• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    videometric systems and methods for offshore and oil well drilling. A system for determining the position of an embedded drill pipe with respect to a pipe manipulation device is described. the system comprises: an imaging means arranged to capture an image of the drill pipe in a pipe region for engagement with the device; and a processor operable for analyzing said captured image and thereafter determining the position of the drill pipe with respect to said device.
    公开号:BR112012027302B1
    申请号:R112012027302-7
    申请日:2011-04-28
    公开日:2019-11-26
    发明作者:Arne Austefjord；Pal Jacob Nessjoen；Simon James Parry
    申请人:National Oilwell Varco L.P.；
    IPC主号:
    专利说明:

    "VIDEOMETRIC SYSTEMS AND METHODS FOR DRILLING AT SEA AND OIL WELL"
    In its broadest sense, the present invention relates to the provision and use of videometry in various operations related to the oil well drilling field, particularly operations at sea. More particularly, the invention relates to a system for determining the position of an embedded drill pipe with respect to a device for handling the pipe.
    Videometry can take many forms, but it can generally be considered to be related to the use of optical identification devices to automatically receive and interpret an image of a real scene, obtain geometric information, and control information regarding direction, location or orientation of a component part, or, simply, the presence or absence of an object or component in a given environment.
    The present invention proposes, in several aspects, the use of videometry in offshore drilling operations.
    Turning now to a more specific consideration of the nature of the oil field drilling operations themselves, it will be noted that a drilling column such as the one commonly used in a borehole consists of a series of interconnected drilling pipes . Other pipes are added at the top of the column at successive stages in the drilling process as the column becomes longer, and thus deeper in the well. The reverse process occurs when a drill string is being pulled out of a well.
    When moving a drill string into or out of a well hole, a combination of torque wrench and draw wrench is typically used to connect and disconnect adjacent drill pipes and / or pre-assembled reserve stocks. In this context, a reserve stock is a number (typically two to four) of pre-assembled drill pipes that are stored in an intermediate storage cradle until that time when they are required to be added to a drill hill while it moves within a well.
    This combination of torque wrenches and drawing wrenches is commonly known as “iron platformers”. It is important to ensure that the iron platform is positioned at the right height in relation to the joint to be obtained or separated. As piping joints often vary in terms of diameter or length, it has been found that the instrumentation to achieve this was not satisfactory and thus the positioning of the height is usually done manually. In addition, not all drill pipes used in a typical column are exactly the same length, and also the height of the highest pipe in a column that protrudes out of the well hole between 2/12 successive drilling stages (or lift), which is commonly known as the “projection height”, will be slightly different in each case.
    The use of some automation was previously proposed to position an iron platform in relation to the drilling pipe that projects out of a well. This typically involves lowering the iron platform to its lowest position with respect to the drilling floor, advancing the iron platform towards the drill pipe and then raising it around the drill pipe. As the iron platform moves the drill pipe up the floor, a mechanical switch is activated when the iron platform reaches the slightly wider projection of the pipe joint at the end of the pipe. However, this mechanized method is disadvantageous for two main reasons. First, it involves moving the iron platform along a path that comprises a detour (down and then up again to find the pipe joint) and which is therefore not the ideal shortest path to fit the joint of piping, and as such, it costs valuable time. Second, problems with this method can occur because not all piping joints have the same configuration, which can confuse the system and lead to improper placement of the iron platform.
    There is, therefore, a need for an improved system to automatically control a switch arrangement for connecting or disconnecting adjacent drill pipes in an embedded drill string.
    Another area of oil field drilling operations to which the present invention can be addressed is the operation of an elevator on a drilling rig. As will be appreciated by those skilled in the art, an elevator is a device that is typically suspended below the top gear mechanism of a drilling rig and is used to lift the reserve stocks that are inside or outside the borehole. The elevator typically takes the form of an openable collar which is configured to be opened in order to receive an extension of tubing and then closed around the tubing in order to hold it firmly. As will be seen, as reserve stocks can comprise three or four separate drill pipes, they can be very long, which means that the lift is operated at a significant height above the base of the rig.
