Key information

Title: Method for aligning pipes coaxially
Application number: 20171169
Case type: National
Status: 19.11.2018 Patent opprettholdt etter innsigelse, administrativ begrensning eller overprøving, eller innvilget fortsatt behandling
Filed: 13.07.2017
Effective date: 13.07.2017
Publicly available: 19.11.2018
Next annual fee due: 31.07.2027
Applicant: PIPE PILOT AS (NO)
Owner: PIPE PILOT AS (NO)
Inventor: Asbjørn Traaserud (NO)
Agent: HÅMSØ PATENTBYRÅ AS (NO)
Granted: 19.11.2018
Patent number: 343139
Expiry date: 13.07.2037

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.

A method for aligning a movable first pipe (3) coaxially with a substantially stationary second pipe (9) to prepare a threaded end portion (7) of the first pipe (3) for engagement with a threaded end portion (13) of the second pipe (9), wherein the method comprises the steps of: a) determining, by means of triangulation, a position of a centre line (CL9) of the second pipe (9); b) prior to bringing the threaded end portion (7) of the first pipe (3) in contact with the threaded end portion (13) of the second pipe (9), determining, by means of triangulation, a position of a central end portion of the first pipe (3) being closest to the second pipe (9); c) calculating direction and amount of any horizontal deviation (dH) between the centre line (CL9) of the second pipe (9) and the central end portion of the first pipe (3) facing the second pipe (9); d) outputting a first guiding signal (ML2) indicative of direction and amount of the horizontal deviation calculated in step c), e) moving the first pipe (3) according to the first guiding signal (ML2); and then f) moving the threaded end portion (7) of the first pipe (3) to abut against the threaded end portion (13) of the second pipe (9); g) determining a first pipe direction vector (CL3) and a second pipe direction vector (CL9); h) calculating direction and amount of any inclination (dC) of the first pipe direction vector (CL3) with respect to the second pipe direction vector (CL9); i) outputting a second guiding signal (ML1) indicative of direction and amount of inclination (dC) calculated in step h); j) adjusting the inclination of the first pipe (3) according to the second guiding signal (ML1; and k) rotating the first pipe (3) so that the threads (7) of the first pipe (3) engage with the threads (13) of the second pipe (9).

