Wellsite control employing three-dimensional imaging

An apparatus, comprising:

• a non-transitory computer readable medium;
• and
• a plurality of instructions stored on the non-transitory computer readable medium and executable by one or more processors, the plurality of instructions comprising:
• instructions that cause the one or more processors to generate a three-dimensional model of at least an above-ground portion of a drilling rig;
• instructions that cause the one or more processors to calibrate a three-dimensional camera system to the three-dimensional model;
• instructions that cause the one or more processors to calibrate a draw-works encoder of the drilling rig;
• instructions that cause the one or more processors to monitor, using the three-dimensional camera system, three-dimensional motion of a component of the drilling rig during operation of the drilling rig;
• instructions that cause the one or more processors to measure a position of the component using the calibrated draw-works encoder;
• instructions that cause the one or more processors to recalibrate the draw-works encoder based on the monitoring of the motion of the component during the operation of the drilling rig;
• and
• instructions that cause the one or more processors to measure the position of the component using the recalibrated draw-works encoder.

An apparatus, comprising:

• an above-ground drilling rig, comprising:
• a rig floor;
• a traveling block;
• and
• a draw-works adapted to raise and lower the traveling block relative to the rig floor, the draw-works comprising an encoder to register counts during the lowering and raising of the traveling block;
• a first three-dimensional camera connected to the traveling block;
• and
• a controller in communication with the encoder and the first three-dimensional camera;
• wherein the controller receives from the encoder data associated with the counts registered by the encoder during the lowering and raising of the traveling block, and further receives three-dimensional imaging data from the first three-dimensional camera;
• wherein the controller calculates an absolute three-dimensional position of the traveling block using the three-dimensional imaging data, and further calculates a distance moved by the traveling block using the data associated with the counts registered by the encoder;
• and
• wherein the controller compares the absolute three-dimensional position calculation with the distance moved calculation to determine if the calculations correlate;
• wherein the encoder is automatically recalibrated if the controller determines that the calculations do not correlate.

A method, comprising:

• generating, using one or more computer systems, a predefined three-dimensional model of at least a portion of a wellsite, the portion of the wellsite being located at and above the surface of the Earth;
• receiving three-dimensional imaging data sets from one or more three-dimensional cameras, the three-dimensional imaging data sets being associated with a control volume in which the portion of the wellsite is disposed;
• augmenting the predefined three-dimensional model of the portion of the wellsite with the three-dimensional imaging data sets to thereby generate an augmented three-dimensional model of the portion of the wellsite,
• wherein the augmented three-dimensional model includes augmentations to one or more of:
• absolute positions of one or more components within the wellsite,
• positions of more or more moving objects,
• constraints about which the one or more moving objects can move, or
• axes around which the one or more moving objects can move;
• and
• controlling, using the augmented three-dimensional model of the portion of the wellsite, movement of at least one system of the wellsite disposed in, or expected to be moved into, the control volume.

An apparatus, comprising:

• a non-transitory computer readable medium;
• and
• a plurality of instructions stored on the non-transitory computer readable medium and executable by one or more processors, the plurality of instructions comprising:
• instructions that cause the one or more processors to generate a predefined three-dimensional model of at least a portion of a wellsite, the portion of the wellsite being located at and above the surface of the Earth;
• instructions that cause the one or more processors to receive three-dimensional imaging data sets from one or more three-dimensional cameras, the three-dimensional imaging data sets being associated with a control volume in which the portion of the wellsite is disposed;
• and
• instructions that cause the one or more processors to augment the predefined three-dimensional model of the portion of the wellsite with the three-dimensional imaging data sets to thereby generate an augmented three-dimensional model of the portion of the wellsite,
• wherein the augmented three-dimensional model includes augmentations to one or more of:
• absolute positions of one or more components within the wellsite,
• positions of more or more moving objects,
• constraints about which the one or more moving objects can move, or
• axes around which the one or more moving objects can move;
• and
• instructions that that cause the one or more processors to control, using the augmented three-dimensional model of the portion of the wellsite, movement of at least one system of the wellsite disposed in, or expected to be moved into, the control volume.

A method, comprising:

• providing a plurality of three-dimensional cameras so that each three-dimensional camera is configured to provide three-dimensional imaging of a control volume in which at least a portion of a wellsite is disposed, at least one of the three-dimensional cameras employing a first three-dimensional sensing technology that is different from a second three-dimensional sensing technology employed by at least one other of the three-dimensional cameras, the portion of the wellsite being located at and above the surface of the Earth;
• receiving three-dimensional imaging data sets from the three-dimensional cameras, each of the three-dimensional imaging data sets being associated with the control volume in which the portion of the wellsite is disposed;
• generating a single three-dimensional model of the portion of the wellsite disposed in the control volume based on three-dimensional data sets from both the first and second three-dimensional sensing technology, wherein generating the single three-dimensional model comprises merging the respective three-dimensional imaging data sets;
• and
• controlling, using the generated single three-dimensional model, at least one system disposed in, or expected to be moved into, the control volume,
• wherein the single three-dimensional model includes one or more of:
• absolute positions of one or more components within the wellsite,
• motion of one or more components within the wellsite,
• a distance moved by one or more components within the wellsite,
• a calibration of one or more encoders within the wellsite, or
• an identity of one or more components within the wellsite.

An apparatus, comprising:

• a non-transitory computer readable medium;
• and
• a plurality of instructions stored on the non-transitory computer readable medium and executable by one or more processors, the plurality of instructions comprising:
• instructions that cause the one or more processors to receive respective three-dimensional imaging data sets from a plurality of three-dimensional cameras, each of the three-dimensional imaging data sets being associated with a control volume in which a portion of a wellsite is disposed, at least one of the three-dimensional cameras employing a first three-dimensional sensing technology that is different from a second three-dimensional sensing technology employed by at least one other of the three-dimensional cameras, the portion of the wellsite being located at and above the surface of the Earth;
• instructions that cause the one or more processors to generate a single three-dimensional model of the portion of the wellsite disposed in the control volume based on three-dimensional data sets from both the first and second three-dimensional sensing technology, wherein the instructions that cause the one or more processors to generate the single three-dimensional model comprise instructions that cause the one or more processors to merge the respective three-dimensional imaging data sets;
• and
• a controller in contact with at least one system associated with the wellsite;
• wherein the plurality of instructions further comprises instructions that cause the one or more processors to control, with the controller using the generated single three-dimensional model, the at least one system disposed in, or expected to be moved into, the control volume,
• wherein the single three-dimensional model includes one or more of:
• absolute positions of one or more components within the wellsite,
• motion of one or more components within the wellsite,
• a distance moved by one or more components within the wellsite,
• a calibration of one or more encoders within the wellsite, or
• an identity of one or more components within the wellsite.