INDUSTRIAL DRILLING RIG FOR MINING OPERATIONS, SYSTEM AND METHOD FOR DETECTING THE CONDITION OF A DRILLING RIG PIPE

Abstract

INDUSTRIAL DRILL FOR MINING OPERATIONS, SYSTEM AND METHOD FOR DETECTING A CONDITION OF AN INDUSTRIAL DRILL PIPE. It comprises a sensor that is configured to generate an output signal related to a pipe characteristic. The pipe characteristic may be the presence or absence of pipe, pipe weight, etc. A controller receives the output signal from the sensor and determines a pipe attribute based on the sensor output signal. In some embodiments, the pipe attribute is a pipe wall thickness. In some embodiments, the controller determines the pipe wall thickness based on the difference between an initial pipe weight and a current or present pipe weight. In some embodiments, the controller determines the pipe wall thickness based on the difference between an initial pipe diameter and a current or present pipe diameter. The controller is then configured to control the industrial machine or perform a control action based on the pipe attribute.

Description

1 / 27 INDUSTRIAL DRILLING RIG FOR MINING OPERATIONS, SYSTEM AND METHOD FOR DETECTING THE CONDITION OF A DRILLING RIG PIPE RELATED REQUEST

[0001] This application claims priority to U.S. Provisional Patent Application No. 62 / 987,485, filed March 10, 2020, the full content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] Modalities described here relating to an industrial machine, such as a drilling machine. SUMMARY

[0003] The embodiments described in this document provide systems, methods, and devices for controlling the operation of an industrial machine (e.g., a drilling rig) based on a given attribute of a pipe. A sensor is configured to generate an output signal related to a pipe characteristic. The pipe characteristic can be the presence of the pipe, the absence of the pipe, the weight of the pipe, etc. A controller receives the output signal from the sensor and determines a pipe attribute based on the sensor output signal. In some embodiments, the pipe attribute is a pipe wall thickness. The controller determines the pipe wall thickness, for example, based on the difference between an initial pipe weight and a current or present pipe weight. The controller is then configured to control the industrial machine or perform a control action based on the pipe attribute.For example, the controller can change which pipe the industrial machine is using, it can rotate the pipes used by the industrial machine, etc.

[0004] One embodiment provides a system for detecting a pipe condition on an industrial drilling rig. The system includes a sensor configured to detect a pipe characteristic associated with the pipe and an electronic controller. Petition 870240020416, dated 11 / 03 / 2024, page 10 / 78 2 / 27 coupled to the sensor and including a processor and memory. The electronic controller is configured to receive an output from the sensor indicating the pipe characteristic, determine a pipe attribute based on the pipe characteristic, the pipe attribute indicative of a pipe condition for drilling operation, and send an output signal based on the determined pipe attribute.

[0005] Another embodiment provides a system for detecting a pipe condition on an industrial drilling rig. The system includes a sensor configured to detect a pipe characteristic associated with the pipe and an electronic controller coupled to the sensor and including a processor and memory. The electronic controller is configured to receive an output from the sensor indicative of the pipe characteristic, determine a pipe attribute based on the pipe characteristic, the pipe attribute indicative of a pipe condition for drilling operation, and send an output signal based on the determined pipe attribute.

[0006] Another embodiment provides a method for detecting the condition of a pipe in an industrial drilling rig. The drilling rig is configured to rotatably drive the pipe to perform a drilling operation. The method includes receiving, via an electronic controller, an initial output from a first sensor, the initial output indicative of a pipe characteristic associated with the pipe, and determining, via the electronic controller, a pipe attribute based on the pipe characteristic. The method further includes comparing the pipe attribute with a predetermined threshold and, when the pipe attribute exceeds a predetermined threshold, sending an output signal based on the determined pipe attribute.

[0007] Before any embodiments are explained in detail, it should be understood that the embodiments are not limited in their application to the details of the configuration and arrangement of the components set out in the following description or illustrated in the accompanying drawings. The embodiments may be practiced or carried out in a variety of ways. Furthermore, it should be understood that the phraseology and terminology used herein are for descriptive purposes only and should not be considered interchangeable with other methods. Petition 870240020416, dated 11 / 03 / 2024, page 11 / 78 3 / 27 considered limiting. The use of “including,” “comprising,” or “having” and their variations is intended to encompass the items listed below and their equivalents, as well as additional items. Unless otherwise specified or limited, the terms “mounted,” “connected,” “supported,” and “coupled” and their variations are used broadly and encompass direct and indirect assemblies, connections, supports, and couplings.

[0008] Furthermore, it should be understood that embodiments may include hardware, software, and electronic components or modules which, for the purposes of discussion, may be illustrated and described as if most components were implemented exclusively in hardware. However, one skilled in the art, and based on a reading of this detailed description, would recognize that in at least one embodiment, the electronics-based aspects may be implemented in software (e.g., stored on non-transient computer-readable media) executable by one or more processing units, such as a microprocessor and / or application-specific integrated circuits (“ASICs”). As such, it should be noted that a plurality of hardware- and software-based devices, as well as a plurality of different structural components, may be used to implement the embodiments.For example, "servers" and "computing devices" described in the specification may include one or more processing units, one or more computer-readable media modules, one or more input / output interfaces, and various connections (e.g., a system bus) connecting the components.

[0009] Other aspects of the modalities will become apparent by considering the detailed description and attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 illustrates an industrial machine, according to the embodiments described herein. Petition 870240020416, dated 11 / 03 / 2024, page 12 / 78 4 / 27

[0011] Figure 2 illustrates a pipe storage unit, according to the embodiments described herein.

[0012] Figure 3 illustrates a pipe storage unit, according to the embodiments described herein.

[0013] Figure 4 illustrates a pipe storage unit, according to the embodiments described herein.

[0014] Figure 5A illustrates a control system for an industrial machine, according to the embodiments described herein.

[0015] Figure 5B illustrates a portion of the control system of Figure 5A according to some embodiments described herein.

[0016] [Figure 6 is a process for controlling an industrial machine, according to the methods described herein.

[0017] Figure 7 is a process for determining the wear level of a tube in an industrial machine, according to the methods described herein. DETAILED DESCRIPTION

[0018] Although the embodiments described in this document may be applied or used in conjunction with a variety of industrial machines, the embodiments described in this document are described in relation to a drilling rig, such as a drilling rig 100 illustrated in Figure 1. The drilling rig 100 is used, for example, during surface mining operations. The drilling rig 100 includes a base 105, a body 110 including a machine platform 115, and an operator compartment or cabin module 120 at least partially supported on a portion of the machine platform 115. In some embodiments, the drilling rig 100 is mobile by drive tracks 125 and, when in the operating position, is supported by at least one support structure 130. The drilling rig 100 defines a first end 135 where a drilling mast 140 is located and a second end 145 opposite the first end 135. In the embodiment illustrated, the cabin module 120 is Petition 870240020416, dated 11 / 03 / 2024, p. 13 / 78 5 / 27 positioned adjacent to the drilling mast 140 near the first end 135 of the drilling rig 100.