    It is important to be able to accurately determine whether or not the elevator is properly closed around a drill pipe before the drill pipe is released by a pipe handling system further down the length of the column. If the pipe handling system loosened its grip around the reserve stock before the elevator was properly closed around the reserve stock, the reserve stock would fall towards the floor of the
    3/12 drilling. This is an extremely dangerous and unpredictable event.
    Currently, checking whether or not the elevator is properly closed around a drill pipe is carried out manually by workers looking up from the bottom of the rig with the naked eye, or sometimes with a video surveillance system (CCTV ). Both methods are subject to human error.
    There is, therefore, a desire for an operable automated system to determine whether or not an elevator is closed properly around a drill pipe.
    It is an object of the present invention to provide an improved system for determining the position of an embedded drill pipe with respect to a pipe handling device.
    In its most general sense, the present invention provides a system for determining the position of an embedded drill pipe with respect to a pipe handling device, the system comprising: an imaging medium positioned to capture an image of the drill pipe in a region of the tubing for engagement by the device; and an operable processor for analyzing said captured image and determining from it the position of the drilling pipe with respect to said device.
    In an embodiment of the invention, the pipe manipulation device is an array of keys, and the system is configured to control the array of keys to connect adjacent pipes in an embedded column, in which said imaging medium is positioned to capture a image of the drilling column in a region above the well hole, said processor being operable to analyze said captured image and determine from it the position of the highest end of a drilling pipe that protrudes from the well hole, the system further comprising a control means operable in response to signals from the processor to control the position of the key arrangement depending on the position of the highest end of said drilling pipe projecting from the well hole.
    Optionally, the processor is configured to determine said position of the highest end of the drill pipe by a motion detection algorithm, the image medium capturing a sequence of said images while the array of keys is moved towards the drill pipe that protrudes from the well bore, so that the image sequence includes the static position of the drill pipe and the movable key arrangement, and the processor being configured to remove parts of said motion image sequence and determine based on remaining static parts of the image the position of the highest end of the drill pipe.
    4/12
    Conveniently, said imaging medium is positioned on the opposite side of the drill pipe from the array of keys.
    Alternatively, the processor is configured to determine said position of the highest end of the drill pipe by means of a background subtraction algorithm, the image medium capturing an image of the drill pipe that excludes the array of keys, but includes a predetermined bottom behind the drill pipe, and the processor being configured to remove parts of said image that correspond to said known bottom and determine, based on the remaining parts of the image, the position of the highest end of the drill pipe.
    Preferably, the system further comprises a memory for storing a data image of said bottom without said drilling pipe, and wherein said processor compares said captured image with said data image to remove parts of the captured image that correspond to the bottom.
    Said image medium is usefully positioned in said array of keys.
    Conveniently, said image means is positioned so that said drilling pipe can be seen in a direction substantially orthogonal to an operational geometric axis of the key arrangement.
    In another embodiment, the system can be configured to control a pipe manipulation device in the form of an array of keys for disconnecting adjacent drilling pipes in an embedded column, in which said imaging medium is arranged to capture an image of the joint between connected ends of said drill pipes in a region of a drill column above the well hole, said processor being operable to analyze said captured image and determine from there the position of the highest end of the lowest of said drilling pipes protruding from the well hole, the system further comprising a control means operable in response to signals from the processor to control the position of the key arrangement depending on the position of the higher end of said lower drilling pipe projecting of the well hole.
    Preferably, said processor is configured to analyze the edge contours of said drill column in said captured image to determine the approximate position of said joint and then perform an edge detection algorithm in the region of said image that illustrates said joint for determine the highest end of the lowest drill pipe.
    In another embodiment, the pipe handling device is an elevator configured to raise and lower drill pipes, the elevator comprising a collar configured to fit around a drill pipe and secure the
    5/12 same, the image medium being positioned to capture an image of said collar, and the processor being operable to analyze said image and determine from it whether a drill pipe is received or not inside the collar.
    Preferably, the system further comprises a memory configured to store a first image of data from said image medium, the first image of data showing said collar without a drill pipe in it.
    Conveniently, said memory is further configured to store a second image of data from said image medium, the second image of data showing said collar with a drill pipe received therein.
