US 12,006,779 B2
Robotic system for making or breaking a riser
Craig McCormick, Houston, TX (US); Michael Coady, Houston, TX (US); John Martin, Houston, TX (US); James Lippold, Houston, TX (US); Michael Willey, Houston, TX (US); and Shane McClaugherty, Houston, TX (US)
Assigned to TRANSOCEAN SEDCO FOREX VENTURES LIMITED, Grand Cayman (KY); and STEBBINS INNOVATIONS, LLC, Houston, TX (US)
Filed by TRANSOCEAN SEDCO FOREX VENTURES LIMITED, Grand Cayman (KY); and Stebbins Innovations, LLC, Houston, TX (US)
Filed on Jul. 25, 2023, as Appl. No. 18/225,945.
Application 18/225,945 is a continuation of application No. 17/987,243, filed on Nov. 15, 2022, granted, now 11,708,729.
Application 17/987,243 is a continuation of application No. 17/402,265, filed on Aug. 13, 2021, granted, now 11,499,383, issued on Nov. 15, 2022.
Application 17/402,265 is a continuation in part of application No. PCT/US2021/038501, filed on Jun. 22, 2021.
Claims priority of provisional application 63/084,824, filed on Sep. 29, 2020.
Prior Publication US 2024/0003203 A1, Jan. 4, 2024
Int. Cl. E21B 19/16 (2006.01); B25J 9/16 (2006.01); E21B 17/08 (2006.01)
CPC E21B 19/165 (2013.01) [B25J 9/1697 (2013.01); E21B 17/085 (2013.01); G05B 2219/40306 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system configured to make or break a riser having a riser joint, the system comprising:
(a) a robotic system having:
one or more robotic arms, each having six degrees of freedom; and
one or more riser-connection manipulation tools each having a lidar with a laser light source and being configured to manipulate a riser connection, each robotic arm being configured to couple to one riser-connection manipulation tool, the laser light source being configured to emit light toward an object configured for manipulation by the riser-connection manipulation tool such that the lidar receives light reflected back by the object configured for manipulation; and
(b) a control system having:
a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms;
wherein the robot controller is configured to: (1) determine a position of the object based at least on laser light reflected by the object and received by the lidar; and (2) transmit signals to the one or more robotic arms based on the determined position of the object.