[0019] The drilling mast 140 of the drilling rig 100 includes a steel or drill pipe 150 and a drill bit or insert 155 which are used to make holes in the ground during a surface mining operation. The drilling mast 140 also includes a lifting / lifting mechanism powered by an actuator (e.g., a hydraulic actuator, an electric motor, etc.) that provides swing torque to the lifting / lifting mechanism via a gear winch transmission. In some embodiments, the drilling mast 140 also includes a pipe storage area for storing drill pipes when the drill pipes are not being used. The pipe storage area is described in more detail below. During operation, the drilling rig 100 can be positioned at a desired drilling location.Once the drill 100 is safely leveled using leveling controls, the drill pipe 150 of the drill 100 is used to drill holes in the ground. In some embodiments, integrated cameras 160 are positioned on the drill 100. The cameras 160 show the area around the drill 100. In some embodiments, an operator is located remotely from the drill 100 and / or the drill 100 is autonomous. In some embodiments, the autonomous drill 100 is a cableless autonomous drill 100.

[0020] The condition of drill pipes for drilling operations can decrease over time, and the pipes may become unsuitable for drilling operations. For example, drill pipes wear down over time due to erosion of the wall thickness caused by the scrubbing effect of drilling cuttings that pass out of the well. The integrity of drill pipes may become weaker, thinner, or more susceptible to damage if used during drilling operations, or they may not perform drilling operations as effectively. Consequently, a system is provided and Petition 870240020416, dated 11 / 03 / 2024, page 14 / 78 6 / 27 method for detecting the condition of a pipe and determining if the pipe is in suitable condition (i.e., suitable) for drilling operation.

[0021] Figure 2 illustrates a pipe storage area 200 for storing 150 pipes for use with the drill rig 100 which may be included in the drilling mast 140. The illustrated pipe storage area 200 includes a first pipe storage compartment 205, a second pipe storage compartment 210, a third pipe storage compartment 215 and a fourth pipe storage compartment 220. The pipe storage compartments 205-220 may include a first pipe 225 (e.g., pipe 150), a second pipe 230, a third pipe 235 and a fourth pipe 240, respectively stored in the pipe storage compartments 205-220. The four-compartment pipe storage area 200 is shown in Figure 2 for illustrative purposes. In other embodiments, additional or fewer pipe storage compartments may be included in the pipe storage area.For example, Figure 3 illustrates a pipe storage area 300 for the drill rig 100 that can be included in the drilling mast 140. The illustrated pipe storage area 300 includes a first pipe storage compartment 305, a second pipe storage compartment 310, a third pipe storage compartment 315, a fourth pipe storage compartment 320, a fifth pipe storage compartment 325, and a sixth pipe storage compartment 330. The pipe storage compartments 305-330 include respectively a first pipe 335, a second pipe 340, a third pipe 345, a fourth pipe 350, a fifth pipe 355, and a sixth pipe 360.

[0022] In some embodiments, the 200 pipe storage area may be a rotating platform with multiple positions to receive and store 150 pipes. For example, the 200 pipe storage area may be mobile to align a pipe storage compartment (e.g., 205-220) and an associated 150 pipe in the borehole in-line for operation of Petition 870240020416, dated 11 / 03 / 2024, p. 15 / 78 7 / 27 Drilling. Similarly, the 200 pipe storage area can be mobile to align a 150 pipe with a pipe conductor for coupling and / or uncoupling the 150 pipe to the pipe conductor. Additionally, the 200 pipe storage area can be mobile to assist in pipe exchange (e.g., swapping one pipe for another). For example, the 200 pipe storage area can be mobile to align an empty 205-220 storage compartment with a first pipe that is being removed from the drilling operation and is being moved to the 205-220 storage compartment for storage. The 200 pipe storage area can then move again to align a different 205-200 storage compartment housing a second pipe, which is intended to replace the first pipe for drilling operation.In other words, the 200 pipe storage area can move or rotate to make various 205-220 storage compartments or different pipes housed within the 205-220 storage compartments accessible to the drilling rig.

[0023] The movement of the tube storage area 200 can be performed by a tube control actuator 510 and a tube control actuator 550, as described in this document. For example, the tube storage area motor 655 can assist in moving or rotating the tube storage area 200. In addition, a clamping arm motor 640 and a clamping arm movement motor 650 can also assist in the movement of the tube storage area 200 and the movement and exchange of tubes 150 within the tube storage area 200.

[0024] Each of the pipe storage compartments can be configured to sense or detect one or more pipe characteristics of the pipe(s). The operation of the drill 100 can then be controlled based on the sensed or detected pipe characteristics. In some embodiments, the pipe storage compartments may include a pipe sensor to sense or detect pipe characteristics. Figure 4 illustrates a pipe storage area 400 including a storage compartment of Petition 870240020416, dated 11 / 03 / 2024, page 16 / 78 8 / 27 tubes 405. In some embodiments, the 405 tube storage compartment corresponds to either the 205-220 or 305-330 tube storage compartments.

[0025] The tube storage compartment 405 includes a tube 410 stored within the tube storage compartment 405. The sensor 415 can be positioned in the tube storage area 200 to sense or detect the tube characteristic when the tube 410 is stored within any tube storage compartment 205-220 or 305-330. In some embodiments, a sensor 415 is positioned in a lower portion or bottom of the tube storage compartment 405. In other embodiments, the sensor 415 can be positioned in other sections of the tube storage compartment 405. Furthermore, in other embodiments, the sensor 415 can be positioned outside the tube storage compartment 405. For example, the sensor 415 can be positioned in an independent location outside the tube storage compartment 405 where the tube 410 is transported to acquire a tube characteristic detected by the sensor 415.In some embodiments, sensor 415 can be permanently or temporarily coupled to pipe 410 to detect pipe characteristics. Additionally, in some embodiments, sensor 415 can be positioned elsewhere on the drilling rig 100 in a suitable location to detect pipe characteristics as described in this document.

