or the like, functions as a handling device, in one embodiment of a method for determining movement data for the necessary adjustment processes or for the automatic adjustment Execution of the movements or movements required for the adjustment provided that the adjustment of the new linkage element initially with a first predetermined or predetermined speed and below a predetermined or predeterminable distance of the new linkage element to the upper end of the drill string with a reduced compared to the first speed, predetermined or predetermined second speed. The first speed can be set comparatively high, so that the installation of new linkage elements can proceed as quickly as possible. In addition, due to the known vertical position of the upper end of the drill string, even at high speed a collision of the new linkage member with the upper end of the drill string can be ruled out, otherwise damage to be taken care of can be safely avoided. For the exact positioning of the new linkage element with respect to the upper end of the drill string can then be switched to the lower second speed, so a kind of creep.

A further advantageous embodiment of a method for connecting drill pipe elements to the drill string takes into account that the drill string normally contains liquid, in particular drilling fluid with drilling residues. Then the free thread of the upper end of the drill string forming linkage element can not be cleaned. Usually, in addition to the cleaning and a Fettung (for example, with the so-called drill dope) provided or required. In order to be able to make at least the cleaning, possibly the cleaning and the subsequent greasing, it is necessary that a part of the liquid standing in the drill string is removed. So far, a displacement body is used, which is introduced into the upper end of the drill string and then removed again. In this case, a portion of the liquid standing there is displaced from the drill string, so that after removing the displacement body, the thread can be cleaned and / or greased. This process can also be automated on the basis of the approach described here. If the position of the upper edge of the drill string is known, this can also be converted into motion data for automatically positioning a handling device with a displacer relative to the upper end of the drill string as a marked joint, so that the displacer with the handling device automatically displaces liquid from the drill string is introduced into the upper end of the drill string and the handling device is then moved away from the area of the drill string after the automatic removal of the displacer from the drill string.

Both automatic positioning operations can also be combined to an automatic movement based on a known vertical position of the upper edge of the drill string: then, before the adjustment of the new drill string member with respect to the downhole drill string an automatic Displacement of liquid from the drill string by means of automatically moving with a corresponding handling device displacement body, possibly also a subsequent automatic cleaning and / or greasing with the same handling device or leading a cleaning tool handling device and then automatically the adjustment of the new drill string element with respect to the upper End of the drill string.

An embodiment of the invention will be explained in more detail with reference to the drawing. Corresponding objects or elements are provided in all figures with the same reference numerals.

The or each embodiment is not to be understood as limiting the invention. Rather, in the context of the present disclosure, modifications and modifications are possible, for example, by combining or modifying individual in combination with the described in the general or specific description part and in the claims and / or the drawings features or method steps in the art can be removed to the solution of the problem and lead by combinable features to a new subject or to new process steps or procedural steps, even if they concern testing and working procedures.

Fig. 1

eine schematisch vereinfachte Darstellung einzelner Teile einer Bohranlage, nämlich einen Bohrstrang und eine Kamera zur Aufnahme eines Digitalbilds von einem Abschnitt des Bohrstrangs,

Fig. 2

bis

Fig. 4

ein von der Kamera aufgenommenes Bild mit einem in dem Bild als Markierung fungierenden Liniencursor,

Fig. 5

eine Darstellung zur Erläuterung einer Ermittlung einer Positionsinformation für eine Handhabungseinrichtung anhand einer Position der Markierung relativ zu dem von der Kamera aufgenommenen Bild sowie

Fig. 6

und

Fig. 7

ein Zangensystem als Beispiel für eine anhand des von der Kamera aufgenommenen Bildes positionierbare Handhabungseinrichtung in zwei Betriebszuständen.

Show it

Fig. 1

a schematically simplified representation of individual parts of a drilling rig, namely a drill string and a camera for taking a digital image of a portion of the drill string,

Fig. 2

to

Fig. 4

an image taken by the camera with a line cursor acting as a marker in the image,

Fig. 5

a representation for explaining a determination of a position information for a handling device based on a position of the marker relative to the image taken by the camera and

Fig. 6

and

Fig. 7

a tongs system as an example of a handling device that can be positioned on the basis of the image taken by the camera in two operating states.

