US 12,326,330 B2
Method ad apparatus for digital thread inspection
Aubrey A. Stigall, Houston, TX (US); and Timothy M. Bedore, Houston, TX (US)
Assigned to TUBULAR SOLUTIONS, INC., Houston, TX (US)
Filed by Tubular Solutions, Inc., Houston, TX (US)
Filed on Feb. 20, 2023, as Appl. No. 18/171,570.
Application 18/171,570 is a continuation in part of application No. 16/995,690, filed on Aug. 17, 2020, abandoned.
Application 16/995,690 is a continuation of application No. 16/155,274, filed on Oct. 9, 2018, granted, now 10,746,538, issued on Aug. 18, 2020.
Application 16/155,274 is a continuation of application No. 15/810,358, filed on Nov. 13, 2017, granted, now 10,119,810, issued on Nov. 6, 2018.
Claims priority of provisional application 62/421,615, filed on Nov. 14, 2016.
Prior Publication US 2023/0204346 A1, Jun. 29, 2023
Int. Cl. G01B 11/245 (2006.01); G01B 11/12 (2006.01); G01B 11/24 (2006.01); G01B 17/06 (2006.01); F16L 101/30 (2006.01)
CPC G01B 11/245 (2013.01) [G01B 11/12 (2013.01); G01B 11/2408 (2013.01); G01B 17/06 (2013.01); F16L 2101/30 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A digital inspection apparatus for inspecting a threaded connection of a pipe section comprising:
a) an automated articulated robotic arm assembly comprising:
i) a first arm member;
ii) a second arm member;
iii) a pivotal joint connection between said first and second arm members;
iv) a computerized robotic control system configured to control motion of said automated articulating robotic arm assembly;
b) an elongated sensor head apparatus operationally attached to said automated articulated robotic arm assembly; and
c) at least one data acquisition sensor operationally attached to said sensor head apparatus and configured to acquire data regarding said threaded connection;
d) at least two lasers operationally attached to said sensor head apparatus and configured to measure positioning of said elongated sensor head apparatus relative to said pipe section;
wherein said automated articulated robotic arm assembly is configured to selectively position said at least one data acquisition sensor of said sensor head apparatus relative to said threaded connection, and to insert said elongated sensor head apparatus in a central through bore of said pipe section without contacting said pipe section.