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US 9,706,185 B2Granted
Device control employing three-dimensional imaging
AssigneeCanrig Drilling Technology Ltd.
InventorBrian Ellis
Life of this patent
Estimating the term…
Abstract
At least a portion of a wellsite is disposed in a control volume of three-dimensional space. At least one camera is configured to provide three-dimensional imaging of the control volume. At least one device is disposed in, or is expected to be moved into, the control volume so that the at least one device is included in the three-dimensional imaging when the at least one device is disposed in the control volume and the at least one camera provides the three-dimensional imaging. In an exemplary embodiment, the at least one camera is connected to a drilling rig.
Claims23
An apparatus, comprising:
- at least one camera disposed about a well site and configured to provide three-dimensional imaging of a control volume of three-dimensional space, the control volume disposed above ground;
- at least an above ground portion of a drilling rig at the wellsite disposed in the control volume;
- at least one automated mechanical device configured to perform a wellsite operation, the at least one device being disposed in, or expected to be moved into, the control volume so that the at least one device is included in the three-dimensional imaging when performing the wellsite operation in the control volume and the at least one camera provides the three-dimensional imaging;
- a second device disposed in the control volume, wherein the at least one device is movable in relation to the second device and the at least one camera provides relative spatial relationship information for the devices to the controller;
- and wherein the controller controls the second device based on the relative spatial relationship information, such that the second device does not contact the at least one device;
- and
- a controller configured to process the three-dimensional imaging, identify a current condition of the at least one device, and provide automated control of the at least one device to move the at least one device from a current condition to a desired condition to perform the wellsite operation.
4 more elements
A method, comprising:
- receiving three-dimensional imaging data associated with a control volume of three-dimensional space, wherein at least an above ground portion of a drilling rig at a wellsite is disposed in the control volume;
- comparing the three-dimensional imaging data with another set of data comprising positional data associated with an automated mechanical device configured to perform a wellsite operation, the device being disposed in, or expected to be moved into, the control volume;
- identifying a current condition of the device based on the comparison of the three-dimensional imaging data and the another set of data;
- providing automated control of the device to manipulate the device from the current condition to a desired condition to perform the wellsite operation based on at least the comparison between the three-dimensional imaging data and the another set of data;
- and
- providing automated control of the device to stop the device in the event of an unsafe condition in the control volume.
3 more elements
A method, comprising:
- receiving three-dimensional imaging data associated with a control volume of three-dimensional space, wherein at least an above ground portion of a drilling rig at a wellsite is disposed in the control volume;
- determining a location of a first system using the three-dimensional imaging data, wherein the first system comprises one or more of the following:
- a tubular on a pipe racker, a hoisting system of a drilling rig, a top drive system, a casing running tool, and an iron roughneck;
- determining a location of a second system using the three-dimensional data;
- and
- providing automated control of the second system located at the wellsite to manipulate the second system from a current condition to a desired condition to perform a wellsite operation taking into account the calculated one or more dimensions representative of the determined location of the first system and controlling the second system to avoid contacting the first system in an uncontrolled manner.
3 more elements
An apparatus, comprising:
- a non-transitory computer readable medium;
- and
- a plurality of instructions stored on the 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 three-dimensional imaging data associated with a control volume of three-dimensional space, wherein at least an above ground portion of a drilling rig at a wellsite is disposed in the control volume, the portion of the drilling rig comprising a pipe racker;
- instructions that cause the one or more processors to compare the three-dimensional imaging data with another set of data comprising positional data associated with an automated mechanical device configured to connect or disconnect one or more tubulars with the pipe racker, the one or more tubulars being disposed in, or expected to be moved into, the control volume;
- instructions that identify a current condition of the device based on the comparison of the three-dimensional imaging data and the another set of data;
- and
- instructions that cause the one or more processors to provide automated control of the device to manipulate the one or more tubulars based on at least the comparison between the three-dimensional imaging data and the another set of data.
5 more elements
An apparatus, comprising:
- a non-transitory computer readable medium;
- and
- a plurality of instructions stored on the 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 three-dimensional imaging data associated with a control volume of three-dimensional space, wherein at least an above ground portion of a drilling rig at a wellsite is disposed in the control volume;
- instructions that cause the one or more processors to calculate one or more dimensions using the three-dimensional imaging data;
- instructions that identify a current condition of a first system located at the wellsite based on the three-dimensional imaging data, the first system comprising one or more of the following:
- a hoisting system of a drilling rig, a top drive system, a casing running tool, a pipe racker, and an iron roughneck;
- and
- instructions that cause the one or more processors to provide automated control of a second system located at the wellsite to manipulate the second system from a current condition to a desired condition to perform a wellsite operation using the calculated one or more dimensions.
6 more elements
Dependencies are inferred from the claim text.