Fig. 1 schematically shows a greatly simplified drill string 10 of a drill, not shown in detail, but known per se. Of the drill string 10, the ends of two linkage elements 12 are shown. The linkage elements 12 are connected in a conventional manner by screwing. In order to results in a connection point 14 in the region of a contact point of two sleeves 16 each of a linkage element 12. The connection point 14 is referred to in the technical terminology as Tooljointtrennstelle.

Further shows Fig. 1 schematically greatly simplifies a control station 18 (Drillerkine) for operating the drilling rig or individual aggregates of the drilling rig.

Usually, such a control station 18 includes a plurality of displays and controls with which the respective operator, eg the drill master, can influence the operation of the drilling rig or with which the operator is informed about the status of the drilling rig and / or the drilling operation. Such details are not shown for reasons of clarity. On the other hand, a camera 20 and a detection area 22 of the camera 20 illustrated with dashed lines are shown. The camera 20 is here shown slightly inclined. The specific orientation of the fixedly mounted camera 20 can be left to the individual case. It is only essential that an expected location of the connection point 14 falls within the detection range 22. If this is ensured, in the already fixedly mounted camera 20 and their orientation can be fixed so that in operation, both the position of the camera 20 as well as their orientation are fixed and immutable. Incidentally, the camera 20 may also be mounted outside the control station 18 at any other suitable location on the so-called Drillfloor.

For marking the connection point 14, a control element 24 shown here as a trackball and a screen 26 are shown. Their use and the actual marking of the connection point 14 are explained in more detail below with further details.

Fig. 2 shows the screen 26 in a schematically simplified illustration and as an example a display unit of a general kind. On the screen 26, an image 28 taken by the camera 20 is displayed. The details included in the image 28 correspond to those parts and elements of the drilling rig that fall within the detection area 22 of the camera 20. In any case, in the image 28, a portion of the drill string 10 are shown with the ends of two linkage elements 12 and the connection point 14 resulting therebetween. The actual height of the joint 14 may vary as the drill string 10 is withdrawn segment by segment. Thus, the position of the representation of the connection point 14 in the image 28 taken by the camera 20 also varies.

By actuating the trackball or an otherwise suitable control element 24, a vertical position of a line cursor 30 in the image 28 can be influenced. The variability of the vertical position of the line cursor 30 is illustrated by the two block arrows, which themselves are not part of the image 28 displayed on the screen 26.

To illustrate a movement of the line cursor 30 as a function of operating actions on the respective operating element 24, a control unit 32 with a microprocessor 34 or the like and a memory 36 is provided. In the memory 36, a computer program 38 is loaded, which is executable by the microprocessor 34 and is executed in the operation of the control unit 32 by the microprocessor 34.

Under control of the computer program 38, an image 28 of a portion of the drill string 10 is taken with the camera 20 and displayed on the screen 26 (this is illustrated by the first downward arrow from the controller 32 to the screen 26). Furthermore, under control of the computer program 38, a position signal obtainable from the operating element 24 is received and evaluated (this is illustrated by the upward-pointing arrow from the operating element 24 to the control unit 32). In dependence on this position signal, the line cursor 30 is displayed as part of the image 28, wherein the illustrated position of the line cursor 30 can be influenced by operating actions on the control element 24 (this is illustrated by the second downward arrow from the control unit 32 to the screen 26).

As soon as the line cursor 30 has been brought to coincide with the position of the connection point 14 shown in FIG. 28 by operating actions on the operating element 24, the resulting vertical position of the line cursor can be brought about 30 are converted into movement data for positioning the handling device.

Fig. 3 shows in conjunction with Fig. 4 an alternative embodiment of the method. Unlike the in Fig. 2 the situation recorded by the camera 20 is not completely displayed on the screen 26, but the representation on the screen 26 is limited to a cutout 40 (FIG. Fig. 4 ).

