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公开(公告)号：US11725497B2
公开(公告)日：2023-08-15
申请号：US16539866
申请日：2019-08-13
IPC分类号： E21B47/002 , E21B47/017 , G01N23/203 , G01V3/34 , E21B47/107 , B25J9/02 , G01N29/06 , G01N29/22 , G01N29/26 , G01V5/12
CPC分类号： E21B47/002 , E21B47/0025 , E21B47/017 , B25J9/023 , E21B47/107 , G01N23/203 , G01N29/0654 , G01N29/225 , G01N29/262 , G01V3/34 , G01V5/125
摘要： A device and method for manipulating a robotic end effector in a well. Actuators manipulate the end effector independently through multiple degrees of freedom to improve the perspective of the end effector. An imaging sensor may be used to image, measure and identify features of a well and objects located therein. The sensor may be an ultrasound transducer, camera or x-ray sensor arranged radially, axial or distributed over a 2D surface. The end effector may be connected to a tool, such as a fishing tool, a welder, a milling tool, or a repair tool.
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公开(公告)号：US11644441B2
公开(公告)日：2023-05-09
申请号：US16783060
申请日：2020-02-05
CPC分类号： G01N29/0654 , G01N29/07 , G01N29/225 , G01N29/245 , G01N29/265 , G01N29/44 , G01N2291/011 , G01N2291/0234 , G01N2291/0289 , G01N2291/106 , G01N2291/2636
摘要： A system, device and method for imaging, measuring and identifying surface features in a tubular, such as a casing, wellbore, or pipe. The device comprises an ultrasound transducer for sonifying an area of the surface of the tubular, with a pulse intercepting axial locations of the sonified area at different times. Reflected signals are processed using their time of flight to interpret the reflected signals as axial locations of features on the surface of the tubular. Multiple sonified areas are partially overlapped in the axial direction to capture features redundantly. Reflections from the multiple areas are combined to remove noise and strengthen reflections from real features. A geometric model of the surface of the tubular is rendered and displayed. Capturing larger areas per frame increases the logging rate and oversampling improves the resolution and signal to noise ratio.
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公开(公告)号：US20210040838A1
公开(公告)日：2021-02-11
申请号：US16986023
申请日：2020-08-05
发明人： Graham Manders
IPC分类号： E21B47/002 , G01N29/06 , G01N29/28 , G01N29/07 , B06B1/06
摘要： A device and method used for inspecting and measuring coiled tubing, production tubing or drill pipe as it enters the well. Defects such as internal and external wall loss, cracking and deformation can be detected and quantified. The axial motion of the tubing can be measured allowing for depth measurements that are more accurate and reliable than what can be obtained using an encoder wheel system.
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公开(公告)号：US20240337626A1
公开(公告)日：2024-10-10
申请号：US18703718
申请日：2023-11-20
发明人： Graham Manders , Jay Roderick Hope
IPC分类号： G01N29/04 , G01N29/26 , G01N29/265 , G01N29/44
CPC分类号： G01N29/041 , G01N29/262 , G01N29/265 , G01N29/4463 , G01N2291/0289 , G01N2291/106 , G01N2291/2634
摘要： A device and method for non-destructive testing of an object, such as a pipe, well casing, plane wing, rail track, weldment, bridge or manufactured part. A phased array of ultrasonic transducers moves relative to the part in one direction, while transmitting a steered wave in another direction to capture the texture from the object's surface. Diffuse and specular components of the received reflection signals are separated and beamformed for visualization. The object is then viewable as a 3D image with a texture map of the object's surface.
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公开(公告)号：US11573341B2
公开(公告)日：2023-02-07
申请号：US16653374
申请日：2019-10-15
摘要： A device and method used to increase the resolution when imaging, measuring and inspecting wells, pipes and objects located therein. The device comprises an array of acoustic transducers that both transmit and receive acoustic signals. Scan lines may be overlapped by interlacing transmission and receiving windows thus increasing either the resolution or logging speed drastically compared to conventional approaches. The sequence of the scan lines making up an imaging frame is created by stratifying physically close lines and randomly selecting from within each stratum, preventing interference from neighboring transducers, signals and acoustic artifacts that fundamentally limit logging speed and resolution using conventional methods.