    Said processor is usefully operable to compare said captured image with said data image or with each of the data images and determine from this comparison whether the drill pipe is received or not within said collar.
    Optionally, said processor is operable to perform said comparison according to a segmentation algorithm based on color.
    Conveniently, said image medium is a video camera.
    Alternatively, said image medium is a camera for photos.
    Preferably, said camera for photos is configured to capture a plurality of successive images.
    In order for the invention to be more readily understood, and for other characteristics of the same to be appreciated, modalities of the invention will now be described by way of example with reference to the accompanying drawings, in which:
    Figure 1 is a perspective illustration showing a key control arrangement according to an embodiment of the present invention;
    Figure 2 is a schematic plan view from above, showing the arrangement of Figure 1;
    Figure 3 is a view similar to that of Figure 2, but showing an alternative arrangement;
    Figure 4 is a view similar to that of Figures 2 and 3, but showing another alternative arrangement;
    Figure 5 is a side elevation view showing an elevator suspended below an upper gear mechanism, and a drill pipe supported by a pipe handling device;
    Figure 6 is a schematic illustration showing the elevator and the drill pipe, as seen by an imaging medium;
    Figure 7 is a view similar to that of Figure 6, but showing the closed elevator around the drill pipe and holding it; and
    6/12 Figure 8 is a view similar to that of Figure 7, but showing the elevator partially hidden by the drilling pipe and the drilling pipe outside the elevator.
    Turning now to a consideration of Figure 1 in greater detail, a combination of torque wrench and drawing wrench 1 of a type generally known in the art as an iron platform is illustrated. The iron platform 1 is mounted on a support 2 to position the iron platform in relation to the drill pipes 3, 4 of a built-in drilling column 5, and in particular for the precise positioning of the iron platform 1 in relation to the joint of pipe 6 between adjacent drilling pipes 3, 4. The specific support 2 shown, which is merely exemplary, moves on the rails 7 to allow horizontal movement towards the drilling column 5 and in the opposite direction, as illustrated schematically by the arrow 8. The iron platform 1 is also mounted on a carriage 9 for vertical movement along the support 2.
    In a conventional manner, the iron platform 1 itself comprises an upper pair of jaws 10 which are configured to cooperate in order to secure the joint part 11 at the lower end of the upper drill pipe 4 and which incorporate a rotation arrangement at in order to rotate the upper drill pipe 4. The iron platform 1 further comprises a pair of jaws 12 which are configured to cooperate in order to hold the joint part 13 at the upper end of the lower drill pipe 3.
    As already indicated above in the introductory part of this order, the vertical position of the iron platform 1 with respect to the drilling pipes 3,4, and in particular the joint 6 between the two drilling pipes, is crucial for the precise connection and disconnection and of the two drill pipes.
    The arrangement illustrated in Figure 1 incorporates an automated system to determine the position of the upper end of the lower drill pipe 3 which is shown projecting from the well bore 14. As it will become clear, the system is, in this way , operable to determine the “projection height” of the bottom drill pipe 3.
    The system is illustrated schematically in Figure 1 and comprises an image medium, such as a video camera 15, positioned to capture a real-time video image of the drill column 5, and in particular the region of the drill column 5 located above the well hole 14 in the region where joints 6 between adjacent drill pipes will typically be obtained and / or broken by the iron platform 1. In the specific arrangement illustrated in Figures 1 and 2, camera 15 is shown positioned on the opposite side of the drilling column 5 and its constitutive drilling pipes 3, 4 with respect to the iron platform 1, and is arranged to provide a view of the drilling pipes along a viewing direction 16 that is substantially parallel to the horizontal axis of horizontal movement of the iron platform 1. The field of view 17 of the camera 15 thus covers the drill pipes and the iron platform 1 behind the pipes, as illustrated more clearly in Figure 2. As will be explained below, however, alternative positions for camera 15 are also possible.
    The camera 15 is operationally and electrically connected to an electronic processor 18, which in turn is connected to a memory 19 and a screen 20.