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Date	Doc. No.	Process	Case number	In/Out	Journal description	To/from
26.06.2020	15-03	Innsigelse	2019/00195	UT	IAIN07P- Avgjørelse - innsigelse_1296532
26.06.2020	15-02	Innsigelse	2019/00195	UT	OP09: Oversendelse med avgjørelse
26.06.2020	15-01	Innsigelse	2019/00195	UT	OP10: Oversendelsesbrev med avgjørelse uten klagefrist	HÅMSØ PATENTBYRÅ AS
26.06.2020	14-02	Innsigelse	2019/00195	UT	IAIN07P- Avgjørelse - innsigelse_1296532
26.06.2020	14-01	Innsigelse	2019/00195	UT	OP09: Oversendelse med avgjørelse	ZACCO NORWAY AS
12.05.2020	13-01	Innsigelse	2019/00195	UT	Generelt brev	HÅMSØ PATENTBYRÅ AS
12.05.2020	12-05	Innsigelse	2019/00195	UT	Hovedbrev
12.05.2020	12-04	Innsigelse	2019/00195	UT	Krav norsk
12.05.2020	12-03	Innsigelse	2019/00195	UT	Krav engelsk
12.05.2020	12-02	Innsigelse	2019/00195	UT	Beskrivelse ren
12.05.2020	12-01	Innsigelse	2019/00195	UT	Generelt brev	ZACCO NORWAY AS
18.12.2019	11-06	Innsigelse	2019/00195	INN	Krav norsk
18.12.2019	11-05	Innsigelse	2019/00195	INN	Krav engelsk
18.12.2019	11-04	Innsigelse	2019/00195	INN	Beskrivelse ren
18.12.2019	11-03	Innsigelse	2019/00195	INN	Hovedbrev
18.12.2019	11-02	Innsigelse	2019/00195	INN	Beskrivelse merket
18.12.2019	11-01	Innsigelse	2019/00195	INN	Korrespondanse (Hovedbrev inn)
04.12.2019	10-01	Innsigelse	2019/00195	UT	Opp til avgjørelse	HÅMSØ PATENTBYRÅ AS
04.12.2019	09-01	Innsigelse	2019/00195	UT	Opp til avgjørelse	ZACCO NORWAY AS
01.10.2019	08-01	Innsigelse	2019/00195	UT	Opp til avgjørelse	HÅMSØ PATENTBYRÅ AS
01.10.2019	07-06	Innsigelse	2019/00195	UT	Krav med sporing
01.10.2019	07-05	Innsigelse	2019/00195	UT	Krav
01.10.2019	07-04	Innsigelse	2019/00195	UT	Andre Written Opinion i patenthavers PCT-søknad PCT NO2018_050181
01.10.2019	07-03	Innsigelse	2019/00195	UT	TenarisHydril_grafer
01.10.2019	07-02	Innsigelse	2019/00195	UT	Hovedbrev
01.10.2019	07-01	Innsigelse	2019/00195	UT	Opp til avgjørelse	ZACCO NORWAY AS
20.08.2019	06-06	Innsigelse	2019/00195	INN	Krav	HÅMSØ PATENTBYRÅ AS
20.08.2019	06-05	Innsigelse	2019/00195	INN	Krav med sporing	HÅMSØ PATENTBYRÅ AS
20.08.2019	06-04	Innsigelse	2019/00195	INN	Hovedbrev	HÅMSØ PATENTBYRÅ AS
20.08.2019	06-03	Innsigelse	2019/00195	INN	Andre Written Opinion i patenthavers PCT-søknad PCT NO2018_050181	HÅMSØ PATENTBYRÅ AS
20.08.2019	06-02	Innsigelse	2019/00195	INN	TenarisHydril_grafer	HÅMSØ PATENTBYRÅ AS
20.08.2019	06-01	Innsigelse	2019/00195	INN	Korrespondanse (Hovedbrev inn)	HÅMSØ PATENTBYRÅ AS
04.06.2019	09-01	Saksbehandling	20171169	UT	PT Varsel om betaling av første årsavgift (3317) (PT20171169)
28.05.2019	05-02	Innsigelse	2019/00195	INN	Fullmakt
28.05.2019	05-01	Innsigelse	2019/00195	INN	Korrespondanse (Hovedbrev inn)
23.05.2019	04-01	Innsigelse	2019/00195	UT	Bekreftelse	ZACCO NORWAY AS
23.05.2019	03-01	Innsigelse	2019/00195	UT	Oversendelse av innsigelse	HÅMSØ PATENTBYRÅ AS
23.05.2019	02-01	Innsigelse	2019/00195	UT	Mangelbrev	ZACCO NORWAY AS
08.05.2019	01-07	Innsigelse	2019/00195	INN	O3_EP2666955
08.05.2019	01-06	Innsigelse	2019/00195	INN	O2_EP2458135
08.05.2019	01-05	Innsigelse	2019/00195	INN	O1_NO343139
08.05.2019	01-04	Innsigelse	2019/00195	INN	Hovedbrev
08.05.2019	01-03	Innsigelse	2019/00195	INN	O5_WO2016106294
08.05.2019	01-02	Innsigelse	2019/00195	INN	O4_WO2019013644-WOSA
08.05.2019	01-01	Innsigelse	2019/00195	INN	Nytt overprøvningskrav (OP)
21.11.2018	08-01	Saksbehandling	20171169	UT	PT Registreringsbrev Nasjonal Patent (15) (PT20171169)
03.10.2018	07-01	Saksbehandling	20171169	UT	PT Meddelelse om patent	HÅMSØ PATENTBYRÅ AS
14.09.2018	06-03	Saksbehandling	20171169	INN	Patenttegninger	HÅMSØ PATENTBYRÅ AS
14.09.2018	06-02	Saksbehandling	20171169	INN	Hovedbrev	HÅMSØ PATENTBYRÅ AS
14.09.2018	06-01	Saksbehandling	20171169	INN	Korrespondanse (Hovedbrev inn)	HÅMSØ PATENTBYRÅ AS
20.06.2018	05-03	Saksbehandling	20171169	INN	Hovedbrev	HÅMSØ PATENTBYRÅ AS
20.06.2018	05-02	Saksbehandling	20171169	INN	Patenttegninger	HÅMSØ PATENTBYRÅ AS
20.06.2018	05-01	Saksbehandling	20171169	INN	Korrespondanse (Hovedbrev inn)	HÅMSØ PATENTBYRÅ AS
30.05.2018	04-05	Saksbehandling	20171169	INN	Hovedbrev	HÅMSØ PATENTBYRÅ AS
30.05.2018	04-04	Saksbehandling	20171169	INN	Beskrivelse ren	HÅMSØ PATENTBYRÅ AS
30.05.2018	04-03	Saksbehandling	20171169	INN	Beskrivelse merket	HÅMSØ PATENTBYRÅ AS
30.05.2018	04-02	Saksbehandling	20171169	INN	Krav	HÅMSØ PATENTBYRÅ AS
30.05.2018	04-01	Saksbehandling	20171169	INN	Korrespondanse (Hovedbrev inn)	HÅMSØ PATENTBYRÅ AS
20.02.2018	03-02	Saksbehandling	20171169	UT	PT report 12:55:27
20.02.2018	03-01	Saksbehandling	20171169	UT	Realitet patent	HÅMSØ PATENTBYRÅ AS
21.07.2017	02-01	Saksbehandling	20171169	UT	Infobrev til oppfinner	Håmsø Patentbyrå AS
13.07.2017	01-05	Saksbehandling	20171169	INN	Fullmakt	Håmsø Patentbyrå AS
13.07.2017	01-04	Saksbehandling	20171169	INN	Patenttegninger	Håmsø Patentbyrå AS
13.07.2017	01-03	Saksbehandling	20171169	INN	Erklæring Søkers rett til oppfinnelse	Håmsø Patentbyrå AS
13.07.2017	01-02	Saksbehandling	20171169	INN	Beskrivelse	Håmsø Patentbyrå AS
13.07.2017	01-01	Saksbehandling	20171169	INN	Søknadsskjema Patent	Håmsø Patentbyrå AS

Description, claims and drawings

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.

Description

A METHOD FOR ALIGNING PIPES COAXIALLY

The present invention relates to a method for aligning pipes coaxially. More specifically the invention relates to method for aligning a movable first pipe coaxially with a substantially stationary second pipe to prepare a threaded end portion of the first pipe for engagement with a threaded end portion of the second pipe.

The pipes may typically, but not exclusively, be casing pipes or drill pipes used in the oil and gas industry wherein a plurality of individual pipes, so-called pipe joints, form a pipe string.

A person skilled in the art will appreciate that a drill pipe is normally provided with relatively rough and robust threads, while a casing pipe is normally provided with fine threads being vulnerable to damages. The method according to the present invention is primarily directed towards a method for connecting joints or sections of casing pipes at a drill floor, but the method is also suitable for connecting drill pipes.

The individual joints of casing, typically having a length of about 12 meters, are secured to each other to make up a casing string being lowered into a well of an oil or a gas reservoir. When adding a new joint of casing to a string of casing, the string of casing will be supported at a rig floor by means of a wedge or spider having a set of slips that supports the weight of the casing string.