Fig. 4 2 shows that of the camera 20 according to the respective detection area 22 (FIG. Fig. 1 ). This captured image 28 is not identical to the image displayed on the screen 26. On screen 26, only a portion 40 of the captured image 28 is shown. The image displayed on the screen 26 in this embodiment is limited to the image information included in the cutout 40, respectively. The cutout 40 is however - as in Fig. 4 is indicated with the block arrows pointing upwards and upwards-relative to the image 28 taken by the camera 20, so that after this image is moved vertically, for example, other image information is included. The cutout 40 can be pushed back and forth on the image 28 taken by the camera 20, so that it is possible in this way to determine which part of the portion of the drill string 10 received by the camera 20 appears on the screen 26.

Fig. 3 As far as this is shown by way of example, image 28 shown on the screen 26 corresponds to that of the cutout 40 its current position included image information. The representation of the cutout 40 comprises a representation of the line cursor 30 in a fixed relative position to the cutout, for example in the middle of the cutout 40. With a displacement of the cutout 40 relative to the overall image taken by the camera 20, the line cursor 30 also moves with it relative to the image information encompassed by the cutout 40 and relative to the overall image taken by the camera 20. The displacement of the cutout 40 takes place until a position of the cutout 40 relative to the overall image recorded by the camera 20 is reached, in which the line cursor 30 is brought to coincide with the representation of the connection point 14.

Once the positioning of the line cursor 30 is complete, either by direct movement ( Fig. 2 ) or by indirect movement with the cutout 40 (FIG. Fig. 3 . Fig. 4 ), the operator can confirm the current position of the line cursor 30. For this purpose, the operating element 24 comprises, for example, a corresponding key or the like. Any other conceivable type of confirmation is alternatively or additionally also possible.

After the position of the line cursor 30 has been recorded, data obtained thereby can be converted into movement data for a handling device. As a result of such a transformation, in particular coordinates for positioning the handling device come into consideration.

In the case of a drilling rig and a mark of a joint 14 between two linkage elements 12 is an x-coordinate and a y-coordinate with the known position of the drill string 10, namely above the borehole fixed. The vertical position of the line cursor 30 thus indicates a measure of the third spatial coordinate, that is to say a measure of a height above a floor or working surface level, also referred to as a drill floor. The calculation of the associated z-coordinate from the vertical position of the line cursor 30 is available as a result of simple calculations.

An easy way to determine this third space coordinate is based on the representation in Fig. 5 illustrated. Fig. 5 shows on the right side a portion of the drill string 10 and on the other hand on the left side thereof taken with the camera 20 image 28. The real drill string 10 and within the detection range 22 of the camera 20 recordable part can be measured in the context of a calibration process become. In this case, for example, a height of a lowermost edge and a top edge of the detection area 22 can be determined. These positions are shown in the illustration Fig. 5 symbolically designated h1 or h2. The image 28 taken by the camera 20 is a digital image and digital images are known to be organized in rows and columns due to the matrix-like structure of the sensors used in digital cameras. For example, a digital image 28 has 768 lines in a simple camera 20. The lowest Line of the digital image 28 depicts the lower edge of the detection area 22. The uppermost line of the digital image 28 correspondingly depicts the upper edge of the detection area 22. The lowest line can be symbolically denoted by y1 and the uppermost line symbolically by y2. The actual value of these identifiers is then - depending on the resolution of the image 28 - for example "1" or "768".

The numerical values of the above-mentioned identifiers can be stored in a correlation table 42, which is created as a data structure in the memory 36 of the control unit 32 (as shown in FIG Fig. 5 only the symbolic identifiers are shown). The correlation table 42 may comprise further lines, for example to provide for an even better linearization of the interpolation performed on the basis of the correlation table 42. If, after completion of the positioning of the line cursor 30, its vertical position in the image 28 is determined, the respective vertical position corresponds to that line of the image 28 in which the line cursor 30 is displayed. The relevant line is in Fig. 5 symbolically denoted by y.

