Anti-collision system

• US 8,397,837 B2
• Filed: 08/12/2004
• Issued: 03/19/2013
• Est. Priority Date: 08/15/2003
• Status: Active Grant

• Current Assignee: Mhwirth AS (Akastor ASA)
• Original Assignee: Aker Kvaerner MH AS
• Inventors: Skogerb, Pl
• Primary Examiner(s): Buck, Matthew
• Application Number:
  US10/565,436
• Publication Number:
  US 20060151215A1
• Time in Patent Office: 3,141 Days
• Field of Search: 166/341, 166/360, 166/250.01, 175/24, 175/85, 175/52, 414 2251- 2257, 212/286, 212/280, 340/436, 340/686.6
• 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 components in an automated or remote operated system comprising independent transporting means for moving a number of components relative to each other, the control system being providing with means for controlling the position and velocity of the components relative to each other, wherein

each component is assigned a respective imaginary three-dimensional object having a defined geometric shape and having dimensions corresponding to or exceeding the physical dimensions of the respective component in all directions, the dimensions of each said assigned imaginary three-dimensional object being fixed irrespective of subsequent movement of the respective component,

each transporting means is related to a stop distance needed for the respective transporting means to come to a complete stop, and

a critical allowed distance is defined between said respective imaginary three-dimensional objects, said critical allowed distance being greater than zero, whereby collisions between components can be avoided by changing at least one of a speed or direction of movement of at least one of said transporting means when a distance between respective imaginary three-dimensional objects moving on a common axis corresponds to said critical allowed distance,

wherein said critical allowed distance is defined based on the relative movement of the respective transporting means.

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

3. System according to claim 1, wherein the critical allowed distance between two imaginary three-dimensional objects moving toward each other corresponds to the stop distance for each corresponding transporting means plus a predetermined additional distance.

4. System according to claim 1, wherein the components and corresponding imaginary three-dimensional objects are adapted to be rotatable.

5. System according to claim 1, wherein at least one said imaginary three-dimensional object is rectangular.

6. System according to claim 1 adapted for use on offshore installations, especially for handling pipes in drilling operations, wherein said components comprise means for storing, moving and/or installing equipment in offshore installations.

7. System according to claim 6, wherein the installation is a drill rig and the system is adapted for storing, moving and installing pipes on said drill rig.

8. Method for avoiding collisions between automatically controlled or remote operated components having variable positions and movements relative to each other said positions and movements being controlled by a control system, comprising:

assigning an imaginary three-dimensional geometric shape to each component, said geometric shape having dimensions corresponding to or exceeding the dimensions of the corresponding component, the geometric shape thus occupying a space corresponding to or exceeding the space occupied by the component, and the dimensions of the assigned geometric shape being fixed irrespective of subsequent movement of the component,

assigning a stop distance to each component, said stop distance being a distance needed for the respective component to come to a complete stop,

defining a critical minimum distance between said geometrical shapes, said critical minimum distance being greater than zero, and

when a distance between assigned geometric shapes moving on a common axis corresponds to said critical minimum distance, changing at least one of a speed or direction of movement of at least one of said corresponding components, whereby collisions between components can be avoided,

wherein said critical minimum distance is defined based on the relative movement of the respective components.

9. Method according to claim 8, wherein the dimensions of the geometric shape correspond to the size of the respective component.

10. Method according to claim 8, wherein the critical minimum distance between two assigned geometric shapes moving toward each other corresponds to the stop distance for each corresponding component plus a predetermined additional distance.

11. Method according to claim 8, wherein the component and corresponding assigned geometric shapes are adapted to be rotatable.

12. Method according to claim 8, wherein at least one said assigned imaginary three-dimensional geometric shape is rectangular.