Typically, a casing elevator provided with clamps is used to collect a new joint of casing to be secured to the casing string. The elevator with the new joint of casing is lowered until it lands on, and is supported by, the string of casing. A casing gripper is then used to rotate the joint of casing so that a threaded pin portion of the casing joint is rotated into engagement with a threaded box portion of the casing string.

A major challenge of such an operation is to make sure that the pin portion of the casing joint fully mates with the box portion of the casing string prior to rotating the joint of casing into engagement with the string of casing. By the term “fully mates" is meant that the joint of casing is sufficient coaxial with the string of casing to avoid any damages on the threads. The inventor has experienced that making a connection when there is a deviation of more than 1 to 1.5° between the longitudinal axis of the casing string and the casing joint, may cause serious damage to the threads of the pin/box connection. Depending on the damage, the threads may in some cases be repaired.

However, such a repair is time consuming and therefore costly. In other cases, both the top pipe joint of the pipe string and the pipe joint to be connected thereto must be replaced.

A rig, especially an offshore rig, is vulnerable to movement due to for example wind and waves. Such a movement represents challenges for the driller and the casing operator to decide when the casing joint and the casing string are arranged sufficiently coaxially to commence the engagement operation, i.e. to activate rotation of the casing gripper. Oftentimes it is difficult, or even impossible, for an operator to decide whether the centre lines of the casing string and the casing joint are coaxially aligned.

There is therefore a need for a method that may provide a “diagnostic" of the relative position between the casing string and the casing joint to be connected to the casing string. Preferably, the method should provide information to the driller and the casing operator whether or not the connection is ready for commencement, i.e. go-information or no-go-information.

In accordance with the method, a relative position between the casing string and the casing joint to be connected to the casing string is measured by means of triangulation. Triangulation measurements may for example, but not exclusively, be provided by means of a laser emitting device by means of a so-called LIDAR (Light Detection and Ranging) technology.

Laser emitting devices have been used for a variety of purposes in the oil and gas industry.

Publication EP0471659 A1 discloses an apparatus and a method for aligning on a common axis at least two spaced-apart elongated members to a known angular relationship. The apparatus comprises: a laser for producing a beam of light; a reflector with a reference mark thereon; means for attaching the laser to a first elongated member with said laser directed along the common axis and with a first reference mark on a radius from the common axis to said laser; and means for attaching said reflector with the mark thereon to the second elongated member with said reflector perpendicular to the common axis and with a second reference mark on the radius from the common axis to said mark on said reflector. The apparatus and method are particularly suited for aligning the elements in directional core barrels used for determining the orientation of cores of rock cut from boreholes.

Publications W02014/005187 A1 and US 2012/279782 A1 disclose a laser alignment device for a drill rig having an elongate drill rod, the laser alignment device including a head unit having at least a pair of laser emitting devices mounted independently of one another thereon, each of the laser devices movable in one plane only and oriented in substantially opposite directions to one another, an attachment means to attach the head unit to a drill rig and a length-adjustable assembly to adjust the separation distance between the head unit and the drill rod, wherein the alignment device is used to align at least the azimuth of the drill rod relative to survey marks.

Publication US 2013/341036 A1 discloses an apparatus for aligning a wellhead or BOP stack and a mast. The apparatus comprises: a rig carrier; a mast assembly pivotally mounted to said rig carrier, said mast assembly moveable between a lowered position and an upright position with respect to said rig carrier, said mast assembly extending over a back end of said rig carrier when raised to said upright position; a top drive mounted on said mast assembly which is constrained to move along a fixed axial path; and at least one sensor such as for example a laser or a sonar sensor, operable for aligning said fixed axial path with said wellhead or BOP stack for drilling operations.

Publication WO 2013/048260 A2 discloses a method for determining a stickup height of a pipe or the position of a pipe joint on the drill floor in order to accurately define the action point to where a pipe handling means, such as a roughneck, is to be applied.

Publication US 4747454 discloses a method for aligning a second conduit with a first conduit wherein the first conduit is substantially vertically positioned in a borehole so that an upper end of the first conduit extends upwardly from the bore hole. The second conduit has an upper end and a lower end, the method comprising the steps of: connecting a signal generating unit to the second conduit so as to be disposed in close proximity to the upper end thereof, said signal generating means adapted to produce a signal in the direction of the lower end of the second conduit representative of a vertical plumb line reference of the second conduit when the second conduit is substantially vertically disposed.

The invention has for its object to remedy or to reduce at least one of the drawbacks of the prior art, or at least provide a useful alternative to prior art.

The object is achieved through features specified in the description below and in the claims that follow.

The invention is defined by the independent patent claim. The dependent claims define advantageous embodiments of the invention.

More specifically, the invention relates to a method for aligning a movable first pipe coaxially with a substantially stationary second pipe to prepare a threaded end portion of the first pipe for engagement with a threaded end portion of the second pipe. The method comprises the steps of:

a) determining, by means of triangulation, a position of a centre line of the second pipe;

b) prior to bringing the threaded end portion of the first pipe in contact with the threaded end portion of the second pipe, determining, by means of triangulation, a position of a central end portion of the first pipe being closest to the second pipe;

c) calculating direction and amount of any horizontal deviation between the centre line of the second pipe and the central end portion of the first pipe facing the second pipe;

d) outputting a first guiding signal indicative of direction and amount of the horizontal deviation calculated in step c),

e) moving the first pipe according to the first guiding signal; and then

f) moving the threaded end portion of the first pipe to abut against the threaded end portion of the second pipe;

g) determining, by means of triangulation, a first pipe direction vector and a second pipe direction vector;

h) calculating direction and amount of any inclination of the first pipe direction vector with respect to the second pipe direction vector;

i) outputting a second guiding signal indicative of direction and amount of inclination calculated in step h);

j) adjusting the inclination of the first pipe according to the second guiding signal; and

k) rotating the first pipe so that the threads of the first pipe engage with the threads of the second pipe.

