GB2587956A - Multi-domain planning and execution - Google Patents

Multi-domain planning and execution Download PDF

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Publication number
GB2587956A
GB2587956A GB2017703.6A GB202017703A GB2587956A GB 2587956 A GB2587956 A GB 2587956A GB 202017703 A GB202017703 A GB 202017703A GB 2587956 A GB2587956 A GB 2587956A
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Prior art keywords
ordered
equipment
level
happening
plan
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GB2017703.6A
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GB2587956B (en
GB202017703D0 (en
Inventor
Fox Maria
Long Derek
Isangulov Rustam
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Geoquest Systems BV
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Geoquest Systems BV
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Priority claimed from US16/208,644 external-priority patent/US20200175444A1/en
Priority claimed from US16/208,633 external-priority patent/US11288609B2/en
Priority claimed from US16/208,625 external-priority patent/US20200175443A1/en
Application filed by Geoquest Systems BV filed Critical Geoquest Systems BV
Publication of GB202017703D0 publication Critical patent/GB202017703D0/en
Publication of GB2587956A publication Critical patent/GB2587956A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • 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
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Quality & Reliability (AREA)
  • Fluid Mechanics (AREA)
  • Automation & Control Theory (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Operation Control Of Excavators (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Hardware Redundancy (AREA)
  • Medicines That Contain Protein Lipid Enzymes And Other Medicines (AREA)
  • Debugging And Monitoring (AREA)

Abstract

A computing device that is communicatively coupled to equipment includes a component having a planner component, wherein the planner component generates a plan to be performed using the equipment and the component instructs the equipment to execute the plan. The plan includes actions to be dispatched for performance by the equipment. Each action may include a first ordered happening of a respective action to be performed by the equipment, wherein the first ordered happening includes a start indication that indicates a respective action is starting, and a second ordered happening of a respective action to be performed by the equipment, wherein the second ordered happening includes an end indication that indicates the respective action is ending.

Claims (60)

