公开(公告)号：US20240027620A1

公开(公告)日：2024-01-25

申请号：US18112176

申请日：2023-02-21

申请人： TRANSOCEAN SEDCO FOREX VENTURES LIMITED

发明人： Charles BLAKELY ,  Bradley J. PREVOST

IPC分类号： G01S17/86 ,  E21B19/16 ,  G01C9/00 ,  G01S17/89 ,  G01S17/42

CPC分类号： G01S17/86 ,  E21B19/161 ,  G01C9/00 ,  G01S17/89 ,  G01S17/42

摘要： 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.