In step a), the centre line may be determined by finding peripheral end-portions of a cross-section of the second pipe. By assuming that the pipe is circular, the position of the centre line may be calculated. Further, by assuming the second pipe having vertical orientation, only one horizontal measurement needs to be executed. In such a case with one horizontal measurement of the second pipe, a body of the second pipe is measured relatively close to a border area between the pipe body and the portion of the pipe provided with threads. By relatively close is meant for example 25 cm below the border area. However, in the event that the second pipe deviates from a vertical position, for example due to inclination of a floating rig, at least two distant positions of the second pipe may be measured to find a direction of the centre line of the second pipe.

In step b), the end portion of the first pipe may be determined in the same manner as for the "onemeasurement” case for the second pipe.

In steps a) to c) and g) to h), the triangulations and calculations are preferably determined and calculated by means of a computer.

Steps a) to e) may be repeated one or more times until the first guiding signal indicates that said central end portion of the first pipe is arranged substantially aligned with the centre line of the second pipe. Similarly, steps g) to j) may be repeated one or more times until the second guiding signal indicates that the first pipe direction vector is substantially coaxial with the second pipe direction vector.

In one embodiment, steps g) to k) are repeated at least until a portion of the threaded end portion of the first pipe has been rotated into engagement with the threaded end portion of the second pipe. This has the effect that any misalignment occurring during commencement of the engagement may be corrected.

In a manual operation controlled by an operator, at least one of the first guiding signal and the second guiding signal may be provided as visual and/or audible signals to an operator. In one embodiment, the signals may be presented as visual signals on at least one monitor such as for example a display device. Alternatively or additionally, the visual signals may be presented by means of coloured lights, such as for example red, yellow and green signals wherein red signal light may indicate "no-go”, while a green signal may indicate "go” with respect to relative position of the first pipe with respect to the second pipe.

In an autonomous operation, i.e. an operation controlled by an automatic pipe handling apparatus such as a robot, the first guiding signal and the second guiding signal may be provided as input signals to the automatic pipe handling apparatus.

The triangulation measurements may be obtained by means of 3D sensor apparatus selected from the group comprising: laser scanning apparatus, acoustic scanning apparatus such as a sonar, radar apparatus, stereo camera, combined with triangulation algorithms, or a combination of two or more thereof.

In one embodiment, step a) and step b) may comprise using a laser scanning apparatus having an oscillating scanning pattern being substantially perpendicular to a longitudinal axis of the first pipe and the second pipe. Step g) may comprise using a laser scanning apparatus having a rotating scanning pattern wherein the scanning pattern is in a substantially vertical plane. Alternatively, step g) may comprise using an oscillating laser scanning apparatus having at least two scanning patterns being mutually distant and substantially perpendicular to a longitudinal axis of the second pipe.

In one embodiment, step a) and/or b) may comprise using a laser scanning apparatus having a rotating scanning pattern wherein the scanning pattern is in a substantially vertical plane.

In the following is described an example of a preferred embodiment illustrated in the accompanying drawings, wherein:

Fig. 1 shows a side elevation view of a top portion of casing string supported through a rig floor and a casing joint hanging above the casing string, wherein a laser apparatus is used to measure relative positions between the casing string and the casing joint, and a view of a first signal provided on a monitor indicating a relative position of the end portion of the casing joint with respect to the centre line of the casing string represented by a bull's eye of the target;

Fig. 2a shows a top view of a laser scanning path towards the casing string in fig. 1 ;

Fig. 2b shows a top view of a laser scanning path towards a lower portion of the casing joint in fig. 1 ;

Fig. 3 shows the same as fig. 1 , but after an end portion of the casing joint has been moved substantially into alignment with a centre line of the casing string;

Fig. 4a shows the casing joint after being lowered into contact with the casing string, wherein the laser scanning apparatus is used to determine the direction vector of the upper portion of the piping string and the direction vector of the casing joint, and a view of a second signal provided on the monitor indicating a relative position of the inclination of the casing joint with respect to the centre line of the casing string represented by a bull's eye of the target;

Fig. 4b shows an alternative to the embodiment shown in fig. 4a, wherein the direction vector of the upper portion of the piping string and the direction vector of the casing joint is determined by a means of a third laser scanning apparatus;

Fig. 5a shows the same as fig. 4a, but after the centre line of the casing joint has been moved substantially into alignment with a centre line of the casing string, and rotation of the casing joint into engagement with the casing string has commenced;

Fig. 5b shows an alternative to the embodiment shown in fig. 5a, wherein the direction vector of the upper portion of the piping string and the direction vector of the casing joint is determined by means of a third laser scanning apparatus;

Fig. 6a shows a screen shot of an ideal make-up graph; and

Fig. 6b shows an unacceptable make-up graph showing a so-called humping wherein a peak is above a shoulder.

Positional specifications, such as over, under, upwards, downwards, upper, lower, right and left, refer to the positions that are shown in the figures.

The figures are principle drawings only. For illustrative reasons, the size ratios between some of the elements may be somewhat distorted.

Like or corresponding elements are indicated by the same reference numeral in the various figures, but, for the sake of exposition, some of the elements may be shown without reference numerals in some of the figures.

In figures 1 to 5b, the reference numeral 1 indicates a triangulation apparatus for use in a method for aligning a first pipe 3, here shown as a pipe joint 3, with a second pipe 9, here shown as a top portion of a pipe string 9. The pipe joint 3 and pipe string 9 may for example be casing pipes or drill pipes. In the following, the first pipe 3 is denoted a casing joint 3, while the second pipe is denoted a casing string 9.