For that, based on Fig. 5 described embodiment, the position of the line cursor 30 in the image 28 on the basis of the correlation table 42 and thus possible interpolation can be converted into movement data for positioning the handling device as follows: $$\mathrm{H}=\mathrm{H}1+\mathrm{y}*\left(\mathrm{H}2-\mathrm{H}1\right)/\left(\mathrm{y}2-\mathrm{y}1\right),$$

Where h is the vertical position of the line cursor 30 in the image 28 expressed in the form of a line number, and the line cursor 30 in the image 28 is made to coincide with the representation of the junction 14. This relationship may be implemented as part of the computer program 38 in software such that upon confirmation of the completion of the positioning of the line cursor 30 with the value h, the height of the joint 14 results, which may be converted into motion data for positioning the respective handling device.

When using a section 40 ( Fig. 3 . Fig. 4 ), the formula for calculating the height h is if f1 and f2 respectively in the form of line numbers denote the bottom and top edges of the section 40 (frame) in the overall image and the line cursor 30 is centered in the section 40: $$\mathrm{H}=\mathrm{H}1+\left[\left(\mathrm{f}2-\mathrm{f}1\right)/2+\mathrm{f}1\right]*\left[\left(\mathrm{H}2-\mathrm{H}1\right)/\left(\mathrm{y}2-\mathrm{y}1\right)\right],$$

As an alternative to determining the two height values h1 and h2 with respect to the detection area 22 of the camera 20, the angle correlated with the positions h1 and h2 can also be determined from the location of the camera 20. Depending on the orientation of the camera 20, conditions arise as in a right-angled triangle or a general triangle. If the distance between the place the camera 20 and the location of the course of the drill string 10 can be interpolated between the then stored in the correlation table 42 angle values and with the distance between the camera 20 and location of the drill string 10 after the trigonometric conditions in the right triangle or after the cosine set the Height of the junction 14 are determined.

The illustrations in Fig. 6 and Fig. 7 Finally, with respect to the drill string 10 which already with reference to Fig. 1 explained details and in addition as an example of a handling device, a forceps system 44 with an upper and a lower tongs 46, 48th

The illustrated forceps system 44 is known per se and shown only partially and only schematically simplified. It is also shown that the forceps system 44 includes, for example, an element that allows a translatory movement of the forceps 46, 48. The translational element can be realized for example with a lifting cylinder 50 or a rack. The translational element allows both tongs 46, 48 to be positioned such that the upper and lower tongs 46, 48 engage the drill string 10 on different sides of the joint 14. Activation of the forceps system 44 then causes the drill string 10 to be severed at the junction 14 by the two stringers 12 meeting at the juncture 14 with the tong system 44 in different directions be rotated. Previously, the forceps system 44 is brought into a position that allows the tongs 46, 48 to engage the drill string 10. Due to the constant position of the drill string 10 above the wellbore, automation of this motion requires no data other than the coordinates of the wellbore. The height of the tongs 46, 48 required for separating the linkage elements 12 results from the above-mentioned movement data.

The translational element for positioning the forceps 46, 48 is mentioned here only by way of example. It is relevant that a positioning of the pliers 46, 48 - or in general a positioning of the handling device - is possible. The positioning of the handling device takes place on the basis of the previously recorded position of the line cursor 30, in particular on the basis of the height h determined from its position and the correlation table 42. In the case of a forceps system 44 as a handling device, its positioning is thus possible in such a way that as a result of the positioning, the upper forceps 46 acts above the connection point 14 and the lower forceps 48 correspondingly below the connection point 14 on the drill string 10. With the line cursor 30, so to speak, the connection point 14 is visited and marked and the forceps system 44 is positioned substantially so that the two tongs 46, 48 are positioned centrally about the connection point 14, so that each forceps 46, 48 at one of the at the junction 14 meeting muffs 16 attacks.

An activation of the forceps system 44 thus causes its positioning and the positioning of the forceps 46, 48 and then an opposite rotation of the sleeves 16, so that in this way the two meeting at the junction 14 rod members 12 can be separated. Fig. 6 and Fig. 7 show in this regard snapshots when separating two linkage elements 12, wherein Fig. 6 shows a situation in which the forceps system 44 is already positioned with respect to the junction 14 and where Fig. 7 shows a situation in which the tong system 44 engages the linkage elements 12 meeting at the junction 14 to subsequently separate them.

