US 11,913,293 B2
Slip wear detection
Christopher Magnuson, Houston, TX (US); and Markus Buchholz, Stavanger (NO)
Assigned to Canrig Robotic Technologies AS, Sandnes (NO)
Filed by Canrig Robotic Technologies AS, Sandnes (NO)
Filed on Nov. 16, 2020, as Appl. No. 17/099,361.
Claims priority of provisional application 62/941,421, filed on Nov. 27, 2019.
Prior Publication US 2021/0156209 A1, May 27, 2021
Int. Cl. E21B 19/16 (2006.01); G06T 7/73 (2017.01); E21B 19/10 (2006.01); G06T 7/00 (2017.01)
CPC E21B 19/165 (2013.01) [E21B 19/10 (2013.01); G06T 7/001 (2013.01); G06T 7/74 (2017.01); G06T 2207/30164 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of conducting a subterranean operation, the method comprising:
engaging, via a retention feature, a tubular string that extends through a drill floor of a rig;
capturing images, via an imaging system, of a portion of the tubular string that extends above the drill floor, with the portion including a visible feature of the tubular string;
communicating the images to a processor that is coupled to the imaging system;
detecting, via the processor, a change in a relative position of the visible feature across the images while the tubular string is engaged with the retention feature, wherein the change indicates movement of the tubular string while the tubular string is engaged with the retention feature; and calculating, via the processor, a wear status of the retention feature based on the change in the relative position of the visible feature across the images; and
applying a gripping force to the tubular string via the retention feature,
wherein the gripping force allows the change in the relative position of the visible feature while the tubular string is engaged with the retention feature and the wear status of the retention feature is greater than a pre-determined threshold of wear for the retention feature, or
wherein the gripping force retains the tubular string in the retention feature when the retention feature is engaged with the tubular string and the wear status of the retention feature is equal to or less than the pre-determined threshold of wear for the retention feature.