A lower end portion of the casing joint 3 is provided with a pin 5 having external threads 7. A top portion of the casing string 9 (and a top portion, not shown, of the pipe joint 3) is provided with a box 11 having internal threads 13 mating with the external threads 7 of the pin 5.

The pipe joint 3 is carried by for example a casing elevator (not shown) provided with clamps, as will be appreciated by a person skilled in the art. The casing string 9 is supported at a rig floor 20 by means of a wedge 22 provided with slips 24 that supports the weight of the casing string 9.

In the embodiment shown, a top portion of the casing string 9 is provided with a detachable guiding collar 15, such as a manual stabbing guide, to provide a guiding means for guiding the pin 5 of the pipe joint 3 during lowering of the pipe joint 3 into abutment with the box 11 of the casing string 9. It should be noted that the guiding collar 15 is preferable, but not essential. When the pipe joint is a drill pipe stand to be connected to a drill string, such a guiding collar is normally not utilized.

The triangulation apparatus 1 comprises laser scanners 101 , 102, a computer 104 with a software, power supply 106 and a transmitter 108 for transmitting signal to at least a monitor M for presenting a result of relative positions between the pipe joint 3 and the casing string 9, wherein the positions are determined by means of triangulation and calculated by means of the computer 104 with software. In the embodiment shown, the signal to the monitor M is transmitted via a cable 110. However, wireless signal transmission is also conceivable. The power supply 106 is connected to an internal or an external energy source.

A casing joint 3 to be connected on a top portion of a casing string 9, is typically moved from a storage area such as for example a so-called mouse hole (not shown) on a rig by means of an elevator (not shown), and near to the casing string 9, as shown in fig. 1 . The elevator may be operated manually or automatically by means of robotics.

In fig. 1 , the pipe or casing joint 3 hangs at a higher elevation than a top portion of the casing string 9 protruding above the rig floor 20, i.e. there is a vertical distance between the pin portion 5 of the pipe joint 3 and the box portion 11 of the casing string 9.

Prior to starting the operation, necessary information with regards to location of the apparatus 1 with respect to the portion of the casing string 9 protruding above the rig floor, and data filters and tolerances, are entered into the computer 104 of the apparatus 1 in a manner known perse. By means of the data filters, only data acquired within a specific area will be used. The acquired data are distances and angles to the objects measured by the laser scanners 101 , 102. Thus, data acquired from objects being outside of the specific area will be disregarded from triangulation calculations executed by the computer 104.

When the information mentioned above is entered into the computer 104 and at least when the casing joint 3 is brought to the position shown in fig. 1 , the laser scanners 101 , 102 of the triangulation apparatus 1 may be activated to start scanning a portion of the casing string 9 as indicated by the lower dotted line L1. This scanning is performed by the first laser 101. In the embodiment shown, a centre line CL9 of the casing string 9 is substantially vertical. In this operational step, it may therefore be sufficient to obtain data from only one level or elevation of the casing string 9. The first laser 101 may therefore oscillate in one level only as indicated in fig. 2a, to obtain data for determining, by means of triangulation, calculations the position of the side portions 9a and 9b of the casing string 9 and thus provide data for calculating a position of the centre line CL9 of the casing string 9. However, in a situation where the casing string 9 is inclined, for example more than 5-10° with respect to a vertical direction, it may be desirable to determine the centre line CL9 of the casing string 9 in the same way as will be discussed below with regards to fig. 4a and fig. 4b wherein two or more mutually distant levels of the casing string 9 are measured.

Thereafter, or alternatively simultaneously with the scanning of the casing string 9, a lower portion of the casing joint 3 is scanned in a similar way by means of a rotating or oscillating second laser 102, as indicated by the upper dotted line L2 shown in fig. 1 and fig. 2b. It should be noted that the dotted line L2 indicates the measurements that are used in calculating the position of the centre line CL3 of the lower end portion of pin portion 5 of the casing joint 3. It should also be noted that the second laser 102 is configured to cover an area extending below and above the lower end portion of the casing joint 3. This is advantageous in order to "find" the lower end portion of the pin portion 5 and thus be able to determine the position thereof by filtering away any data being above and below the lower end portion of the pin portion 5. Thus, the second laser 102 may typically be a laser rotating in a vertical plane or an oscillating laser configured for scanning in several “horizontal” levels, i.e. providing several horizontal scanlines being mutually distant.

By means of the software the computer 104 calculates any deviation dH between the centre line CL9 of the casing string 9 and the position of the lower end portion of the pin portion 5 of the casing joint 3.

A first guiding signal is sent from the computer 104 of the apparatus 1 to a monitor M indicating the deviation dH between the centre line CL9 of the casing string 9 and the position of the lower end portion of the casing joint 3. In fig. 1 , the first guiding signal is presented as a dot ML2 in a target T, wherein a bull’s eye B on the target T represents the centre line CL9 of the casing string 9. The dot ML2 in the target T provides information to an operator with respect both to a distance and an orientation of the position of the lower end portion of the casing joint 3 with respect to the target T, i.e. the centre line CL9 of the casing string 9. Thus, in a manual operation, the operator receives visual information for moving the casing joint 3 towards a target position. During any movement of the casing joint 3, the measurement and calculation of at least the position of the lower end portion of the casing joint 3 continues either continually or at certain time intervals such as for example, but not limited to, one measurement every second.