The representation in Fig. 6 This also shows a possible alignment of the camera 20, so that the camera 20 not only a portion of the drill string 10, but also the positioning of the pliers system 44 and the opening and closing of the pliers 46, 48 detected. The camera 20 is then effective not only to locate the joint 14 but also to further monitor the separation of the linkage members 12.

The positioning of the forceps system 44 and / or its activation may occur automatically upon confirmation that the line cursor 30 has been registered with the representation of the junction 14. One possibility in this respect is that this confirmation immediately or after a predetermined or predeterminable waiting time, the positioning of the Pliers system 44 and immediately thereafter or after another waiting for a further predetermined or predeterminable waiting time causes the activation of the forceps system 44. Alternatively it can be provided that the above-mentioned confirmation activates an activation possibility of the forceps system 44. The actual positioning and / or activation of the forceps system 44 then takes place later and, for example, on the basis of a manual release by an operator, eg the drill master or another member of the personnel of the drilling rig. For activating the forceps system 44 or for activating the activation of the forceps system 44, a transmission of an activation or activation signal and furthermore a transmission of at least one movement data come into consideration. In the example explained here, the value determined as the height h of the connection point 14 is transferred as the movement data.

Instead of the pliers system 44 as an example of a handling device is basically any other handling device into consideration, so for example, handling devices on the type of the above-mentioned top drive and / or on the type of the above-mentioned pipe manipulator.

All the marking, movement and positioning processes described here likewise apply in relation to the so-called mouse hole, that is to say a place for setting down drill rods for an early combination with the drill string, because systematically there is a rod element parked in the mouse hole nothing else than a "short" drill string. With the approach presented here, therefore, the picking up of a new linkage element from the mouse hole and / or the cleaning of a new linkage element in the mouse hole can be automated by automatically correct adjustment of the respective handling device, for example Topdrive or Pipe Manipulator, with respect to an upper end of the provided in the mouse hole linkage element takes place.

It may possibly be necessary for another, also fixedly mounted and fixed in their orientation camera. The operator can then switch between a first, the drill string 10 in the borehole detecting camera 20 and a second, the mouse hole detecting camera by means of the control element 24 or another operating device. To move the marker 30, the same screen and control 24 may be used.

Substantial aspects of the above description can be briefly represented as follows: A method and a device for the semi-automatic adjustment of a handling device, in particular an automatic handling device, eg a tongs system 44 for a drilling rig, are indicated, wherein an operator has a marking 30, in particular a line cursor 30 as a marker, in an image 28 of a section of a drill string 10 taken with a stationary and fixed camera 20 so positioned that the line cursor 30 is brought to a junction 14 between two rod elements 12 of the drill string 10 to cover and the junction is marked so. A resulting position of the line cursor 30 can be finally converted into movement data for positioning the handling device. The corresponding apparatus comprises means for carrying out such a method, eg a camera 20, a screen 26 for displaying an image taken with the camera 20, an operating element 24 for moving the line cursor 30 and for marking the connection point 14, means for confirming the Position of the line cursor 30 and means for deriving movement data for positioning the handling device from the position of the line cursor 30. As a means for deriving movement data from the position of the line cursor 30, a control unit 32 with a processing means such as a microprocessor 34 or the like is considered. In that regard, an implementation of the method in software, namely in the form of a computer program 38 with program code means includes. For implementing automatic movements or movement processes following the automatic determination of a position of the connection point 14, an automation device in the form of or in the manner of a programmable logic controller is considered. In this respect, the invention is also such an automation device in whose memory a control program with program code instructions for implementing the further automation aspects is loaded or loadable.