[0026] In some embodiments, sensor 415 is a load cell (e.g., a beam-type load cell). Sensor 415 is configured to, for example, measure the weight (or mass) of the contents of the tube storage compartment 405. In other words, sensor 415 is configured to measure the weight of tube 410 when tube 410 is stored inside the tube storage compartment 405. For example, load cell 415 may emit a voltage signal (e.g., between 0-5 volts) proportional to the weight resting on load cell 415, thus measuring the weight of the contents of the tube storage compartment 405. In some embodiments, a Petition 870240020416, dated 11 / 03 / 2024, page 17 / 78 9 / 27 The load cell is positioned differently within the pipe storage compartment or emits different signals to indicate the weight of the contents of the pipe storage compartment 405. In some embodiments, sensor 415 is positioned so that sensor 415 can determine the hydraulic pressure of a pipe conductor - when the pipe conductor is in a specific state. The state may include the operating condition of the industrial machine or a condition of the pipes. For example, the state may be a specific machine operating condition, such as a specific number of pipes in the system, whether the machine is drilling or threading new pipes or drill bits, whether the machine position is changing, etc. In one embodiment, sensor 415 can determine the hydraulic pressure of the pipe conductor during a pipe handling state (e.g., when threading / unthreading pipes, when the mast is vertical, when the machine is leveled on its jacks).

[0027] In some embodiments, sensor 415 is positioned so that sensor 415 can determine the diameter of tube 410. In some embodiments, sensor 415 is an optical sensor (e.g., a LIDAR sensor), a sonar, or a laser. Sensor 415 is configured to, for example, determine a diameter of tube 410 at an initial time and then at another time when tube 410 is stored inside the tube storage compartment 405. For example, sensor 415 can emit a signal proportional to the diameter of tube 410.

[0028] In some embodiments, sensor 415 is positioned in the tube storage compartment or elsewhere on the drill 100 so that sensor 415 can determine a vibrational frequency (e.g., resonance frequency) of tube 410 when a hammer strikes tube 410. For example, sensor 415 can be configured to determine the frequency at which tube 410 sounds after a hammer strikes tube 410. In this embodiment, tube 410 can be freely suspended from the drill 100 when the hammer strikes tube 410, and sensor 415 measures the frequency of tube 410. Sensor 415 can then output a signal to the controller proportional to the frequency at which tube 410 reverberates, thus measuring the mass of tube 410. In some Petition 870240020416, dated 11 / 03 / 2024, p. 18 / 78 In 10 / 27 embodiments, the vibration sensor may be an accelerometer. In some embodiments, the vibration sensor may be an eddy current or strain gauge. The vibration sensor may be embedded in a rotary transmission coupling. In some embodiments, sensor 415 may be an audio sensor to determine a vibrational frequency of tube 410 when a striker strikes tube 410. The audio sensor may be a non-contact sensor, such as a knock sensor in an engine or a sensitive LIDAR sensor. In this embodiment, when the striker strikes tube 410, the audio sensor records the fundamental frequency of the noise decay. The fundamental frequency will increase with a loss of mass in tube 410.

[0029] Based on the output signal(s) from sensor 415, one or more characteristics of the tube can be determined. In some embodiments, the presence or absence of tube 410 in the tube storage compartment 405 is determined. In some embodiments, sensor 415 is protected from an overload condition by a rigid stop support that limits, for example, a deflection of a load cell. In some embodiments, tube 410 includes an identification device or identification component 420. The identification device 420 is, for example, a radio frequency identification (“RFID”) tag or similar device that allows one or more characteristics of the tube to be determined. For example, the identification device 420 can automatically provide information to a controller (see figure 5A) related to an initial or starting weight of tube 410, a product number for tube 410, etc.In other configurations, information related to the initial or starting weight of the 410 tube can be entered manually or received remotely via a network.

[0030] The drilling rig 100 includes a control system 500 including a controller 505, as shown in Figure 5A. The controller 505 is electrically and / or communicatively connected to a variety of modules or components of the system 500 or drilling rig 100. For example, the illustrated controller 505 is connected to a pipe control actuator 510, an actuator Petition 870240020416, dated 11 / 03 / 2024, page 19 / 78 11 / 27 drilling control 515, a motion control actuator 520, a network communications module 525 that is connected to a network 530, one or more pipe sensors 535 (e.g., sensor 415), one or more drilling sensors 540, and one or more load monitoring sensors 545. The pipe control actuator 510 is connected to a pipe control actuator 550 (e.g., a hydraulic motor / pump, electric motor, etc.), the drilling control actuator 515 is connected to a drilling control actuator 555 (e.g., a hydraulic motor / pump, electric motor, etc.), and the motion control actuator 520 is connected to a motion control actuator 560 (e.g., a motor, an electric motor, etc.). The 505 controller includes combinations of hardware and software that are operable to, among other things, control the operation of the 500 system, control the operation of the 100 drilling rig, etc.

[0031] Figure 5B illustrates a portion of the control system of Figure 5A in more detail, according to some embodiments. In particular, Figure 5B illustrates an example of the pipe control actuator 550 and the drilling control actuator 555 in more detail and examples of components connected to it.

[0032] The drilling control actuator 555 is configured to control the rotation of a connected pipe (and thus a connected drill bit) and to control the elevation of the pipe (and thus the connected drill bit). In some embodiments, the drilling control actuator 555 includes a pipe rotation motor 605 that rotates to cause the rotation of the pipe 150 and a pipe elevation motor 610 that controls the pipe 150 for its elevation and lowering. In some embodiments, the pipe rotation motor 605 is coupled to a transmission 615 that receives rotational output from the pipe rotation motor 605 and, in turn, rotatably drives a pipe driver 620 that retains the pipe. Rotating the 620 pipe conductor rotatably drives the 150 pipe coupled to the 620 pipe conductor. In some embodiments, the 610 pipe lifting motor is coupled to drive a 625 pinion that interfaces with a corresponding rack. Petition 870240020416, dated 11 / 03 / 2024, page 20 / 78 12 / 27 (not shown) supplied and extending along mast 140. The rack and pinion cooperate to raise and lower a connected pipe support 630, based on clockwise and counterclockwise rotation of the pinion, to change the elevation of the pipe conductor 620 and pipe 150. By rotating pipe 150 and drill bits 155 and lowering the elevation of pipe 150 and drill bits 155, the drill rig 100 is set up to drill the ground below the drill rig 100 (see, for example, Figure 1). Although pipe conductor 620 is shown as coupled to pipe 150, the description applies similarly to other pipes of the drill rig 100 (e.g., the pipes in Figures 2 and 3) when one of these other pipes is coupled to pipe conductor 620.