    In this embodiment of the present invention, it is proposed that the processor 18 will be configured and operable to monitor and analyze the image captured by the camera 15 when the partially assembled or disassembled drilling column 5 is stopped between successive insertion or removal steps, and for determine from the image the projection height of the drill pipe 3 projecting from the well 14 and from there determine the position of the highest end of the lower drill pipe 3. This information can then be used to control the vertical position of the iron platform 1 with respect to the joint part 13 of the lower pipe 3 (and thus also relative to the joint part 11 of the upper pipe 4). Processor 18 is operatively connected, as schematically illustrated in 21, to a control arrangement configured to control the horizontal and vertical position of the iron platform 1, and thus, in this way, the system is effective in controlling the iron platform 1 depending the position of the joint part 13 of the lower drilling pipe 3 that protrudes from the well hole 14.
    The system's operating regime will now be described in greater detail, with the initial focus on the situation where only the iron platform 1 and the lower drilling pipe 3 that protrude from the well hole 14 are present in the field of view 17 the camera; how it will happen after a part of the drilling column 5 has been inserted into the well hole and before the next drilling pipe is connected to the column. As will be appreciated from the description below, the objective in this situation is to determine the height of the projection of the drilling pipe 3 (and from there the vertical position of its joint part 13) when the drilling column 5 is stopped after a insertion step. The processor achieves this through a motion detection algorithm.
    More particularly, the camera 15 is activated to capture a video image sequence when the iron platform 1 is moved in the direction of the projecting pipe 3, along the geometric axis of movement. In practice, the operation of the camera will be automatically synchronized with the operation of the iron platform 1. The processor then works to remove from the captured image sequence all parts of the image containing movement during the sequence (that is, the parts of the image showing o the iron platform 1), leaving behind only static parts of the image, the
    8/12 which will certainly include the protruding drill pipe 3. The vertical position of the highest end of the protruding drill pipe 3 can then be determined based on the remaining static image parts after the filtering step, because it will clearly contrast with the parts removed from the image behind the pipe.
    Turning now to a consideration of Figure 3, an alternative position and direction of view for camera 15 is shown. As will be noted, in this arrangement the camera is not aimed at the iron platform 1, but, on the contrary, is willing to so its direction of view is generally orthogonal to the geometric axis of motion 8 of the iron platform 1. Therefore, although the field of view of the camera 17 still includes the drill pipe 3, it excludes the iron platform 1. In this arrangement certainly images captured by camera 15 while iron platform 1 is moving will therefore not include iron platform 1. This means that the motion detection and filtering regime described above will not work for this arrangement. Instead, the arrangement in Figure 3 is proposed to operate by a background subtraction regime.
    More particularly, in this arrangement, the system is initially calibrated by activating the camera in the absence of the drill pipe 3 in order to capture a representative image of the bottom 22 behind the well hole 14. This image is stored in memory 19 as an image of data. It is anticipated that this calibration step will be repeated whenever there is no drill pipe or drill column present in the camera's field of view 17, replacing the previously stored data image with an updated image at each repetition, thus ensuring that any changes in fund 22 over time will be indicated.
    When the drill pipe 3 is present in the camera's field of view, for example, after a drill column insertion step, the camera is then activated to capture an image of the drill pipe placed against the bottom 22. The processor then operates to compare the captured image with the previous (and most current) data image, and removes parts of the image that correspond to the data image from the captured image. This effectively serves to remove the bottom of the captured image, to leave only one image of the projecting drill pipe, from which the height of the projection and hence the vertical position of the joint part 13 of the drill pipe 3 can be determined .
    Figure 4 illustrates another alternative arrangement in which the camera 15 is effectively mounted on the iron platform 1 itself and arranged so that its direction of view 16 is the same, that is, at least generally parallel to the geometric axis of movement 9 of the iron platform 1. As will be noted, the arrangement in Figure 4 is suitable for the same background subtraction regime as the arrangement illustrated in Figure 3.
    9/12
    When the system is used during the removal of a drilling column 5 from the well hole 14, to control the iron platform 1 to disconnect adjacent drilling pipes 3,4 the situation is a little different because certainly in this situation the drilling column 5 will move continuously from the base to the top of the images captured by camera 15. This means that even in the case of the arrangement shown in Figure 3, the movement detection regime will not work correctly to identify the joint 6 between the two pipes because the drilling column will hide the iron platform 1. A different image processing regime is required for this situation, and it is proposed to use a contour analysis scheme, relying on the increased width of the joint parts 13, 11 of the two drilling pipes 3, 4, with respect to the pipes themselves.