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公开(公告)号：US20200249203A1
公开(公告)日：2020-08-06
申请号：US16783060
申请日：2020-02-05
发明人： Graham Manders , Mike Halpenny
摘要： A system, device and method for imaging, measuring and identifying surface features in a tubular, such as a casing, wellbore, or pipe. The device comprises an ultrasound transducer for sonifying an area of the surface of the tubular, with a pulse intercepting axial locations of the sonified area at different times. Reflected signals are processed using their time of flight to interpret the reflected signals as axial locations of features on the surface of the tubular. Multiple sonified areas are partially overlapped in the axial direction to capture features redundantly. Reflections from the multiple areas are combined to remove noise and strengthen reflections from real features. A geometric model of the surface of the tubular is rendered and displayed. Capturing larger areas per frame increases the logging rate and oversampling improves the resolution and signal to noise ratio.
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公开(公告)号：US12066406B1
公开(公告)日：2024-08-20
申请号：US18132455
申请日：2023-04-10
IPC分类号： E21B23/14 , E21B47/002 , G01N29/04 , G01N29/24 , G01N29/265
CPC分类号： G01N29/24 , E21B47/0025 , G01N29/043 , G01N29/265 , E21B23/14 , E21B2200/20 , G01N2291/106 , G01N2291/2636
摘要： A downhole imaging tool and method of operating the tool in a wellbore. An imaging sensor array at an end of the tool is rotatable about a longitudinal axis of the tool to image the well by sweeping out a 2D area of the well. Actuators in the tool provide rotation and/or extension of the sensor array to change perspective. An ultrasound phased-array may be used to measure and identify features of the well or objects.
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公开(公告)号：US11920412B2
公开(公告)日：2024-03-05
申请号：US16986023
申请日：2020-08-05
发明人： Graham Manders
CPC分类号： E21B19/22 , B06B1/0611 , E21B47/0025 , G01N29/0654 , G01N29/262 , G01N29/28 , B06B2201/73 , G01N2291/023 , G01N2291/0289 , G01N2291/044 , G01N2291/106
摘要： A device and method used for inspecting and measuring coiled tubing, production tubing or drill pipe as it enters the well. Defects such as internal and external wall loss, cracking and deformation can be detected and quantified. The axial motion of the tubing can be measured allowing for depth measurements that are more accurate and reliable than what can be obtained using an encoder wheel system.
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公开(公告)号：US20230358131A1
公开(公告)日：2023-11-09
申请号：US18119836
申请日：2023-03-10
发明人： Timothy Luu , Graham Manders , Damian Nesbitt
IPC分类号： E21B47/002 , H04N23/50
CPC分类号： E21B47/0025 , H04N23/555
摘要： A device and method used to inspect wellbores, cased or uncased using cameras. Improvements in downhole optical imaging are provided using telecentric lens, prisms and mirrors, or structured lighting. Stereoscopic arrangements and ultrasound sensor may provide 3D or contour information. The images are stored on the tool and analyzed later. The present tool overcomes the deficiencies currently experience by downhole camera operators, such as poor scale and perspective.
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公开(公告)号：US20200055196A1
公开(公告)日：2020-02-20
申请号：US16539866
申请日：2019-08-13
发明人： Mike Halpenny , Matt James , Graham Manders
摘要： A device and method for manipulating a robotic end effector in a well. Actuators manipulate the end effector independently through multiple degrees of freedom to improve the perspective of the end effector. An imaging sensor may be used to image, measure and identify features of a well and objects located therein. The sensor may be an ultrasound transducer, camera or x-ray sensor arranged radially, axial or distributed over a 2D surface. The end effector may be connected to a tool, such as a fishing tool, a welder, a milling tool, or a repair tool.
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