LIST OF REFERENCE NUMBERS

10

drill string

12

linkage member

14

junction

16

sleeve

18

helm

20

camera

22

Detection range of the camera

24

operating element

26

screen

28

image

30

Mark / line cursor

32

control unit

34

microprocessor

36

Storage

38

computer program

40

neckline

42

correlation table

44

clamp system

46

(upper) pliers

48

(lower) pliers

50

lifting cylinder

Claims (14)

1. A method for semiautomatically adjusting a handling device with respect to a drill string (10),
   wherein a section of the drill string (10) is captured by means of a camera (20),
   wherein an image (28) of the drill string (10) recorded by the camera (20) is displayed on a screen (26),
   characterized in that
   the camera(20) is stationary and fixed with regard to its orientation,
   an expected location of a connecting point (14) between two rod elements (12) of the drill string (10) falls within a capture range (22) of the camera (20),
   an operator marks the connecting point (14) in the image (28)by means of a marking (30),and
   a position of the marking (30) in the image (28) is converted into motion data for positioning the handling device.
2. The method according to Claim 1,
   wherein the operator marks in the image (28) the connecting point (14) between two rod elements (12) of the drill string (10) by means of a marking (30) that is movable in the image (28).
3. The method according to Claim 1,
   wherein a detail (40) of the recorded image (28) is displayed to the operator, and
   wherein the operator marks the connecting point (14) between two rod elements (12) of the drill string (10) by moving the detail (40) relative to the recorded image (28).
4. The method according to one of the preceding claims,
   wherein a position of the marking (30) in the image (28) is converted into motion data for positioning the handling device, based on a distance between the camera (20) and the drill string (10).
5. The method according to one of the preceding claims,
   wherein a position of the marking (30) in the image (28) is converted into motion data for positioning the handling device, based on a correlation table (42).
6. The method according to one of the preceding claims,
   wherein the handling device is adjusted relative to the connecting point (14), based on the position of the marking (30) in the image (28) and on motion data, obtainable therefrom, for positioning a handling device.
7. The method according to Claim 6,
   wherein a new rod element (12) is adjusted relative to an upper end of the drill string (10) as a marked connecting point (14), using the handling device.
8. The method according to Claim 7,
   wherein the adjustment of the new rod element (12) initially takes place at a first specified or specifiable speed, and at less than a specified or specifiable distance of the new rod element (12) from the upper end of the drill string (10), at a specified or specifiable second speed that is reduced in comparison to the first speed.
9. The method according to one of Claims 7 or 8,
   wherein prior to the combination of a new rod element (12) with the drill string (10), a handling device together with a displacement element is adjusted relative to the upper end of the drill string (10) as a marked connecting point (14),
   wherein for displacing liquid from the drill string (10), the displacement element together with the handling device is inserted into the upper end of the drill string (10), and
   wherein the handling device is subsequently moved away from the area of the drill string (10).
10. The method according to one of Claims 7 or 8 and Claim 9,
    wherein prior to the adjustment of the new drill rod element (12), the displacement element is automatically inserted into the upper end of the drill string (10), and wherein the adjustment of the new drill rod element (12) with respect to the upper end of the drill string (10) subsequently takes place automatically.
11. A device for semiautomatically adjusting a handling device with respect to a drill string (10),
    wherein the device includes a camera (20) with which an image (28) of a section of a drill string (10) is recordable and displayable to an operator,
    characterized in that
    the camera (20) is stationary and fixed with regard to its orientation,
    an expected location of a connecting point (14) between two rod elements (12) of the drill string (10) falls within a capture range (22) of the camera (20),
    a connecting point (14) between two rod elements (12) of the drill string (10) is markable in the image (28) by an operator by means of a marking (30), and
    a position of the marking (30) in the image (28) is convertible into motion data for positioning the handling device.
12. The device according to Claim 11,
    having means (24) for confirming a position of the marking (30) in the image (28) and
    having means (32, 34, 36, 38) for detecting a position of the marking (30) in the image (28), and means (32, 34, 36, 38) for converting the detected position into motion data for positioning the handling device.
13. A computer program (38) or computer program product having program code instructions, executable by a computer (32), for implementing the method according to one of Claims 1 to 10 when the computer program (38) is executed on a computer (32).
14. A drilling rig having a device according to one of Claims 11 or 12.

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