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US 11,702,894 B2Granted
Robotic apparatus for performing drill floor operations
AssigneeNoble Drilling A/S
InventorJesper Holck
Life of this patent
Estimating the term…
Abstract
A robotic apparatus (1) for performing drill floor operations comprises a support arrangement (2) and at least one manipulator arm (6). The at least one manipulator arm (6) is configured to carry an end effector (11) configured to manipulate one or more of tubing, tools and/or equipment on a drill floor (d) or pipe deck of an oil and gas rig in order to perform a given drill floor operation.
Claims18
A self-propelled robotic apparatus for performing offshore drill floor operations, comprising:
- a support arrangement having an onboard electric power supply including a battery;
- at least one manipulator arm configured for coupling to the support arrangement, the at least one manipulator arm is configured to carry an end effector configured to manipulate tubing, tools or equipment in order to perform a predetermined drill floor operation;
- wherein the support arrangement is configured to move across an offshore drill floor, and the movement is powered by the onboard power supply;
- and
- wherein the support arrangement comprises an omni-directional drive unit disposed on an undercarriage and having one or more omni-directional rollers.
2 more elements
A robotic apparatus for performing drill floor operations, comprising:
- a support arrangement having an onboard electric power supply including a battery;
- at least one manipulator arm configured for coupling to the support arrangement, the at least one manipulator arm is configured to carry an end effector configured to manipulate tubing, tools or equipment in order to perform a predetermined drill floor operation;
- wherein the support arrangement is configured to move across an offshore drill floor, and the movement is powered by the onboard power supply;
- wherein the onboard power supply provides power for moving on the drill floor;
- and
- wherein the support arrangement includes a continuous track system, and is configured to utilize the onboard power supply to power the continuous track system and maneuver the apparatus from a docking station which forms a storage location for the apparatus to a work location around a well center on the drill floor.
3 more elements
A robotic apparatus for performing drill floor operations, comprising:
- a support arrangement having an onboard electric power supply including a battery;
- at least one manipulator arm configured for coupling to the support arrangement, the at least one manipulator arm is configured to carry an end effector configured to manipulate tubing, tools or equipment in order to perform a predetermined drill floor operation;
- wherein the support arrangement is configured to move across the offshore drill floor, the movement is powered by the onboard power supply;
- wherein the support arrangement comprises a continuous track system and the apparatus is configured to move along a path determined by the type of operations to be carried out, and by equipment present on the drill floor.
1 more element
A self-propelled robotic apparatus for performing offshore drill floor operations, comprising:
- a support arrangement configured to move the apparatus across an offshore drill floor;
- at least one manipulator arm configured for coupling to the support arrangement, the least one manipulator arm is configured to carry an end effector configured to manipulate tubing, tools or equipment in order to perform a predetermined drill floor operation;
- a visual sensor arrangement formed as a camera system operatively associated with a machine vision system;
- wherein the machine vision system being operatively associated with a machine learning system configured to control apparatus motions to perform given tasks;
- and
- wherein the apparatus through compliant motion control by the control system is configured to perform collaborative operations with other machinery on drill floor.
3 more elements
A self-propelled robotic apparatus for performing offshore drill floor operations, comprising:
- a support arrangement configured to move the apparatus across an offshore drill floor;
- at least one manipulator arm for coupling to the support arrangement, the least one manipulator arm is configured to carry an end effector configured to manipulate tubing, tools or equipment in order to perform a predetermined drill floor operation;
- a visual sensor arrangement formed as a camera system operatively associated with a machine vision system;
- a control system configured for using compliant motion control;
- wherein the machine vision system being operatively associated with a machine learning system configured to control apparatus motions to perform given tasks;
- wherein the control system is configured to apply supervised learning through which the apparatus is guided through a number of predefined sequences and thereby learn to perform tasks and operations;
- and
- wherein the control system receives input from the machine vision system and is configured to reliable sensing and object detection, and to control both the motion of the apparatus across the drill floor and motion of the at least one manipulator arm.
5 more elements
Dependencies are inferred from the claim text.