The movement of the casing joint 3 typically continues until the first guiding signal ML2 indicates that the central lower end portion of the casing joint 3 substantially crosses the centre line CL9 of the casing string 9, i.e. that the dot ML2 is at least within an outer portion (shown by a dotted line) of the bull's eye B in the target T. This is indicated in fig. 3 wherein dH indicated in fig. 1 is close to zero. Due to the guiding collar 15, the dH indicated in fig. 1 does not have to be zero. It is adequate that dH is sufficiently small to allow the pin 5 of the casing joint 3 to be guided by the collar 15 into correct position with respect to the box section 11 of the casing string 9 during lowering of the casing joint 3 into abutment with the box section 11 , as shown in fig. 4.

A drill pipe string is normally not provided with a separate guiding collar 15 of the type shown in figures 1 to 5b. However, a person skilled in the art will appreciate that a box portion of a drill pipe string has a “wedge" form for receiving a pin portion of a drill pipe stem.

The alignment discussed above may be regarded as a "course” alignment. Thus, the course alignment is represented by steps a) to f) above.

However, in order to avoid any damage to the threads 7 of the pin 5 and the threads 13 of the box 11, the casing joint 3 should be fully aligned with the casing string 9, i.e. the casing joint 3 must be arranged coaxially with the casing string 9. By the term fully aligned is meant sufficiently aligned to avoid any "shearing” or other serious damages to the threads 7, 13 when rotation of the casing joint 3 commences. The inventor has found that a deviation of up to about 1° between the centre line CL3 of the casing joint 3 and the centre line CL9 of the casing string 9, is acceptable. For a casing joint 3 having an overall length of 11 meters, a distant end portion (not shown) of the casing joint 3 may deviate up to about 20 cm from the centre line CL9 of the casing string 9 to be sufficiently aligned.

A person skilled in the art will appreciate that the maximum acceptable deviation depends on the type of threads of the pipes to be screwed together. Other pipes than casing, such as for example drill pipes normally having much coarser threads than those of casing pipes, may be connected with a larger deviation than that for casing pipes discussed above.

Fig. 4a and fig. 4b illustrates two alternative ways of finding the deviation dC between the centre line CL3 of the casing joint 3 and the centre line CL9 of the casing string 9.

In fig. 4a, a direction vector of a portion of the casing string 9 protruding from the rig floor 20 is determined by scanning at least two (three shown in fig. 4a) mutually distant portions L11 , L12, L13 of the casing string 9. This scanning is performed by means of the first laser scanning apparatus 101. Similarly, the direction vector of the casing joint 3 is determined by scanning at least two (three shown in fig. 4a) mutually distant portions L21 , L22, L23 of the casing joint 3. This scanning is performed by means of the second laser scanning apparatus 102. Based on the triangulation data acquired by the laser scanning apparatuses 101, 102, the direction vectors for the casing joint 3 and casing string 9, respectively, are calculated. For simplicity, the direction vectors for the casing joint 3 and the casing string 9 are denoted CL3 and CL9, respectively.

The purpose of scanning at least two mutually distant portions of each of the casing joint 3 and the casing string 9, is to take into account any movement of for example a floating rig being subjected to waves. Such a movement may bring the casing string 9 out of an exact vertical position.

The measurements of the mutually distant portions L21-L23 and L11-L13 of the casing joint 3 and casing string 9, respectively, are, in the embodiment shown in fig. 4a, obtained by scanning first one portion of the pipe substantially horizontally and then scanning at least one other portion of the pipe being mutually distant from the first portion along a longitudinal axis of the pipe.

By means of the software, the computer 104 calculates any deviation dC between the centre line CL9 of the casing string 9 and the position of uppermost scanning portion indicated by the dotted line L23 of the casing joint 3.

In the alternative embodiment shown in fig. 4b, the at least two mutually distant portions described above may be obtained by means of a single laser scanning apparatus 103 having a dual rotating or oscillating plane.

The third laser scanning apparatus 103 (which is shown in figures 4b and 5b only) is configured for rotating or oscillating in a vertical plane, while at the same time rotating or preferably oscillating in a "horizontal" plane in a similar way as shown in fig. 2a.

From measurements obtained by the third laser scanning apparatus 103, the centre line CL9 of the casing string 9 is calculated from data obtained from the mutually distant portions L31-L33 (corresponding to the mutually distant portions L11-L13 shown in fig. 4a), while the centre line CL3 of the casing joint 3 is calculated from data obtained from mutually distant portions L34-L36 (corresponding to the mutually distant portions L21-L23 shown in fig. 4a).

Independent of which one of the embodiments shown in figures 4a and 4b that are utilized, a second guiding signal is sent from the apparatus 1 to the monitor M indicating the deviation dC between the centre line CL9 of the casing string 9 and the casing joint 3. Thus, the second guiding signal provides information about direction and magnitude of the inclination of the casing joint 3 with respect to the casing string 9. In fig. 4a and fig. 4b, the second guiding signal is presented as a dot ML1 in the target T wherein a bull’s eye B on the target T represents the centre line CL9 of the casing string 9. In the example shown in fig 4a, or in the alternative embodiment shown in fig. 4b, the dot ML1 on the monitor M indicates that the casing joint 3 is inclined to the right and a bit out of the drawing plane.

Preferably, the second signal ML1 is visually different from the first signal ML2, for example by means of a different colour or pattern. By presenting two visually distinguishable signals ML1 and ML2, both signals may be presented simultaneously. Such a simultaneous presentation may be particularly desired if the top portion of the casing string 9 is not provided with the collar 15. Without the collar 15, the lower portion of the casing joint 3, i.e. the pin 5, may move horizontally with respect to the box 11 of the casing string 9 before the engagement of the threads 7, 13 has commenced.

Based on the second signal ML1 , the operator may move the casing joint 3 until the second signal ML1 is within the inner portion bull’s eye B, i.e. the inner circle of the target T. Thus, the triangulation measurements continue either “continually” or at certain time intervals, such as for example each second, at least until the direction vector CL3 of the casing joint 3 is aligned with the direction vector CL9 of the casing string 9.

