| CPC E21B 19/165 (2013.01) [E21B 19/20 (2013.01)] | 19 Claims |
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8. A system for automating tripping casing during a well construction operation, comprising:
a plurality of sensors that includes:
a fingerboard latch position sensor disposed on a fingerboard latch and configured to determine whether a latch on the fingerboard is open or closed, the fingerboard latch position sensor being one of an accelerometer, a potentiometer, or an angle sensor;
a stick-up height sensor disposed on or around a drill floor and configured to detect a height from the drill floor to a casing joint;
a bell guide clearance sensor in the form of an optical sensor disposed on a top drive or in a derrick and configured to measure a distance between a bell guide and the casing joint;
a casing elevator latch status sensor disposed on a casing elevator and configured to detect whether a casing elevator latch is open or closed; and
a casing slips status sensor disposed on a casing slips and configured to detect whether the casing slips is open or closed; and
a controller in communication with the plurality of sensors and configured to receive a signal from each sensor and, based on the received signal from each sensor, determine and provide commands to at least one of a pipe racker, a casing tong, a top drive dolly, the casing elevator latch, a drawworks, or the casing slips,
the controller being configured to command the pipe racker to (a) lift and retract an incoming joint of casing upon receiving a signal from the fingerboard latch position sensor that a latch on the fingerboard is open, and (b) raise the incoming joint based on a signal from the stick-up height sensor indicating the detected height of the casing joint, and extend the incoming stand to a well center.
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