# US 10,246,952 B2 · Method for placing and removing pipe from a finger rack > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,952 B2 - Document ID: US10246952B2 - Status: Granted - Kind: B2 - Application number: 15/526,024 - Filed: 2015-11-13 - Published: 2017-10-26 - Granted: 2019-04-02 - Earliest claimed: 2014-11-14 - Assignees: National Oilwell Varco Norway AS - Applicants: National Oilwell Varco Norway AS - Inventors: Stig Vidar Trydal; Marianne Holmstrøm; Kjell Rohde; Hugo Leonardo Rosano - Web page: https://patentgrep.com/patent/US10246952B2 ## CPC - E21B 19/14: Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole (E21B19/20, E21B19/22 take precedence) - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS ## Abstract A system for placing and removing pipe from a finger rack of a drilling rig, the system comprising a pipe handling apparatus (140) and a finger rack (139) having at least one finger board (102) having at least two fingers (103 to 106) defining a slot (107 to 109) and a multiplicity of latches (114) arranged therebetween defining a space for a pipe, each latch (114) of the multiplicity of latches selectively movable between an open position and a closed position, the system further comprising at least one camera (101) having said at least one latch (114) of said multiplicity of latches in a field of view, capturing an image of said latch and sending said image to a master control computer (12′), said master computer control computer (12′) programmed with a set of instructions to analyze said image for details indicative of the latch (114) being in an open position or closed position, concluding the latch (114) to be in an open position or closed position and allowing or disallowing a pipe handling apparatus to place or remove a pipe in the finger rack (139) based on said conclusion. ## Claims ### Claim 1 A system for placing and removing pipe from a finger rack of a drilling rig, the system comprising: a pipe handling apparatus; a finger rack having at least one finger board, said at least one finger board having at least two fingers defining a slot and a multiplicity of latches arranged therebetween defining a space for a pipe, each latch of the multiplicity of latches selectively movable between an open position and a closed position; and a camera having a plurality of latches of said multiplicity of latches in a field of view, wherein the camera is adapted to capture an image of said a plurality of latches and send said image to a master control computer that is adapted to define a sub-image of an area about one latch, said area being sufficient to cover the one latch in an open position and a closed position, said master control computer being further adapted to analyse said image for details indicative of one of the plurality of latches being in an open position or a closed position, to conclude the one latch is in an open position or a closed position, and to allow or disallow a pipe handling apparatus to place or remove a pipe in the finger rack based on said conclusion. ### Claim 2 (depends on 1) A system in accordance with claim 1, wherein the at least one camera is a high definition cctv camera which captures the image. ### Claim 3 (depends on 1) A system in accordance with claim 1, wherein the at least one camera is a range imaging camera to capture the image. ### Claim 4 (depends on 1) A system in accordance with claim 1, wherein the at least one camera is arranged on said pipe handling apparatus. ### Claim 5 (depends on 4) A system in accordance with claim 4, wherein the pipe handling apparatus comprises a pipe handling arm with a pipe gripping apparatus for gripping a pipe, and a base fixed to a column, the at least one camera fixed to said base. ### Claim 6 (depends on 1) A system in accordance with claim 1, wherein the at least one finger board is arranged in a derrick and the at least one camera is arranged on a part of said derrick in front of and above said finger board. ### Claim 7 (depends on 1) A system in accordance with claim 1, wherein the at least one camera is arranged at the back and above the finger board. ### Claim 8 (depends on 6) A system in accordance with claim 6, wherein the at least one camera is arranged on a track. ### Claim 9 (depends on 1) A system in accordance with claim 1, wherein said master control computer is adapted to analyse said image for details indicative of the at least one latch being in an open position or a closed position by analysing a contrast about said latch. ### Claim 10 (depends on 1) A system in accordance with claim 1, wherein the pipe handling apparatus is controlled by a pipe handling control computer that is adapted to find a pipe in said finger board, to remove the pipe from the finger board and to convey the pipe to well centre, the master control computer being adapted to instruct said pipe handling computer to allow or disallow the pipe handling apparatus to place or remove a pipe in the finger rack based on said conclusion as to whether the one latch is in an open position or a closed position. ### Claim 11 (depends on 1) A system in accordance with claim 1, wherein the at least one camera is adapted to obtain at least one further image of the one latch after obtaining said image, said master control computer being adapted to analyse said at least one further image to confirm or deny said conclusion. ### Claim 12 (depends on 1) A system as claimed in claim 1, wherein each of said multiplicity of latches has a hole therethrough, and wherein the master control computer is adapted to look for ellipses on said latch. ### Claim 13 (depends on 1) A system as claimed in claim 1, wherein said one latch comprises a marker. ### Claim 14 (depends on 13) A system as claimed in claim 13, wherein said master control computer is adapted to look for said marker on said one latch. ### Claim 15 (depends on 1) A system as claimed in claim 1, wherein said at least one camera is adapted to capture an image of said slot of said finger rack and said master control computer