[0033] The 550 pipe control drive is configured to rotate or change the pipes of the 100 drill. In some embodiments, the 550 pipe control drive may include various hydraulic motors / pumps, electric motors, etc.) for changing pipes. For example, the pipe control actuator 550 may include a clamping arm motor 640 that causes a clamping arm 645 to clamp and disconnect the current pipe from the drill 100 of the pipe actuator 620. The pipe control actuator 550 further includes a clamping arm movement motor 650 that moves the clamping arm 645 to move the disconnected pipe toward a pipe storage area, such as pipe storage area 200, and a pipe storage area rotation motor 655 that is configured to rotate pipe storage area 200 to align an open compartment of pipe storage area 200 with the disconnected pipe being clamped by the clamping arm 645.Next, the clamping arm motor 640 is set to release the disconnected tube into the open compartment of the tube storage area 200. The rotation motor of the tube storage area 620 can then rotate the tube storage compartments 205-220 to align a tube (e.g., one of the tubes 225-240) with the clamping arm 645, and the clamping arm motor 640 is used to control the clamping arm 645 to pick up the aligned tube from the tube storage compartment of the area. Petition 870240020416, dated 11 / 03 / 2024, page 21 / 78 13 / 27 storage 200. Next, the clamping arm movement motor 650 is used to move the clamping arm 645 to move the chosen tube to connect the tube to the tube conductor 620. Thus, the tube control actuator 550 is configured to exchange a first tube (e.g., tube 150) from the tube conductor 620 with a second tube (e.g., one of the tubes 225-240) from the tube storage area 200.

[0034] As described above, the 200 tube storage area can be movable to various positions to provide access to a storage compartment (such as storage compartments 205-220) or a 150 tube that is housed within a storage compartment. For example, the 200 tube storage area can be movable to align a 150 tube with a tube conductor to couple the 150 tube to the tube conductor. Similarly, the 200 tube storage area can be movable to align a storage compartment with a 150 tube in the actuator to remove the 150 tube and position it in the tube storage area. Consequently, the 200 tube storage area can be movable to assist in tube exchange (e.g., exchanging one tube for another tube). In some embodiments, the 655 pipe storage motor moves the 200 pipe storage area to be aligned with the 620 pipe conductor and a borehole that requires a pipe.In some embodiments, the clamping arm motor 640 and the clamping arm movement motor 650 can be used to move the clamping arm 645 to exchange a first pipe (e.g., pipe 150) from the pipe conductor 620 for a second pipe (e.g., one of the pipes 225-240) from the pipe storage area 200. Once the pipes have been exchanged, the pipe storage motor 655 can move the pipe storage area 200 out of the way for drilling operation.

[0035] Although tube storage area 200 is shown and described in relation to tube control actuator 550 in figure 5B, in some embodiments, tube storage area 300 (and its tubes 335-360) or another tube storage area is used instead. Motors 605, Petition 870240020416, dated 11 / 03 / 2024, page 22 / 78 14 / 27 610, 640, 650 and 655 in figure 5B could be a hydraulic pump / motor, an electric motor or similar.

[0036] With regard to figure 5A, the motion control actuator 560 is configured to actuate the drive tracks 125 (see figure 1) to move the drill 100 over the ground. The motion control actuator 560 may include a first motor or pump that actuates a first (left) track of the drive tracks 125 and a second motor or pump that actuates a second (right) track of the drive tracks 125, to provide independent control of each of the first and second drive tracks. With independent control of the first and second drive tracks, the controller 505 can control, through the motion control actuator 520, the drill 100 to advance, move backward and rotate.

[0037] The controller 505 includes a plurality of electrical and electronic components that provide power, operational control, and protection to the components and modules within the controller 505, system 500, and / or drill 100. For example, the controller 505 includes, among other things, a processing unit 565 (e.g., a microprocessor, a microcontroller, or other suitable programmable device), a memory 570, input units 575, and output units 580. The processing unit 565 includes, among other things, a control unit 585, an arithmetic logic unit (“ALU”) 590, and a plurality of registers 595 (shown as a group of registers in Figure 5A), and is implemented using a known computer architecture (e.g., a modified Harvard architecture, a von Neumann architecture, etc.).The processing unit 565, the memory 570, the input units 575, and the output units 580, as well as the various modules or circuits connected to the controller 505, are connected by one or more control and / or data buses (e.g., common bus 600). The control and / or data buses are generally shown in Figure 5A for illustrative purposes. The use of one or more control and / or data buses for interconnection and... Petition 870240020416, dated 11 / 03 / 2024, page 23 / 78 15 / 27 communication between the various modules, circuits and components of the 500 system would be known to one skilled in the art in view of the invention described herein.

[0038] Memory 570 is a non-transient computer-readable medium and includes, for example, a program storage area and a data storage area. The program storage area and the data storage area may include combinations of different memory types, such as ROM, RAM (e.g., DRAM, SDRAM, etc.), EEPROM, flash memory, hard disk, SD card, or other suitable magnetic, optical, physical, or electronic memory devices. The processing unit 565 is connected to memory 570 and executes software instructions that may be stored in a RAM of memory 570 (e.g., during execution), a ROM of memory 570 (e.g., on a generally permanent basis), or other non-transient computer-readable media, such as other memory or a disk. The software included in the implementation of the system 500 and the controller 505 may be stored in the memory 570 of the controller 505.The software includes, for example, firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. The 505 controller is configured to retrieve from memory 570 and execute, among other things, instructions related to the processes and control methods described in this document. In other embodiments, the 505 controller includes additional, fewer, or different components.

[0039] In some embodiments, the 505 controller is configured to receive input signals through the 525 network communications module via the 530 network. The input signals that the 505 controller receives include motion command signals from, for example, a remote control interface. Motion command signals include, for example, signals related to adding or changing pipes in a drill string, controlling the movement of the drill bits 155, controlling the movement of the drill rig 100, etc. Upon receiving a motion command signal, the 505 controller controls the control actuator of Petition 870240020416, dated 11 / 03 / 2024, page 24 / 78 16 / 27 tube 550, drilling control actuator 555 and motion control actuator 560, respectively.

[0040] The 530 network is, for example, a wide area network (“WAN”) (e.g., a TCP / IP-based network), a local area network (“LAN”), a neighborhood area network (“NAN”), a home area network (“HAN”), or a personal area network (“PAN”) employing any one of a variety of communication protocols, such as Wi-Fi, Bluetooth, ZigBee, etc. In some implementations, the 530 network is a cellular network, such as a Global System for Mobile Communications (“GSM”) network, a General Packet Service Radio (“GPRS”) network, a Code Division Multiple Access (“CDMA”) network, an Evolution Optimized Data (“EV-DO”) network, an Extended Data Rates for GSM Evolution (“EDGE”) network, a 3GSM network, a 4GSM network, a 4G LTE network, a 5G New Radio network, a Digital Wireless Enhanced Telecommunications (“DECT”) network, an AMPS Digital (“IS-136 / TDMA”) network, or an Integrated Digital Enhanced (“iDEN”) network, etc.

