Pipelaying guidance

Patent metadata

Field	Value
Publication number	US-10801644-B2
Application number	US-201916259807-A
Country	US
Kind code	B2
Filing date	Jan 28, 2019
Priority date	Jan 28, 2019
Publication date	Oct 13, 2020
Grant date	Oct 13, 2020

Abstract

A device for providing pipelaying guidance is disclosed. The device may determine an original shape of a pipeline that comprises a plurality of pipeline segments. The device may obtain current location data concerning a respective position of each pipeline segment of the plurality of pipeline segments, and may determine a current shape of the pipeline based on the current location data. The device may calculate, based on the original shape of the pipeline and the current shape of the pipeline, stress information concerning the pipeline, and may perform one or more actions based on the stress information.

First claim

What is claimed is:

1. A method, comprising:
obtaining, by a pipelaying guidance device, first information concerning an original shape of a pipeline that comprises a plurality of pipeline segments that are installed into or above ground;
obtaining, by the pipelaying guidance device and from each sensing device of a plurality of sensing devices, second information concerning each sensing device,
each sensing device being positioned at a different position along the pipeline;

determining, by the pipelaying guidance device and based on the second information, third information concerning a current shape of the pipeline;
determining, by the pipelaying guidance device and based on the first information and the third information, fourth information concerning at least one of stress on the pipeline or displacement of the pipeline; and
causing, by the pipelaying guidance device, one or more actions to be performed based on the fourth information.

2. The method of claim 1 , wherein the one or more actions to be performed include generating and sending one or more instructions to at least one pipelayer,
wherein the one or more instructions cause the at least one pipelayer to move a pipeline segment of the plurality of pipeline segments.

3. The method of claim 1 , wherein the one or more actions to be performed include at least one of:
raising a boom of at least one pipelayer;
lowering the boom of the at least one pipelayer;
rotating the boom of the at least one pipelayer;
raising a hook component of the at least one pipelayer;
lowering the hook component of the at least one pipelayer;
moving the at least one pipelayer toward the pipeline;
moving the at least one pipelayer away from the pipeline;
moving the at least one pipelayer parallel to the pipeline; or
rotating the at least one pipelayer.

4. The method of claim 1 , wherein determining the third information concerning the current shape of the pipeline comprises:
processing the second information to determine a respective position and a respective orientation of each pipeline segment of the plurality of pipeline segments; and
determining the current shape of the pipeline based on the respective position and the respective orientation of each pipeline segment of the plurality of pipeline segments.

5. The method of claim 1 , wherein determining the fourth information concerning the at least one of stress on the pipeline or displacement of the pipeline comprises:
processing the first information to determine an original spline of the pipeline;
processing the third information to determine a current spline of the pipeline; and
comparing the original spline of the pipeline and the current spline of the pipeline to determine stress or displacement concerning each pipeline segment of the plurality of pipeline segments.

6. The method of claim 1 , wherein the one or more actions to be performed include:
causing display of the fourth information on a display of at least one pipelayer.

7. The method of claim 1 , wherein the one or more actions to be performed include at least one of:
causing display of a respective magnitude of stress concerning each pipeline segment of the plurality of pipeline segments;
causing display of a respective distribution of stress concerning each pipeline segment of the plurality of pipeline segments; or
causing display of a respective direction of stress concerning each pipeline segment of the plurality of pipeline segments.

8. A device comprising:
a memory; and
one or more processors to:
determine an original shape of a pipeline that comprises a plurality of pipeline segments that are installed into or above ground;
obtain current location data concerning a respective position of each pipeline segment of the plurality of pipeline segments;
determine a current shape of the pipeline based on the current location data;
calculate, based on the original shape of the pipeline and the current shape of the pipeline, stress information concerning the pipeline; and
perform one or more actions based on the stress information.

9. The device of claim 8 , wherein the one or more processors, when obtaining the current location data concerning the respective position of each pipeline segment of the plurality of pipeline segments, are to:
obtain the current location data from a plurality of global positioning system (GPS) devices associated with the pipeline.

10. The device of claim 8 , wherein the one or more processors, when obtaining the current location data concerning the respective position of each pipeline segment of the plurality of pipeline segments, are to:
obtain the current location data from a plurality of camera devices,
wherein each camera device, of the plurality of camera devices, is associated with a pipelayer of a plurality of pipelayers.

11. The device of claim 8 , wherein the one or more processors, when performing the one or more actions based on the stress information, are to:
send a message to at least one pipelayer,
wherein the message includes an instruction for an operator of the at least one pipelayer to operate the at least one pipelayer to move at least one pipeline segment of the of plurality of pipeline segments.

12. The device of claim 8 , wherein the one or more actions include:
moving a boom of at least one pipelayer;
moving a hook component of the at least one pipelayer; or
moving one or more tracks of the at least one pipelayer.

13. The device of claim 8 , wherein the one or more processors, when calculating the stress information concerning the pipeline, are to:
determine, based on the original shape of the pipeline, an original shape of a subset of the plurality of pipeline segments;
determine, based on the current shape of the pipeline, a current shape of the subset; and
compare the original shape of the subset and the current shape of the subset to determine particular stress information concerning the subset.

14. The device of claim 13 , wherein the particular stress information includes at least one of:
a magnitude of stress on one or more weld joints of the subset;
a distribution of stress on one or more weld joints of the subset; or
a direction of stress on one or more weld joints of the subset.

15. A system comprising:
a plurality of pipelayers;
a plurality of devices;
a pipelaying guidance device to:
determine an original shape of a pipeline comprised of a plurality of pipeline segments that are installed into or above ground;
obtain respective current location data from the plurality of devices;
determine a current shape of the pipeline based on the current location data;
calculate, based on the original shape of the pipeline and the current shape of the pipeline, stress information concerning the pipeline;
generate, based on the stress information, one or more instructions; and
send the one or more instructions to at least one pipelayer of the plurality of pipelayers to cause the at least one pipelayer to perform an action.

16. The system of claim 15 , wherein the one or more instructions include executable computer code to perform one or more actions,
wherein the one or more actions include at least one of:
adjusting a position of a boom of the at least one pipelayer;
adjusting a position of a hook component of the at least one pipelayer; or
adjusting a position of one or more tracks of the at least one pipelayer.

17. The system of claim 15 , wherein the pipelaying guidance device is further to:
cause a display device to display a three-dimensional (3D) model of the curren

Assignees

• Caterpillar Inc

Inventors

• Dunn James
• Holm Wes
• Chen Leo
• Camacho Tim

Classifications

• G01M5/0058

  of elongated objects, e.g. pipes, masts, towers or railways · CPC title

• G01M5/0025

  of elongated objects, e.g. pipes, masts, towers or railways (G01M5/0058 takes precedence) · CPC title

• G01L5/0061

  Force sensors associated with industrial machines or actuators (for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21) · CPC title

• G01B21/32

  for measuring the deformation in a solid · CPC title

• F16L1/06

  Accessories therefor, e.g. anchors · CPC title