    More particularly, the camera 15 will be triggered when the drill string 5 comes to a stop after a withdrawal step, to capture an image of the drill string comprising the lower end of the upper drill pipe and the upper end of the lower drill pipe 3 The processor then operates to analyze the captured image using contour analysis to locate and identify the widest region of the two adjacent parts 11, 13. This provides an approximate location of the exact joint 6 between the two pipes, as represented by the upper edge of the bottom drill pipe 3 protruding from the well hole 14. The processor then performs an edge detection algorithm on the part of the captured image considered to illustrate the approximate position of the joint, looking for large transitions in the color of the image to determine the exact position of the pipe joint 6 which can then be used to c precisely control the iron platform 1.
    Turning now to a consideration of figure 5, a general arrangement of the drilling rig is illustrated at a position spaced above the base of the rig on a drilling rig. In particular, an upper gear mechanism 23, of a type known per se, is illustrated, from which an elevator 24 is suspended. The upper gear mechanism 23 is operable to raise and lower the elevator 24 in a known manner. The elevator 24, as will be described in more detail, is configured to close around a drill pipe 25 and hold it, which may comprise part of a pre-assembled reserve stock, typically in a high position above the probe base. Figure 5 shows the drill pipe adjacent to the elevator and disengaged from it and supported by a pipe handling device 26 in a position generally below the elevator. The pipe handling device 26 is operable together with the elevator to present the drill pipe for engagement by the elevator 24.
    Figure 5 also shows a camera that is mounted on such a structure
    10/12 as a drilling tower 28 and supported by it. The camera 27 is mounted at a position slightly above the height of the elevator 24 and is directed towards the elevator in order to capture images of the elevator, and of the adjacent drilling pipe 25, looking down towards the elevator. The camera 27 is operatively and electrically connected to an electronic processor 29 (illustrated schematically in figure 5), and the processor is connected to a memory 30 and a screen 31.
    The system illustrated in Figure 5 is operable to determine whether the drill pipe 25 is engaged with the elevator 24, as will be described in more detail below.
    Figure 6 is a schematic illustration representing the type of image that will be captured by camera 27 by activating the camera. As will be noted, the elevator is generally seen from the front, and particularly slightly from above. The elevator 24 comprises a collar that can be opened and closed separately 32, which is shown in Figure 6 in the closed condition. When closed, the collar defines a central opening 33 that is sized to fit tightly around the drill pipe 25 in a known manner. It is also observed that, as seen by the camera 27, the collar 32 has a smooth upper face in general elliptical 34. Alternative configurations of the elevator 24 may have a smooth upper face that has the appearance of a distorted rectangle when viewed by the camera 27.
    The elevator 24 may have a predetermined pattern (shown schematically at 35) painted or applied in some other way to its upper face 35, clearly shown to the camera 27. It is proposed that such a pattern will present easily identifiable markers for the camera 27 and its associated processor 29.
    Figure 6 shows the elevator 24 disengaged from the drill pipe; that is, without the drill pipe located inside the central opening 33 of collar 32. To calibrate the system, camera 27 needs to capture an image of the upper surface 34 of the elevator in this condition; that is, without the drill pipe being held by the elevator. This image is stored in memory 30 as a first data image representative of the elevator without a drill pipe located in its collar.
    A second data image is then taken by camera 27, representative of the elevator that is engaged with the drilling pipe 25 as illustrated in Figure 7. This second data image is also stored in memory 30.
    Once the system has been calibrated in this way, with the two data images stored in memory 30, the system can also be operated at any time to capture an image of the elevator 24, and to analyze the image captured via processor 29 to determine if the drill pipe 25 was properly received and engaged by the elevator 24 as described in figure 7. In order to carry out this determination, the processor is operable to compare the instant image of the elevator 23
    11/12 with the two data images. Preferably, this will be done using a color-based segmentation technique based on the pattern 35 applied to the upper surface 34 of the elevator.