[0041] One or more 535 pipe sensors (e.g., sensor 415) generate and provide output signals to the 505 controller. Based on the output signals received from the 535 pipe sensors, the 505 controller is configured to, among other things, determine the presence or absence of a pipe in a pipe storage compartment, determine a characteristic (e.g., weight, mass, diameter, vibrational frequency) of a pipe in or outside a pipe storage compartment, and determine a pipe attribute (e.g., pipe wall thickness, pipe erosion level, pipe health, pipe integrity, wear level, etc.) based on the characteristic. For example, the weight and diameter of a new, unused pipe for the 100 drill are known, but may vary based on the pipe size.Based on the known initial or starting weight of a pipe installed for use with the 100 drill (e.g., within a pipe storage compartment), a measured weight of the pipe can be used by the 505 controller to determine a. Petition 870240020416, dated 11 / 03 / 2024, page 25 / 78 17 / 27 amount of pipe erosion that has occurred, i.e., based on a difference between the initial weight and a current weight or a difference between the initial diameter and a current diameter. Once the pipe attribute exceeds a predetermined limit, the 505 controller can determine if the pipe is in suitable condition (i.e., if the pipe is suitable) for drilling operations. For example, once pipe erosion exceeds a predetermined limit, the 505 controller can control the industrial machine 100 to replace the eroded pipe with a replacement pipe. Additionally, or alternatively, the 505 controller can inform an industrial machine operator of the pipe erosion level or that pipe erosion has exceeded a limit so that the operator can take appropriate action.

[0042] For example, the pipes used with the 100 drill are made of known materials and may have predictable wear patterns based on specifications provided by a manufacturer (e.g., a linear relationship between pipe weight and pipe wall thickness and between pipe diameter and pipe wall thickness). As a result, as the pipe wears or is eroded by use (e.g., from the scrubbing effect of drilling cuttings blowing out of the well), the 505 controller is configured to correlate a reduction in pipe weight or pipe diameter to a reduction in pipe wall thickness (i.e., pipe material loss). The pipe wall thickness can then be used to determine when the pipe should be replaced and / or removed. The 505 controller can store the weight measurements and diameter measurements for the pipes and the determined pipe wall thicknesses in memory 570.Once the weight of the pipe or the thickness of the pipe walls falls below a predetermined limit, the 505 controller can initiate a command to replace the pipe.

[0043] One or more drilling sensors 540 include accelerometers, proximity sensors, etc., which are used by the controller 505 to determine a position or orientation associated with the drilling rig 100. For example, the drilling sensors 540 can be used to determine an orientation of the drilling mast 140 relative to gravity (for example, to determine Petition 870240020416, dated 11 / 03 / 2024, page 26 / 78 18 / 27 a verticality of the drilling mast 140). An output from the pipe sensors 535 can be modified or compensated based on the angle of the drilling mast (for example, when the drilling mast 140 is not vertical, the total weight of a pipe is not detected by the pipe sensor 535). The compensated outputs from the pipe sensors 535 can then be used to determine the pipe attribute. The controller 505 can store the compensated weight measurements for the pipes and the determined pipe attribute in memory 570.

[0044] One or more load monitoring sensors 545 include, for example, vibration sensors, torque sensors, rotational speed sensors, etc. Load monitoring sensors 545 can be used by the controller 505 to determine a load experienced by a tube over time. For example, the controller 505 stores and monitors the torque applied to each tube, the vibrations experienced by the tube, the rotational speed of the tube, the acceleration of the tube, etc., to determine a load or load force value for each tube (e.g., in newtons). The monitored load experienced by a tube can be used in conjunction with or in place of the tube weight to determine a level of wear experienced by the tube.In some embodiments, the load experienced by a pipe is monitored and compared to a determined wall thickness for the pipe to determine if the determined wall thickness and the load experienced by the pipe are consistent with each other (i.e., the load experienced produced an expected erosion of the pipe based on historical pipe wear data).

[0045] Figure 6 is a process 700 for controlling an industrial machine, such as a drilling rig 100. Process 700 begins with the detection of a pipe characteristic (STEP 705). The pipe characteristic is detected, for example, using one or more pipe sensors 535 or one or more load monitoring sensors 545, as described above. Output signals from one or more pipe sensors 535 or load monitoring sensors 545 related to the pipe characteristic are provided to the controller 505. Following step 705, a drilling characteristic is detected (step 710). A Petition 870240020416, dated 11 / 03 / 2024, page 27 / 78 19 / 27 The drilling characteristic is detected using one or more drilling sensors 540 or one or more load monitoring sensors 545, as described above. The output signals from one or more drilling sensors 540 or load monitoring sensors 545 related to the drilling characteristic are provided to the controller 505. For example, one or more drilling sensors 540 indicate to the controller 505 a position or orientation associated with drilling 100, such as an orientation of the drilling mast 140 relative to gravity. One or more load monitoring sensors 545 may indicate a load applied to the pipe during the operation of the drilling rig.

[0046] Following step 710, controller 505 determines a pipe attribute (e.g., pipe wall thickness, pipe integrity, or pipe wear level) based on the pipe characteristic and drilling characteristic (step 715). For example, to determine the pipe attribute, the pipe characteristic indicated by one or more pipe sensors 535 can be modified or compensated based on the angle of the drilling mast (e.g., when the drilling mast 140 is not vertical, the total weight of a pipe or the precise diameter of the pipe is not detected by the pipe sensor 535).In some embodiments, when the drilling mast 140 is vertical and the pipe sensor 535 includes the load cell (see Figure 4), the vibration sensor, or the pressure sensor indicating the pipe weight, the weight indicated by the load cell, the vibration sensor, or the pressure sensor can be determined as being the pipe weight without additional compensation (for example, the weight can be multiplied by a compensation factor of 1.0). However, when the drilling characteristic indicates that the drilling mast 140 is at an angle of 15 degrees relative to the vertical, the pipe weight indicated by the sensor can be adjusted upwards by multiplying the indicated weight by a compensation factor corresponding to the 15-degree angle.In some embodiments, when the drilling mast 140 is vertical and the pipe sensor 353 includes an optical sensor that indicates the pipe diameter, the diameter indicated by the optical sensor can be determined to be the pipe diameter without additional compensation (i.e., the diameter may not be...). Petition 870240020416, dated 11 / 03 / 2024, page 28 / 78 20 / 27 (additional calculations may be required). However, when the drilling characteristic indicates that the drilling mast 140 is at an angle of 15 degrees from the vertical, the pipe diameter indicated by the optical sensor can be adjusted by the 505 controller by calculating the diameter with the 15-degree offset taken into account.