1. A system comprising: one or more equipment; and a computing device communicatively coupled to the one or more equipment, wherein the computing device comprises: a component comprising a planner component, wherein the planner component is configured to generate a plan to be performed using the one or more equipment, wherein the plan comprises one or more actions to be performed by the one or more equipment, wherein each action of the one or more actions comprises: a first ordered happening of a plurality of ordered happenings of a respective action to be performed by the one or more equipment, wherein the first ordered happening comprises a start indication configured to indicate that a respective action is starting; and a second ordered happening of the plurality of ordered happenings to be performed by the one or more equipment, wherein the second ordered happening comprises an end indication configured to indicate that the respective action is ending, wherein the component is configured to instruct the one or more equipment to execute the plan.
2. The system of claim 1, wherein at least one action of the one or more actions comprises a third ordered happening of the plurality of ordered happenings to be performed by the one or more equipment, wherein the third ordered happening comprises a preceding indication configured to indicate that the first ordered happening precedes the second ordered happening or a following indication configured to indicate that the second ordered happening follows the first ordered happening.
3. The system of claim 1, wherein the first ordered happening or the second ordered happening comprises a set of authorizing conditions configured to be met before the one or more equipment perform the first ordered happening or the second ordered happening.
4. The system of claim 3, wherein the component is configured to instruct the one or more equipment to cease execution of the first ordered happening or the second ordered happening when at least one authorizing condition of the set of authorizing conditions is not met.
5. The system of claim 1 , wherein the start indication comprises a set of failure conditions configured to restrict completion of the first ordered happening or the second ordered happening.
6. The system of claim 5, wherein the component is configured to instruct the one or more equipment to cease execution of the first ordered happening or the second ordered happening when at least one failure condition of the set of failure conditions is met.
7. The system of claim 1, wherein the first ordered happening or the second ordered happening includes one or more timing constraints associated with when the respective action should be completed.
8. The system of claim 7, wherein the component is configured to instruct the one or more equipment to cease execution of the first ordered happening or the second ordered happening when at least one timing constraint of the one or more timing constraints is exceeded.
9. The system of claim 1, wherein the one or more equipment comprises one or more well construction equipment.
10. The system of claim 9, wherein the one or more well construction equipment comprises a drilling control unit, wherein a first action of the one or more actions is performed by the drilling control unit.
11. The system of claim 10, wherein the one or more well construction equipment comprises a mud control unit, wherein a second action of the one or more actions is performed by the mud control unit.
12. A method comprising: generating, with a processor, a plan configured to be performed by one or more equipment by: generating, with the processor, one or more actions of the plan to be performed by the one or more equipment by: generating, with the processor, a first ordered happening of a plurality of ordered happenings of each action of the one or more actions to be performed by the one or more equipment, wherein the first ordered happening comprises a start indication configured to indicate that a respective action is starting; and generating, with the processor, a second ordered happening of the plurality of ordered happenings to be performed by the one or more equipment, wherein the second ordered happening comprises an end indication configured to indicate that the respective action is ending; and instructing, with the processor, the one or more equipment to perform the plan.
13. The method of claim 11, wherein the first ordered happening comprises a following indication configured to indicate a following ordered happening that follows the first ordered happening.
14. The method of claim 11, wherein the second ordered happening comprises a preceding indication configured to indicate a preceding ordered happening that precedes the second ordered happening.
15. The method of claim 11, wherein generating, with the processor, the one or more actions of the plan to be performed by the one or more equipment comprises generating, with the processor, a second ordered happening of the plurality of ordered happenings to be performed by the one or more equipment, wherein the second ordered happening comprises: a preceding indication configured to indicate a preceding ordered happening that precedes the second ordered happening; or a following indication configured to indicate a following ordered happening that follows the second ordered happening.
16. The method of claim 14, wherein the preceding ordered happening comprises the first ordered happening.
17. The method of claim 14, wherein the following ordered happening comprises the second ordered happening.
18. A tangible, machine-readable storage medium comprising machine-readable instructions to cause a processor to: generate a plan configured to be performed by one or more equipment by causing the processor to: generate one or more actions of the plan to be performed by the one or more equipment by causing the processor to: generate a first ordered happening of a plurality of ordered happenings of each action of the one or more actions to be performed by the one or more equipment, wherein the first ordered happening comprises a following indication configured to indicate a second ordered happening of the plurality of ordered happenings that follows the first ordered happening to be performed by the one or more equipment; and generate the second ordered happening comprising a preceding indication configured to indicate the first ordered happening that precedes the second ordered happening; and instruct the one or more equipment to perform the plan.
19. The machine-readable storage medium of claim 17, wherein the first ordered happening comprises a start indication configured to indicate that a respective action is starting and the second ordered happening comprises an end indication configured to indicate that the respective action is ending.
20. The machine-readable storage medium of claim 18, wherein the start indication comprises a set of failure conditions configured to restrict completion of the first ordered happening or the second ordered happening.
21. A system comprising: one or more equipment; and a computing device communicatively coupled to the one or more equipment, wherein the computing device comprises: a first-level component comprising a first-level planner component configured to generate a first-level plan associated with an operation using the one or more equipment; and one or more second-level components, wherein each second-level component is associated with a respective equipment of the one or more equipment, wherein each second-level component comprises a second-level planner component configured to generate a second-level plan based on the first-level plan, wherein the second-level plan comprises a first set of instructions to perform a portion of the operation, and wherein each second-level component of the one or more second-level components is configured to instruct each respective equipment of the one or more equipment to execute a respective second-level plan.