is adapted to look for a ghost pipe. ### Claim 16 (depends on 1) A system as claimed in claim 1, wherein said at least one camera is adapted to capture an image of said slot of said finger rack and said master control computer is adapted to look for an unregistered pipe. ### Claim 17 (depends on 1) A system in accordance with claim 1, wherein the pipe is one of: a joint of drill pipe; a stand of drill pipe; a section of casing; stand of drill pipe having a downhole tool therein or connected thereto, and a Bottom Hole Assembly or part thereof. ### Claim 18 A method for placing and removing pipe from a finger rack of a drilling rig comprising a rig floor, a derrick, a pipe handling apparatus and a finger rack having at least one finger board, said at least one finger board having at least two fingers defining a slot and a multiplicity of latches arranged therebetween defining a space for a pipe, each latch of the multiplicity of latches selectively movable between an open position and a closed position, the drilling rig further comprising a camera having a plurality of latches of said multiplicity of latches in a field of view, the method comprising the steps of: capturing an image of said plurality of latches with said camera; sending said image to a master control computer; defining a sub-image of an area about one latch with said master control computer, said area being sufficient to cover the one latch in an open position and a closed position; analysing said image with said master control computer for details indicative of one of the plurality of latches being in an open position or a closed position; concluding the one latch to be in an open position or a closed position; and allowing or disallowing a pipe handling apparatus to place or remove a pipe in the finger rack based on said conclusion. ### Claim 19 A drilling rig, comprising: having a rig floor; a derrick; a pipe handling apparatus; at least one finger board having at least two fingers defining a slot and a multiplicity of latches arranged therebetween defining a space for a pipe, each latch of the multiplicity of latches selectively movable between an open position and a closed position; and a camera having a plurality of latches of said multiplicity of latches in a field of view, wherein said camera is positioned on said pipe handling apparatus and adapted to capture an image of said plurality of latches and send said image to a master control computer that is adapted to define a sub-image of an area about one latch, said area being sufficient to cover the one latch in an open position and a closed position, said master control computer being further adapted to analyse said image for details indicative of one of the plurality of latches being in an open position or a closed position, to conclude the one latch is in an open position or a closed position, and to allow or disallow said pipe handling apparatus to place or remove a pipe in the finger board based on said conclusion. ### Claim 20 A system for monitoring the health of a multiplicity of latches in a finger board of a drilling rig, the system comprising: a drilling rig having a pipe handling apparatus and at least one finger board having at least two fingers defining a slot and a multiplicity of latches arranged therebetween defining a space for a pipe, each latch of the multiplicity of latches selectively movable between an open position and a closed position and a latch controller for controlling said latches between the open position and the closed position; and a camera having a plurality of latches of said multiplicity of latches in a field of view, wherein said camera is adapted to capture an image of said plurality of latches and send said image to a master control computer that is adapted to define a sub-image of an area about one latch, said area being sufficient to cover the one latch in an open position and a closed position, said master control computer being further adapted to analyse said image for details indicative of one of the plurality of latches being in an open position or a closed position, to conclude the one latch is in an open position or a closed position, and to receive a control information in a data packet from the latch controller, the control information data packet comprising information as whether said one latch has been controlled to be in an open position or a closed position, the master control computer being further adapted and to perform a comparison of the said control information with the conclusion obtained from the image captured by the at least one camera and assessing the health of the one latch based on said comparison. ### Claim 21 (depends on 20) A system in accordance with claim 20, wherein the latch controller is incorporated into a pipe handling computer. ### Claim 22 (depends on 20) A system in accordance with claim 20, wherein if the assessment of the health of the one latch is unhealthy, the master control computer is adapted to send a message to a display indicating that the one latch is unhealthy. ### Claim 23 (depends on 20) A system in accordance with claim 20, wherein if the assessment of the health of the one latch is unhealthy, the master control computer is adapted to send a message to a repair operative. ### Claim 24 (depends on 23) A system in accordance with claim 23, wherein said master control computer has a pre-loaded memory comprising information about at least one of: said one latch; said finger board; and said pipe handling apparatus. ### Claim 25 (depends on 24) A system in accordance with claim 24, wherein said message includes at least one of said information, a copy of said image, or a copy of a further image captured by said at least one camera. ### Claim 26 (depends on 20) A system as claimed in claim 20, wherein the health of a multiplicity of latches is monitored during a commissioning procedure. ### Claim 27 (depends on 20) A system as claimed in claim 20, wherein the health of a multiplicity of latches is monitored during operation of the drilling rig.