[0047] The compensated outputs of the 535 pipe sensors can then be used to determine the pipe attribute. For example, the compensated weight value or diameter value may correspond to a pipe thickness, a pipe integrity level, or a pipe wear level. As described above, the 150 pipe weight may correspond to the pipe wall thickness and therefore to the pipe wear level. For example, as the pipe wears down or is eroded by use (e.g., from the scrubbing effect of drilling cuttings coming out of the well), the reduction in pipe weight or pipe diameter corresponds to a reduction in pipe wall thickness and indicates an increase in the amount of wear on the pipe.In one example, to determine the pipe attribute, the 505 controller might determine a difference between the offset weight or diameter determined for a previously stored initial offset weight measurement or diameter measurement for the pipe, and the difference corresponds to the pipe attribute. For example, the 505 controller might include a lookup table that maps difference levels to a pipe thickness, a pipe preservation level, a pipe integrity level, or a pipe wear level, where the greater the difference, the greater the wear level, the lower the preservation level, and the lower the pipe thickness. In another example, the 505 controller might include a lookup table that maps offset weights or diameters for a specific pipe or pipe type to a pipe attribute, where the lower the weight or diameter, the greater the wear level, the lower the preservation level, and the lower the pipe thickness.Consequently, to determine a pipe attribute in some embodiments, the 505 controller uses the determined offset weight or diameter as an input to the lookup table and obtains the pipe attribute as an output. Petition 870240020416, dated 11 / 03 / 2024, p. 29 / 78 21 / 27

[0048] Although listed as separate examples of pipe attributes, the attributes of pipe thickness, pipe preservation level, and pipe wear level may have some overlap in their meanings and scope. For example, pipe thickness may be an example of pipe wear level or a pipe preservation level, and a pipe wear level may be an example of pipe preservation level.

[0049] In some embodiments of process 700, in step 715, the pipe attribute is determined based on the pipe characteristic and without the drilling characteristic. For example, step 710 can be bypassed and the pipe characteristic determined in step 705 can be used as an input to a lookup table or equation that maps the pipe characteristic to the pipe attribute (e.g., without offsetting the pipe characteristic based on a detected drilling characteristic). Therefore, in some embodiments, process 700 is executed by detecting a pipe characteristic (step 705), determining a pipe attribute (step 715), and sending an output signal based on the determined pipe attribute (step 720).

[0050] After the controller 505 determines the pipe attribute, the controller 505 is configured to send an output signal based on the determined pipe attribute (step 720). In some embodiments, the output signal may be a control signal sent by the controller 505 to control the drill 100 based on the pipe attribute (step 720A). As described in more detail in this document, the controller 505 may control the pipe control actuator 550 or the drilling control actuator 555 based on the determined pipe attribute. In another embodiment, the output signal may be an electronic message to an operator device to inform a drilling operator of the pipe attribute and / or whether the pipe is suitable for drilling operation (step 720B).Furthermore, in some embodiments, the 505 controller can be configured to send a control signal to control the drilling operation (step 720A) and send an electronic message to a device. Petition 870240020416, dated 11 / 03 / 2024, page 30 / 78 22 / 27 operation to inform an operator of the pipe attribute drilling (step 720B).

[0051] The 505 controller is configured to determine when a pipe is no longer suitable for use with the drill. The 505 controller can determine that a pipe is unsuitable for use with the drill when the pipe attribute (e.g., weight, wall thickness, or load on the pipe) exceeds a predetermined limit. As will be understood by one skilled in the art, depending on the pipe attribute, a pipe attribute may “exceed a predetermined limit” when the attribute is greater than the limit or may “exceed a predetermined limit” when the pipe attribute falls below a predetermined limit. For example, the 505 controller may determine that a pipe is unsuitable for use with the drill when the pipe wall thickness (e.g., very thin pipe wall) falls below a predetermined limit.As another example, the 505 controller can determine that a pipe is unsuitable for use with the drill when a load (e.g., torque) applied to the pipe is greater or for a longer period of time than a predetermined limit.

[0052] Once the 505 controller determines the pipe attribute and / or whether the pipe is in drilling condition, the 505 controller can send an output signal for any drilling control operation (step 720A) or inform the pipe operator of the pipe attribute and condition for drilling (step 720B). In some embodiments, the 505 controller is configured to send a control signal to change a pipe being used by the drill rig 100 based on the pipe attribute (step 720A). For example, controller 505 is configured to rotate the pipes being used by drill rig 100 to distribute wear among all pipes in drill rig 100. For example, controller 505 is configured to provide an indication to drill control actuator 555, pipe control actuator 550, or both, to change pipes based on pipe attribute so as to distribute wear among a plurality of pipes (e.g., between pipes 225-240).To change the tubes, in some modes, the 505 controller is configured to control the control actuator. Petition 870240020416, dated 11 / 03 / 2024, page 31 / 78 23 / 27 drilling 555 to stop rotating a first pipe, such as pipe 225 of a plurality of pipes 225-240. The controller 505 then controls the pipe control actuator 550 to switch, based on the pipe attribute, from the first pipe 235 to a second pipe, such as pipe 230. The pipe control actuator 550 can be controlled to switch pipes as described above in relation to figure 5B. The controller 505 then controls the drilling control actuator 555 to rotatably drive the second pipe 230.

[0053] In addition, or alternatively, the controller 505 may send an electronic message to an operator device to inform the operator of the pipe attribute drilling (step 720B). For example, in some embodiments, the controller is configured to provide an electronic message or other indication via the network communications module 525 or via the network 530 to an operator device. The operator device may be a remote device positioned at a location remote from the drill or may be included in or near the drill (as in the cabin module 120). The operator device may include a portable user device such as a smart device, tablet, phone, or laptop. The operator device may receive an electronic message from the controller 505 indicating that one or more of the pipes within the drill 100 have reached or will soon reach the end of their service life.By doing so, additional pipes for the drill 100 can be ordered and / or transported to the drill 100 to avoid downtime delays while waiting for new pipes to arrive.

[0054] Although the steps of process 700 are illustrated sequentially, one or more of the steps of process 700 may be performed before or after one or more other steps of process 700. For example, step 710 may be performed before or simultaneously with step 705. As such, the order of process 700 shown in Figure 6 is merely illustrative. In some embodiments, the characteristics of the drilling rig are not used in the operation of the drilling rig and step 710 is omitted. Petition 870240020416, dated 11 / 03 / 2024, page 32 / 78 24 / 27

[0055] Figure 7 is a process 750 for determining a wear level of a pipe in an industrial machine, such as a drilling rig 100. The process begins with the detection of a pipe characteristic (step 755). The pipe characteristic is detected, for example, using the load cell 415, as described above in relation to Figure 4. The output signals from the load cell 415 relating to the pipe characteristic 150 in a drilling rig 100 are provided to the controller 505. In some embodiments, the load cell or vibration sensor indicates a pipe weight 150, which is used as the pipe characteristic. In some embodiments, the optical sensor indicates a pipe diameter 150, which is used as the pipe characteristic.Following step 755, controller 505 is configured to determine a wear level of tube 150 based on tube characteristics, such as the weight of tube 150 determined by the load cell or vibration sensor, and the diameter of tube 150 determined by the optical sensor (step 760). As described above, the weight of tube 150 and the diameter of tube 150 can correspond to the tube wall thickness and thus to the wear level of the tube.