    In case the drill pipe 25 is not located inside the elevator, as shown in Figure 6, the captured image of the elevator will show a continuous ellipse (or distorted rectangle, as appropriate depending on the elevator configuration) that can be readily matched with the first image of data by the processor to return a signal or message on the screen 31 indicating that the elevator is disengaged from the drill pipe.
    In case the drill pipe 25 is located inside the elevator 24 and, therefore, engaged in it, as shown in Figure 7, the captured image of the elevator will show the ellipse (or distorted square) being broken by the drilling pipe that it is covered in the region where the drill pipe is located; that is, the upper surface region 34 (and hence its pattern 35) located further away from the camera. This can be readily matched to the second data image by the processor to return a signal or message on the screen indicating that the elevator is properly engaged in the drill pipe.
    It should be noted that in the engaged condition illustrated in Figure 7, the frontal region of the upper surface 34 (and from there also its pattern 35) is not broken by the drilling pipe 25. It is impossible for the drilling pipe 25 to hide the part rear of the upper surface 34 (and optional standard 35), but not the front, unless the drill pipe 25 is actually located inside the elevator as shown in Figure 7. This provides important fail-safe, as it is impossible for the system to incorrectly determine that the drill pipe is located inside the elevator. In comparison, Figure 8 illustrates an image captured by camera 27 in which both the rear and the front of the upper surface 34 are hidden by the drill pipe. As will be noted, this situation indicates that the drill pipe is located outside the elevator.
    Although the invention has been described above with reference to specific embodiments, it should be appreciated that various and broad modifications or alterations could be made without departing from the scope of the claimed invention. For example, although reference is made above to the use of video cameras, it will be noted that several of the modalities described above could operate differently, using a camera for photos. In the particular case of the arrangement of Figures 1 and 2 which is described above with the use of an operable video camera to capture a sequence of video images, the arrangement could very easily be modified to use an operable photo camera to capture a sequence comprising a plurality of 12/12 genes in separate photos.
    When used in this report and claims, the terms "comprises" and "comprising" and variations thereof mean that the specified characteristics, stages or set are included. The terms should not be interpreted as excluding 5 the presence of other characteristics, stages or the whole.
    The characteristics disclosed in the description made, or in. the following claims, or in the accompanying drawings, expressed in their specific forms or in terms of a means to perform the described function, or a method or process for obtaining the described results, as appropriate, may, separately or in any combination of such characteristics, be used to carry out the invention in various forms thereof.
    Although the invention has been described in conjunction with the exemplary embodiments described above, many equivalent modifications and variations will become apparent to those skilled in the art upon becoming aware of this description. Consequently, the exemplary embodiments of the invention described above are considered illustrative and not limiting. Several changes in the described modalities can be made without departing from the spirit and scope of the invention.
    权利要求:
    Claims (12)
    [1]
    1. System for determining the position of a built-in drill pipe (3) with respect to a key arrangement (1), the system being configured to control the key arrangement (1) to connect adjacent drill pipes (3, 4 ) in an embedded column (5), and CHARACTERIZED by the fact that it comprises: an image medium (15) positioned to capture an image of the drilling column (5) in a region above the well hole (14) for engagement by the key (1), and a processor (18) operable to analyze said captured image and determine from it the position of the highest end of a drilling pipe (3) that protrudes from the well hole (14) with With respect to said key (1), the system further comprising control means operable in response to signals from the processor (18) to control the position of the key arrangement (1) depending on the position of the highest end of said drill pipe (3 ) that s and projects from the well hole (14), in which the processor (18) is configured to determine said position of the highest end of the drill pipe (3) by a motion detection algorithm, the image medium (15) capturing a sequence of said images while the array of keys (1) is moved in the direction of the drill pipe (3) protruding from the well hole (14), so that the image sequence includes the static position of the perforation (3) and movable key arrangement (1), and the processor (18) being configured to remove parts of said motion containing image sequence and determine from the remaining static parts of the image the position of the highest end of the pipe drilling (3).
    [2]
    2. System, according to claim 1, CHARACTERIZED by the fact that said image medium (15) is positioned on the opposite side of the drill pipe (3) with respect to the key arrangement (1).
