Charles Ray Blakely

US Patent:

20200088873, Mar 19, 2020

Filed:

Sep 16, 2019

Appl. No.:

16/571735

Inventors:

Charles BLAKELY - Houston TX, US
Brad PREVOST - Pearland TX, US

International Classification:

G01S 17/02
E21B 19/16
G01S 17/42
G01S 17/89
G01C 9/00

Abstract:

A processor is operably coupled to a time of flight (TOF) camera, a light detection and ranging (LIDAR) sensor, and an optical camera. The processor can receive a TOF signal representative of a first coordinate associated with a stick-up height of a tool joint of a pipe of a drill string during a tripping operation on a rig drill floor, and a pitch and a roll of the tool joint. The processor can receive a LIDAR signal representative of a second coordinate associated with the stick-up height, and the pitch of the tool joint. The processor can receive an optical camera signal representative of a third coordinate associated with the stick-up height of the tool joint and the roll of the tool joint. The processor can generate a pose estimate and an orientation estimate based on the signals.