[0056] For example, as the pipe wears down or is eroded by use (e.g., by the scrubbing effect of drilling cuttings coming out of the borehole), the reduction in pipe weight or pipe diameter corresponds to a reduction in pipe wall thickness and indicates an increase in the amount of wear on the pipe. In one example, to determine a wear level, controller 505 can determine a difference between the weight measured in step 755 and a previously stored initial weight measurement for the pipe, and the difference corresponds to a pipe wear level.

[0057] In another example, to determine a wear level, the 505 driver can determine a difference between the pipe diameter measured in step 755 and a previously stored initial diameter measurement for the pipe, and the difference corresponds to a pipe wear level. For example, the 505 driver can include a lookup table that maps difference levels to wear levels, where the greater the difference, the greater the wear level. In another Petition 870240020416, dated 11 / 03 / 2024, p. 33 / 78 25 / 27 For example, the 505 controller may include a lookup table that maps weights for a given pipe or pipe type to a wear level, where the lower the weight, the higher the wear level. Therefore, to determine a wear level in some modes, the 505 controller may use the pipe weight measured in step 755 as an input to the lookup table and obtain the wear level as an output. In another example, the 505 controller may include a lookup table that maps the diameter of a specific pipe or pipe type to a wear level, where the smaller the diameter, the higher the wear level. Therefore, to determine a wear level in some modes, the 505 controller uses the pipe diameter measured in step 755 as an input to the lookup table and obtains the wear level as an output.

[0058] After controller 505 determines the wear level, controller 505 is configured to provide an indication of the wear level of pipe 150. For example, controller 50 can provide an indication when the pipe wear level exceeds a predetermined limit value (step 765). For example, controller 505 is configured to provide an electronic message to an operator device to inform a drill operator 100 of the determined wear level, allowing the operator to take responsive action. The operator device can be a personal computing device (e.g., laptop, smartphone, tablet, etc.), a user interface device inside the drill cab 100, or another electronic computing device.The operator device can, in response to the electronic message, provide the wear level graphically (e.g., on a display screen), audibly (e.g., via a loudspeaker), or with a tactile output device (e.g., via a vibration generator). The controller 505 can be configured to provide an indication to the pipe control actuator 550, the drilling control actuator 555, or both, to change or rotate the pipes, as described above in relation to step 720 of Figure 6. The controller 505 can be configured to provide an indication for storage. Petition 870240020416, dated 11 / 03 / 2024, page 34 / 78 26 / 27 the wear level determined in register 595 or memory 570. The stored wear level can be retrieved later by another device or used by controller 505 to provide an electronic message to an operator device or to control changing pipes, as described.

[0059] In some embodiments, the controller 505 is further configured to determine whether a pipe, such as pipe 410, is present in the pipe storage compartment 405, based on the characteristic of pipe 410 detected using a sensor 415, such as the load cell, vibration sensor, or optical sensor. In one exemplary embodiment, pipe 410 is the first pipe 225 of a plurality of pipes 225-240 that are configured to be rotatably driven by the drill 100. In such cases, the controller 505 may be configured to determine whether a second pipe 230 is present in the second pipe storage compartment 210, based on an output from a second sensor, which is similar to sensor 415, but associated with the second pipe storage compartment 210.In another embodiment, a tube characteristic of the second tube 230 is detected by the second sensor, and the controller 505 is configured to determine a wear level of the second tube 230 based on the tube characteristic of the second tube 230. In such cases, the controller 505 can be configured to provide a second indication, which indicates the wear level of the second tube 230. Consequently, the sensor 415 for each tube is configured to provide the controller 505 with both an indication of the tube wear level and an indication of the tube's presence. The controller 505 is further configured to provide an indication of the tube's presence (in addition to the wear level), such as providing the indication to an operator device to be transmitted visually, audibly, or tactilely.

[0060] In some modes of process 750, controller 505 detects a drilling feature, similar to step 710 of process 700. In these modes, controller 505 can then use the drilling feature. Petition 870240020416, dated 11 / 03 / 2024, page 35 / 78 27 / 27 together with the tube characteristic to determine the tube wear level, similar to that described above in relation to step 715 of process 700.

[0061] Although the steps of process 750 are illustrated sequentially, one or more of the steps of process 750 may be performed before or after one or more other steps of process 750. As such, the order of process 750 shown in figure 7 is merely illustrative.

[0062] Thus, the modalities described in this document provide, among other things, systems, methods and devices for controlling the operation of an industrial machine, such as a drilling machine, based on a given attribute of a pipe. Petition 870240020416, dated 11 / 03 / 2024, p. 36 / 78

Claims

1 / 14 CLAIMS 1. INDUSTRIAL DRILLING RIG FOR MINING OPERATIONS, characterized in that the drilling rig comprises: a pipe configured to be rotatably driven to perform a drilling operation; a drive control actuator configured to rotatably drive the pipe during the drilling operation; a drilling mast including a pipe storage compartment, the pipe storage compartment configured to receive the pipe when the pipe is not being used for drilling operation; a sensor configured to detect a pipe characteristic associated with the pipe; and an electronic controller coupled to the sensor and including a processor and a memory, the electronic controller configured to: receive an output from the sensor indicative of the pipe characteristic;to determine a pipe attribute based on the pipe characteristic, the pipe attribute indicating a pipe condition for drilling operation, the controller determining a pipe weight based on a difference between an initial frequency at which the pipe sounds when a hammer strikes the pipe and a current frequency at which the pipe sounds when a hammer strikes the pipe; and to send an output signal based on the determined pipe attribute, where the sensor is configured to detect the pipe characteristic of the pipe when the pipe is received within the pipe storage compartment. Petition 870260011331, dated 05 / 02 / 2026, p. 21 / 39 2 / 14; 2. DRILLING MACHINE, according to claim 1, characterized in that sending an output signal based on a determined pipe attribute includes sending a control signal to control the operation of the drilling machine.

3. DRILLING MACHINE, according to claim 1, characterized in that the sending of an output signal based on the determined pipe attribute includes sending an electronic message to an operator device, wherein the electronic message provides information about the pipe condition for drilling operation.

4. DRILLING MACHINE, according to claim 1, characterized in that the pipe attribute includes at least one pipe wall thickness and a pipe wear level.

5. DRILLING MACHINE, according to claim 1, characterized in that the sensor includes at least one selected from the group consisting of a load cell, a pressure sensor, a vibration sensor, an audio sensor and an optical sensor.