The alignment discussed above may be regarded as a "fine” alignment.

Once the direction vector CL3 of the casing joint 3 is aligned with the direction vector CL9 of the casing string 9, rotation R of the casing joint 3 with respect to the casing string 9 may commence so that the threads 7 of the pin 5 correctly engage with the threads 13 of the box 11. This is shown in fig. 5a and in fig. 5b showing an alternative embodiment of fig. 5a.

In figures 1 to 5b, the apparatus 1 is provided with a signal-emitting device S configured for giving a visual and/or audible signal to the operator. The signal-emitting device S may be a "go"/"no-go"-signal based at least on the second signal ML1 sent from the apparatus 1. For example: during the coarse alignment shown in figures 1 to 4a or 4b, the signal-emitting device S may emit a red light indicating "no-go” with respect to starting rotation of the casing joint 3 into engagement with the casing string 9. Such a red light will be emitted until the direction vector CL3 of the casing joint 3 is fully aligned with the direction vector CL9 of the casing string 9, i.e. until the second signal ML1 is within the inner portion of the bull's eye B of the target T. When the second signal ML1 is within the inner portion of the bull’s eye B of the target T, the light emitted from the signal-emitting device S will change to green light indicating “go” with respect to starting rotation R of the casing joint 3. In one embodiment, an audible signal may be issued simultaneously with the green light. This example is one way of providing signals to an operator in addition to the information provided by the target T. It should be clear that other alternatives with respect to light and/or audible signal may be issued by the signal-emitting device S to provide any "go” or "no-go" signals to the operator.

In an alternative to an operation manually controlled by an operator, the signals ML2 shown in figures 1-3 and ML1 shown in figures 4a and 5a or 4b and 5b, may be used for controlling an automated pipe handling apparatus (not shown) known perse. In such an embodiment, said signals ML2 and ML1 may additionally be presented visually for example as indicated by means of the target T shown in figures 1-5b.

Turning now to figures 6a and 6b showing an ideal make-up graph and an unacceptable make-up graph, respectively.

In fig. 6a, which shows a print out of a real measurement, the torque (vertical axis) is substantially constant until the engagement meets the so-called shoulder after a number of turns (horizontal axis). The print out shows an ideal make-up graph.

Fig. 6b illustrates a so-called “humping" which means that a so-called peak is above the shoulder. Possible causes for a humping may arise for example due to misalignment. A person skilled in the art will understand that other reasons for such a humping may be too much thread compound, bad stabbing or minor thread damage. However, the present invention concerns avoiding misalignment.

If a connection operation results in a humping, a break out of the connection is required. After the break out a cleaning and inspection of at least the threads are required. If the threads are accepted, i.e. no damage, the connection can be remade. If the threads are damaged beyond minor repair that may be performed in situ, the pipe string 9 must be pulled in order to replace the upper pipe of the pipe string 9. The pipe joint 3 must also be replaced in such a case. A person skilled in the art will know that this is a time-consuming and thus a costly operation.

In order to control the rotation R of the casing joint 3, the triangulation measurements preferably continue at least during the first few rotations R of the casing joint 3, for example during the three to five first rotations R. If the measurements reveal any misalignment between the direction vectors CL3 and CL9, the operator will halt rotation R and, based on the second signal ML1 , adjust the casing joint 3 until the direction vectors CL3 and CL9 are again aligned, and then continue the rotation R. Thus, an operator may have full control of the process in order to achieve a substantial ideal make-up graph as shown in fig. 6a. A person skilled in the art will appreciate that make-up graphs are important documentation for the making of a pipe string such as for example a casing string 9.

In a situation where misalignment of the casing joint 3 and the casing string 9 occurs after commencing the rotation R, the signal-emitting device S may be configured for issuing an alarm signal. The alarm signal may be a visual and/or an audible signal.

The method according to the present invention solves the challenge of ensuring exact alignment of a first pipe with respect to a second pipe prior to, and in one embodiment also during, commencement of engagement of the threads of the pipes, irrespective of a manual or an automatic operation. Tests show that the method considerably reduces time spent for each connection, and that damages to the threads of the pipes due to misalignment during engagement are virtually eliminated which again reduces time and costs for making a pipe string.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. Use of the verb "comprise" and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The article "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer.

Claims

C l a i m s

1. A method for aligning a movable first pipe (3) coaxially with a substantially stationary second pipe (9) to prepare a threaded end portion (7) of the first pipe (3) for engagement with a threaded end portion (13) of the second pipe (9), c h a r a c t e r i s e d i n that the method comprises the steps of:

a) determining, by means of triangulation, a position of a centre line (CL9) of the second pipe (9);

b) prior to bringing the threaded end portion (7) of the first pipe (3) in contact with the threaded end portion (13) of the second pipe (9), determining, by means of triangulation, a position of a central end portion of the first pipe (3) being closest to the second pipe (9); c) calculating direction and amount of any horizontal deviation (dH) between the centre line (CL9) of the second pipe (9) and the central end portion of the first pipe (3) facing the second pipe (9);

d) outputting a first guiding signal (ML2) indicative of direction and amount of the horizontal deviation calculated in step c),

e) moving the first pipe (3) according to the first guiding signal (ML2); and then f) moving the threaded end portion (7) of the first pipe (3) to abut against the threaded end portion (13) of the second pipe (9);

g) determining a first pipe direction vector (CL3) and a second pipe direction vector (CL9);

h) calculating direction and amount of any inclination (dC) of the first pipe direction vector (CL3) with respect to the second pipe direction vector (CL9);

i) outputting a second guiding signal (ML1 ) indicative of direction and amount of inclination (dC) calculated in step h);

j) adjusting the inclination of the first pipe (3) according to the second guiding signal (ML1); and

k) rotating the first pipe (3) so that the threads (7) of the first pipe (3) engage with the threads (13) of the second pipe (9).

