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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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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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