22. The system of claim 21 , wherein the first-level component is configured to overlay the first-level plan with the respective second-level plan of each second-level component to generate an overlaid plan.
23. The system of claim 22, wherein each respective second-level component is configured to instruct each respective equipment to execute the respective second-level plan based on the overlaid plan.
24. The system of claim 21, wherein the first-level component is configured to: receive an indication that the respective second-level plan could not be generated; and refine the first-level plan or generate a second first-level plan in response to receiving the indication.
25. The system of claim 24, wherein the first-level component is configured to receive current state information from one or more sensors disposed on the one or more equipment and refine the first-level plan or generate the second first-level plan based at least in part on the current state information.
26. The system of claim 25, wherein the computing device comprises an inference system configured to infer the current state information based on current sensor information received from the one or more sensors disposed the one or more equipment.
27. The system of claim 26, wherein the first-level planner component is configured to generate the first-level plan based on state information provided by the inference system, wherein the inference system is configured to infer the state information based on sensor information received from the one or more sensors.
28. The system of claim 27, wherein each respective second-level planner component of each respective second-level component is configured to generate a respective second-level plan based on the state information.
29. The system of claim 27, wherein the computing device comprises a data acquisition system coupled to the one or more sensors, wherein the data acquisition system is configured to receive the sensor information from the one or more sensors.
30. The system of claim 21, wherein the computing device comprises a plan execution system configured to receive a respective second-level plan of each respective second-level component and instruct the respective equipment associated with the respective second-level component to execute the respective second-level plan.
31. The system of claim 21, wherein the first-level component comprises one or more specialized subject components configured to provide one or more properties of state to the first-level planner component or a respective second-level planner component, wherein each specialized subject component of the one or more specialized subject components comprises a physics model.
32. The system of claim 21, wherein the one or more equipment comprises one or more well construction equipment.
33. The system of claim 32, wherein the one or more well construction equipment comprises one or more of a drilling control unit or a mud control unit.
34. A method comprising: generating, with a processor, a first-level plan at a first-level component, wherein the first-level plan comprises one or more constraints and one or more goals associated with an operation; sending, with the processor, the first-level plan to a plurality of second-level components coupled to the first-level component, wherein each second-level component of the plurality of second- level components is configured to control a respective equipment of a plurality of equipment configured to perform the operation; receiving, with the processor, a second-level plan from a respective second-level component of the plurality of second-level components; overlaying, with the processor, the second-level plan on the first-level plan to generate an overlaid plan; and instructing, with the processor, each second-level component to control the respective equipment based on the overlaid plan.
35. The method of claim 34, comprising receiving, with the processor, an indication that the second- level plan could not be generated from the respective second-level component based on the one or more constraints or the one or more goals.
36. The method of claim 35, comprising: receiving, with the processor, current status information from one or more sensors coupled to at least one equipment of the plurality of equipment in response to receiving the indication that the second- level plan could not be generated; and changing, with the processor, the one or more constraints or the one or more goals of the first- level plan based on the current status information in response to receiving the current status information.
37. A tangible, machine-readable storage medium, comprising machine -readable instructions to cause a processor to: receive a first-level plan from a first-level component, wherein the first-level plan comprises one or more actions for one or more second-level components, wherein each second-level component of the one or more second-level components is configured to control a respective equipment configured to perform an operation; extract a set of timed goals and timeline constraints from each action of the one or more actions; receive a current status based on one or more sensors coupled to the respective equipment configured; generate a second-level plan based on the set of timed goals, timeline constraints, and the current status; and instruct the respective equipment to perform the second-level plan.
38. The machine-readable storage medium of claim 37, comprising machine-readable instructions to cause the processor to: receive the first-level plan comprising one or more goals associated with the first-level component communicatively coupled to the one or more second-level components; determine whether the one or more second-level components can achieve the one or more goals; and generate one or more second-level plans to execute the one or more actions based on a determination with regard to whether the one or more second-level components can achieve the one or more goals.
39. The machine-readable storage medium of claim 38, comprising machine-readable instructions to cause the processor to: determine whether the one or more second-level plans were generated; instruct the respective equipment to perform the second-level plan in response to the processor determining that the one or more second-level plans were generated; and send an indication that a timed goal of the set of timed goals was not met to the first-level component in response to the processor determining that the one or more second-level plans were not generated.
40. The machine-readable storage medium of claim 39, comprising machine-readable instructions to cause the processor to send a set of unsatisfiable constraints to the first-level component in response to the processor determining that the one or more second-level plans were not generated.