    [3]
    3. System according to either of claims 1 or 2, CHARACTERIZED by the fact that it is configured to control the arrangement of keys (1) to disconnect adjacent drilling pipes (3, 4) in an embedded column (5), wherein said imaging medium (15) is arranged to capture an image of the joint (6) between connected ends of said adjacent drill pipes (3, 4) in a region of a drill column (5) above the drill hole. well (14), said processor (18) being operable to analyze said captured image and determine from there the position of the highest end of the lowest of said drilling pipe (3) protruding from the well hole (14 ), the system further comprising control means operable in response to signals from the processor (18) to control the position of the key arrangement (1) according to the position of the highest end of said drill pipe (3) m further down that protrudes from the well hole (14).
    [4]
    4. System, according to claim 3, CHARACTERIZED by the fact that the
    Petition 870190100877, of 10/08/2019, p. 8/10
    2/3 said processor (18) is configured to analyze the edge contours of said drilling column (5) in said captured image to determine the approximate position of said joint (6) and then execute an edge detection algorithm in the region of said image illustrating said joint (6) to determine the highest end of the lowest drill pipe (3).
    [5]
    5. System, CHARACTERIZED by the fact that it is used to determine the position of a drilling pipe (4) relative to an elevator (24) configured to raise and lower drilling pipes, the elevator (24) comprising a configured collar (32) to fit around a drill pipe (4) and secure it; the system comprising an imaging medium (14) positioned to capture an image of said collar (32) and drill pipe (4) in a region of the pipe for engagement by the collar (32), and a processor (18) operable for analyze said image and determine from it whether a drill pipe (4) is received or not inside the collar (32).
    [6]
    6. System, according to claim 5, CHARACTERIZED by the fact that it also comprises a memory (19) configured to store a first image of data from said image medium (15), the first image of data showing said necklace (32); without a drill pipe in it.
    [7]
    7. System, according to claim 6, CHARACTERIZED by the fact that said memory (19) is further configured to store a second data image of said image medium (15), the second data image showing said necklace (32) with a drill pipe received in it.
    [8]
    8. System according to either of claims 6 or 7, CHARACTERIZED by the fact that said processor (18) is operable to compare said captured image with said data image or each of the data images and determine the from said comparison whether the drill pipe (4) is received or not inside said collar (32).
    [9]
    9. System, according to claim 8, CHARACTERIZED by the fact that said processor (18) is operable to perform said comparison according to a color-based segmentation algorithm.
    [10]
    10. System, according to any of the preceding claims, CHARACTERIZED by the fact that said image medium (15) is a video camera.
    [11]
    11. System according to any one of claims 1 to 9, CHARACTERIZED by the fact that said image medium (15) is a camera for photos.
    Petition 870190100877, of 10/08/2019, p. 9/10
    3/3
    [12]
    12. System, according to claim 11, CHARACTERIZED by the fact that said camera for photos is configured to capture a plurality of successive images.
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    同族专利:
    公开号 | 公开日
    EP2564014A2|2013-03-06|
    WO2011135311A2|2011-11-03|
    EP2564014B1|2015-07-15|
    CA2796300C|2019-01-08|
    US9464492B2|2016-10-11|
    GB201007200D0|2010-06-16|
    WO2011135311A8|2013-02-21|
    BR112012027302A2|2016-08-02|
    DK2564014T3|2015-10-19|
    WO2011135311A3|2012-09-27|
    US20130345878A1|2013-12-26|
    CA2796300A1|2011-11-03|
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    法律状态:
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-07-16| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|
    2019-11-05| B09A| Decision: intention to grant|
    2019-11-26| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/04/2011, OBSERVADAS AS CONDICOES LEGAIS. (CO) 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/04/2011, OBSERVADAS AS CONDICOES LEGAIS |
    优先权:
    申请号 | 申请日 | 专利标题
    GB1007200.7|2010-04-29|
    GBGB1007200.7A|GB201007200D0|2010-04-29|2010-04-29|Videometric system and method for offshore and oil-well drilling|
    PCT/GB2011/000666|WO2011135311A2|2010-04-29|2011-04-28|Videometric Systems And Methods For Offshore And Oil-Well Drilling|
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