Anti-collision system

• US 20060151215A1
• Filed: 08/12/2004
• Published: 07/13/2006
• Est. Priority Date: 08/15/2003
• Status: Active Grant

• Current Assignee: Mhwirth AS (Akastor ASA)
• Original Assignee: Aker Kvaerner MH AS
• Inventors: Skogerbo, Pal
• Granted Patent: US 8,397,837 B2
• Time in Patent Office: Days
• US Class Current: 175/52
• CPC Class Codes: E21B 19/155 Handling between horizontal and vertical position
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/45208 Long, deep drill, with drill, bore diameter small relative to length, in pipes
• CPC Class Codes: G05B 2219/49137 Store working envelop, limit, allowed zone
• CPC Class Codes: G05B 2219/49138 Adapt working envelop, limit, allowed zone to speed of tool
• CPC Class Codes: G05B 2219/49141 Detect near collision and slow, stop, inhibit movement tool

Abstract

This invention relates to a system for controlling the movements of objects in an automated or remote operated system, as well as a related method and use of the system comprising independent transporting means for moving a number of objects relative to each other, the system being providing with means for controlling the position and velocity of the objects relative to each other. Each object is related to a defined geometric shape related to the object positions having dimensions corresponding to or exceeding the physical dimensions of the object in all directions, and also defining a critical allowed distance between the defined geometric shapes.

Claims

1. System for controlling the movements of objects in an automated or remote operated system comprising independent transporting means for moving a number of objects relative to each other, the system being providing with means for controlling the position and velocity of the objects relative to each other, wherein each object is related to a defined geometric shape related to the object positions having dimensions corresponding to or exceeding the physical dimensions of the object in all directions, and also defining a critical allowed distance between the defined geometric shapes.

2. System according to claim 1, wherein the dimensions of the geometric shape corresponds to the size of the object.

3. System according to claim 1, wherein said critical distance is dependent on the relative movement between the objects.

4. System according to claim 1, wherein the critical distance between two geometric shapes moving toward each other corresponds to the braking distance for each corresponding object pluss a chosen additional distance.

5. System according to claim 1, wherein the objects and corresponding geometric shapes are adapted to be rotatable.

6. System according to claim 1, wherein the geometric shape is rectangular.

13. Use of a system according to claim 1 on offshore installations, especially for handling pipes in drilling operations, wherein said objects corresponds to means for storing, moving and/or installing equipment in the installations.

14. Use according to claim 13, wherein the installations is a drill rig and the system is used for storing, moving and installing pipes on a drill rig.

7. Method for avoiding collisions between automatically controlled or remote operated objects having variable positions and movements relative to each other said positions and movements being controlled by a control system, comprising assigning a geometric shape to each object, said geometric shape corresponding to or exceeding the dimensions of the corresponding object, the geometric shape thus occupying a space corresponding to or exceeding the space occupied by the object, and defining a critical minimum distance between said geometrical shapes.

8. Method according to claim 7, wherein the dimensions of the geometric shape corresponds to the size of the object.

9. Method according to claim 7, wherein said critical distance is dependent on the relative movement between the objects.

10. Method according to claim 7, wherein the critical distance between two geometric shapes moving toward each other corresponds to the braking distance for each corresponding object plus a chosen additional distance.

11. Method according to claim 7, wherein the objects and corresponding geometric shapes are adapted to be rotatable.

12. Method according to claim 7, wherein the geometric shape is rectangular.