2. The method according to claim 1 , further comprising repeating steps g) to k) at least until a portion of the threaded end portion (7) of the first pipe (3) has been rotated into engagement with the threaded end portion (13) of the second pipe (9).

3. The method according to claim 1 or 2, further comprising providing the first guiding signal (ML2) and the second guiding signal (ML1) as visual and/or audible signals to an operator.

4. The method according to any of the preceding claims, further comprising providing the first guiding signal (ML2) and the second guiding signal (ML1) as input signals for controlling an automatic pipe handling apparatus.

5. The method according to any of the preceding claims, further comprising obtaining triangulation measurements by means of a 3D sensor apparatus (1 ) selected from the group comprising: laser scanning apparatus, acoustic scanning apparatus, radar apparatus, stereo camera, combined with triangulation algorithms, or a combination of two or more thereof.

Patentkrav

1. Fremgangsmåte for å rette inn et bevegelig første rør (3) koaksialt på linje med et i det vesentlig stasjonært andre rør (9) for å gjøre et gjenget endeparti (7) av det første røret (3) klar for inngrep med et gjenget endeparti (13) av det andre røret (9), k a r a k t e r i s e r t v e d at fremgangsmåten omfatter trinnene:

a) å bestemme, ved hjelp av triangulering, en posisjon til en senterlinje (CL9) for det andre røret (9);

b) før det gjengede endepartiet (7) av det første røret (3) bringes i kontakt med det gjengede endepartiet (13) av det andre røret (9), å bestemme ved hjelp av triangulering, en posisjon til et sentralt endeparti av det første røret (3) som befinner seg nærmest det andre røret (9);

c) å beregne retning og størrelse for eventuelt horisontalt avvik (dH) mellom det andre rørets (9) senterlinje (CL9) og det første rørets (3) sentrale endeparti som vender mot det andre røret (9);

d) å avgi et første ledesignal (ML2) som angir retning og størrelse for det horisontale avviket beregnet i trinn c);

e) å forskyve det første røret (3) i samsvar med det første ledesignalet (ML2); og deretter

f) å føre det første rørets (3) gjengede endeparti (7) til anlegg mot det andre rørets (9) gjengede endeparti (13);

g) å bestemme en retningsvektor (CL3) til det første røret og en retningsvektor (CL9) til det andre røret;

h) å beregne retning og størrelse for eventuell helning (dC) av retningsvektoren (CL3) til det første røret med hensyn til retningsvektoren (CL9) til det andre røret;

i) å avgi et andre ledesignal (ML1) som angir retning og størrelse for helning (dC) beregnet i trinn h);

j) å justere det første rørets (3) helning i samsvar med det andre ledesignalet (ML1); og

k) å rotere det første røret (3), slik at det første rørets (3) gjenger (7) går i inngrep med det andre rørets (9) gjenger (13).

2. Fremgangsmåte ifølge krav 1, videre omfattende å gjenta trinn g) til k) i det minste til et parti av det gjengede endepartiet (7) av det første røret (3) er blitt rotert til inngrep med det gjengede endepartiet (13) av det andre røret (9).

3. Fremgangsmåte ifølge krav 1 eller 2, videre omfattende å tilveiebringe det første ledesignalet (ML2) og det andre ledesignalet (ML1) som visuelle og/eller hørbare signaler til en operatør.

4. Fremgangsmåte ifølge hvilket som helst av de foregående kravene, videre omfattende å tilveiebring det første ledesignalet (ML2) og det andre ledesignalet (ML1) som inn-signaler til styring av et automatisk rørhåndteringsapparat.

5. Fremgangsmåte ifølge hvilket som helst av de foregående kravene, videre omfattende å oppnå trianguleringsmålinger ved hjelp av et 3D-sensorapparat (1) valgt fra gruppen omfattende: laserskanningsapparat, akustisk skanningsapparat, radarapparat, stereokamera, kombinert med tianguleringsalgoritmer, eller en kombinasjon av to eller flere av disse.

Drawings

Priority

No priority

Patent classes

IPC classes

E21B 19/24

E21B 17/042

G01B 11/02

CPC classes

E21B 19/24

E21B 17/042

G01B 11/02

Citations

EP 0471659 A1 (A1)

US 8550174 B1 (B1)

US 2011/103922 A1 (A1)

Applicants, owners and inventors

Owners

PIPE PILOT AS

Gjeringstjørn 27

5550 SVEIO

NO (SVEIO Municipality, Vestland county)

Org. number: 917471045

Inventors

Asbjørn Traaserud

Gjeringstjørn 27

5550 SVEIO

NO (SVEIO Municipality, Vestland county)

Agent

HÅMSØ PATENTBYRÅ AS

Postboks 9

4068 STAVANGER

NO (STAVANGER Municipality, Rogaland county)

Org. number: 918752900

Reference: P27868NO00

Status history

Payment history

Oppositions and appeals

Innsigelse

Received: 08.05.2019

NIPO's case No.: 2019/00195

Current status: Avgjort. Detaljstatus ikke tilgjengelig

Opponent

MHWIRTH AS

Postboks 413 Lundsiden

4604 KRISTIANSAND S

Opponent's agent

ZACCO NORWAY AS

Postboks 488

0213 OSLO

NO (OSLO Municipality, Oslo county)

Org. number: 982702887

Reference: P61901734NO00O

Administrative limitation

No administrative limitation

Liens and licences

No liens or licenses registered

Gazette entries

No Gazette entries found

Only events from 2024.03.04 and onwards are shown.

Method for aligning pipes coaxially