US Patent:
20170362905, Dec 21, 2017
Inventors:
- Houston TX, US
Eric Daniel NELSON - Cambridge MA, US
Yinxiao LIU - Boston MA, US
Hugh ENXING - Cambridge MA, US
Wei YU - Salem MA, US
Daniel I. HARJES - Acton MA, US
Teddy SEDALOR - Brookline MA, US
Hector PADILLA - Chelsea MA, US
Leland Howe SMITH - Roxbury MA, US
Davis KING - Cambridge MA, US
International Classification:
E21B 19/16
G06T 7/269
G06N 99/00
G06T 7/277
G06K 9/46
G06K 9/62
E21B 17/042
Abstract:
A system and method for positioning oilfield tubulars on a drilling floor (), having an automated tubular handling system, to permit alignment and automated make up and break out of threading operations between a stationary tubular () and a moving tubular (), utilizing image information from radially offset cameras (), processing the image information to recognize the tubulars within the image and develop position information for said tubulars, combining the position information from the two camera systems to develop three dimensional information for each of the tubulars, developing instructions for the automated tubular handling system to bring the stationary and moving tubulars into vertical alignment and lowering the moving tubular into threaded contact, and engaging an automated hydraulic torque wrench to make up the threaded connection.