41. A system comprising: a first set of equipment; and a computing device communicatively coupled to the first set of equipment, wherein the computing device comprises: one or more components that are configured to control the first set of equipment to execute a plan based at least in part on a state of the system; and an inference system that is configured to determine the state of the system based on sensor data received via one or more sensors disposed on the first set of equipment, wherein the inference system comprises: a condition dispatcher configured to receive a request of a condition of the system from an additional component separate from the one or more components, wherein the additional component is configured to control a second set of equipment; a query responder configured to determine a validity of the condition based at least in part on an evaluation of a rule associated with the condition, wherein the rule corresponds to the state of the system; and a rule evaluator configured to evaluate the rule to determine the validity of the condition based on whether one or more properties associated with the condition corresponds to the state of the system, wherein the condition dispatcher is configured to transmit an indication associated with the validity of the condition to the additional component, and wherein the additional component is configured to control the second set of equipment based on the validity of the condition.
42. The system of claim 41, wherein the computing device comprises a data acquisition system configured to acquire the sensor data from the one or more sensors disposed on the one or more equipment.
43. The system of claim 42, wherein the inference system comprises a system state estimator configured to receive the sensor data from the data acquisition system and determine the state of the system based at least in part on the sensor data.
44. The system of claim 43, wherein the inference system comprises a literal state store configured to determine a state of a literal, wherein the literal comprises a positive or negative atomic propositional expression.
45. The system of claim 44, wherein the query responder is configured to determine the validity of the condition based at least in part on the state of the literal.
46. The system of claim 44, wherein the literal state store is configured to determine a duration of the state of the literal.
47. The system of claim 46, wherein the query responder configured to determine the validity of the condition based at least in part on the duration of the state of the literal.
48. The system of claim 41, wherein the query responder is configured to determine a duration of the validity of the condition.
49. The system of claim 48, wherein the condition dispatcher is configured to authorize an action of the system based at least in part on the duration of the validity of the condition.
50. A method comprising: receiving, with a processor, a condition configured to authorize an action of a system comprising one or more equipment; identifying, with the processor, a rule as a potential supporter of the condition in response to determining that the rule is associated with the condition, wherein the rule comprises an antecedent and an implicant, wherein the implicant of the rule is inferred to be true when one or more prerequisites of the antecedent of the rule is determined to be true, and wherein the one or more prerequisites is associated with the condition; activating, with the processor, the rule in response to determining that the antecedent of the rule is true, wherein a validity of the condition is based at least in part on activation of the rule; instructing, with the processor, the one or more equipment to perform the action based at least in part on the validity of the condition.
51. The method of claim 50, wherein identifying, with the processor, the rule as the potential supporter of the condition comprises determining that the implicant of the rule comprises the condition.
52. The method of claim 50, wherein the rule comprises a plurality of rules, wherein the method comprises indicating that the condition is true when at least one of the plurality of rules is active.
53. The method of claim 50, wherein the rule comprises a plurality of rules, wherein the method comprises indicating that the condition is not true when none of the plurality of rules is active.
54. A tangible, machine-readable storage medium, comprising machine -readable instructions to cause a processor to: receive state information of a system, wherein the state information is based at least in part on sensor data received from one or more sensors disposed on one or more equipment of the system; deactivate a rule in response to determining that the rule is active and that the state information is indicative of an antecedent of the rule being false, wherein the rule comprises the antecedent and an implicant, wherein the implicant of the rule is inferred to be true when one or more prerequisites of the antecedent of the rule is determined to be true; activate the rule in response to determining that the rule is inactive and that the state information causes the antecedent of the rule to be true; authorize an action configured to be performed by the one or more equipment in response to activating the rule; and control the one or more equipment to perform the action in response to authorize the action.
55. The machine-readable storage medium of claim 54, wherein the processor is configured to authorize the action based at least in part on a validity of a condition.
56. The machine-readable storage medium of claim 55, wherein the processor is configured to determine that the rule is a potential supporter when the rule is associated with the condition.
57. The machine-readable storage medium of claim 56, wherein the processor is configured to determine that the rule is the potential supporter by determining that the implicant of the rule comprises the condition.
58. The machine-readable storage medium of claim 57, wherein the processor is configured to deactivate the rule in response to determining that the rule is the potential supporter.
59. The machine-readable storage medium of claim 57, wherein the processor is configured to activate the rule in response to determining that the rule is the potential supporter.
60. The machine-readable storage medium of claim 55, wherein the rule comprises a plurality of rules, wherein the processor is configured to: indicate that the condition is true when at least one of the plurality of rules is active; and indicate that the condition is not true when none of the plurality of rules is active.
GB2017703.6A 2018-05-12 2019-05-10 Multi-domain planning and execution Active GB2587956B (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US201862670737P 2018-05-12 2018-05-12
US201862670803P 2018-05-13 2018-05-13
US16/208,644 US20200175444A1 (en) 2018-12-04 2018-12-04 Multi-domain planning and execution
US16/208,633 US11288609B2 (en) 2018-12-04 2018-12-04 Systems and methods for executing a plan associated with multiple equipment by using rule-based inference
US16/208,625 US20200175443A1 (en) 2018-12-04 2018-12-04 Multi-domain planning and execution
PCT/US2019/031645 WO2019222033A1 (en) 2018-05-12 2019-05-10 Multi-domain planning and execution

Publications (3)

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GB202017703D0 GB202017703D0 (en) 2020-12-23
GB2587956A true GB2587956A (en) 2021-04-14
GB2587956B GB2587956B (en) 2023-01-25

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CA (1) CA3100068A1 (en)
GB (1) GB2587956B (en)
NO (1) NO347899B1 (en)
WO (1) WO2019222033A1 (en)

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NO347899B1 (en) 2024-04-29
NO20201174A1 (en) 2020-10-27
GB2587956B (en) 2023-01-25
CN112262352A (en) 2021-01-22
CA3100068A1 (en) 2019-11-21
CN112262352B (en) 2024-04-05
GB202017703D0 (en) 2020-12-23
WO2019222033A1 (en) 2019-11-21

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