6. DRILLING MACHINE, according to claim 1, characterized in that the sensor is a load monitoring sensor configured to determine a load experienced by the pipe during drilling operation, the load monitoring sensor including at least one selected from the group consisting of a vibration sensor, a torque sensor, a rotational speed sensor, an audio sensor and an accelerometer.

7. DRILLING MACHINE, according to claim 1, characterized in that the sensor is a first sensor, wherein the drilling machine further comprises a second sensor configured to detect a second pipe characteristic and wherein the controller determines a pipe attribute based on an output from the first sensor and an output from the second sensor.

8. DRILLING RIG, according to claim 1, characterized in that the electronic controller is configured to determine when the pipe Petition 870260011331, dated 05 / 02 / 2026, page 22 / 39 3 / 14 is unsuitable for drilling operation, wherein the pipe is unsuitable for drilling operation when the pipe attribute exceeds a predetermined limit.

9. DRILLING MACHINE, according to claim 8, characterized in that the output signal is a control signal for a pipe control actuator to change the pipe for a replacement pipe when the pipe is unsuitable for drilling operation.

10. DRILLING MACHINE, according to claim 9, characterized in that the pipe control actuator exchanges the pipe for a replacement pipe by moving the pipe storage compartment in line with the drive control actuator to replace the pipe with a replacement pipe.

11. DRILLING MACHINE, according to claim 9, characterized in that the pipe control actuator controls a clamping arm to remove the pipe from the drilling operation and place it in the pipe storage compartment.

12. DRILLING MACHINE, according to claim 11, characterized in that the pipe control actuator controls the clamping arm to remove the replacement pipe from the pipe storage compartment and positions it in the drive control actuator.

13. SYSTEM FOR DETECTING A CONDITION OF A DRILL PIPE, characterized in that it comprises: a sensor configured to detect a pipe characteristic associated with the pipe; and an electronic controller coupled to the sensor and including a processor and a memory, the electronic controller configured to: receive an output from the sensor indicative of the pipe characteristic; Petition 870260011331, dated 05 / 02 / 2026, page 23 / 39 4 / 14 determine a pipe attribute based on the pipe characteristic, the pipe attribute being indicative of a pipe condition for drilling operation; and send an output signal based on the determined pipe attribute, wherein the electronic controller is configured to determine a pipe weight based on a difference between an initial frequency at which the pipe sounds when a hammer strikes the pipe and a current frequency at which the pipe sounds when the hammer strikes the pipe.

14. SYSTEM, according to claim 13, characterized in that sending an output signal based on a determined pipe attribute includes sending a control signal to control the operation of the drilling rig.

15. SYSTEM, according to claim 13, characterized in that the sending of an output signal based on the determined pipe attribute includes sending an electronic message to an operator device, the electronic message providing information about the pipe condition for drilling operation.

16. SYSTEM, according to claim 13, characterized in that the sensor is configured to detect a pipe characteristic of the pipe when the pipe is received inside a pipe storage compartment of the drilling rig.

17. SYSTEM, according to claim 13, characterized in that the tube attribute includes at least one of the tube wall thickness and the tube wear level.

18. SYSTEM, according to claim 13, characterized in that the electronic controller is configured to determine the wall thickness of the tube based on one or more differences between an initial tube weight and a current tube weight and a difference between an initial tube diameter and a current tube diameter. Petition 870260011331, dated 05 / 02 / 2026, page 24 / 39 5 / 14 19. SYSTEM, according to claim 13, characterized in that the sensor includes at least one selected from the group consisting of a load cell, a pressure sensor, a vibration sensor, an audio sensor and an optical sensor.

20. SYSTEM, according to claim 13, characterized in that the sensor is a load monitoring sensor configured to determine a load experienced by the pipe during drilling operation, the load monitoring sensor including at least one selected from the group consisting of a vibration sensor, a torque sensor, a rotational speed sensor, an audio sensor and an accelerometer.

21. SYSTEM, according to claim 13, characterized in that the sensor is a first sensor configured to detect a first pipe characteristic, wherein the drill further comprises a second sensor configured to detect a second pipe characteristic and wherein the controller determines a pipe attribute based on an output from the first sensor and an output from the second sensor.

22. SYSTEM, according to claim 21, characterized in that the first tube characteristic includes at least one selected from the group consisting of a presence or absence of the tube within the tube storage compartment, a tube weight, a tube diameter and a tube resonance frequency, and in that the second tube characteristic includes at least one selected from the group consisting of a tube vibration, a torque exerted on the tube and a tube rotation speed.

23. SYSTEM, according to claim 13, characterized in that the electronic controller is configured to determine when the pipe is unsuitable for use with the drilling rig, wherein the pipe is unsuitable for use when the pipe attribute exceeds a predetermined limit. Petition 870260011331, dated 05 / 02 / 2026, p. 25 / 39 6 / 14 24. SYSTEM, according to claim 23, characterized in that the output signal is an electronic message to an operator device to inform a drilling rig operator when the pipe attribute exceeds the predetermined limit.

25. SYSTEM, according to claim 23, characterized in that the output signal is a control signal for a tube control unit to exchange the tube for a replacement tube when the tube attribute exceeds the predetermined limit.

26. SYSTEM, according to claim 25, characterized in that the tube control actuator exchanges the tube for a replacement tube by moving the tube storage compartment in line with the drive control actuator to replace the tube with a replacement tube.

27. SYSTEM, according to claim 25, characterized in that the pipe control drive controls a clamping arm to remove the pipe from the drilling operation and place it in the pipe storage compartment.

28. SYSTEM, according to claim 27, characterized in that the tube control actuator controls the clamping arm to remove the replacement tube from the tube storage compartment and positions it on the drive control actuator.

29. METHOD FOR DETECTING A CONDITION OF A DRILL PIPE, the drill rig configured to rotatably drive the pipe to perform a drilling operation, characterized in that the method comprises: receiving, by an electronic controller, a first output from a first sensor, the first output indicative of a pipe characteristic associated with the pipe; Petition 870260011331, dated 05 / 02 / 2026, p.26 / 39 7 / 14 determine, by the electronic controller, a tube attribute based on the tube characteristic, determine the tube attribute including determining a tube weight based on a difference between an initial frequency at which the tube sounds when a striker strikes the tube and a current frequency at which the tube sounds when a striker strikes the tube; compare the tube attribute to a predetermined threshold, and when the tube attribute exceeds a predetermined threshold, send an output signal based on the tube attribute, wherein the tube characteristic includes at least one selected from a group consisting of the presence or absence of the tube within a tube storage compartment and a tube diameter.

30. METHOD, according to claim 29, characterized in that sending an output signal based on a determined pipe attribute includes sending a control signal to control the operation of the drilling rig.

31. METHOD, according to claim 29, characterized in that sending an output signal based on a determined pipe attribute includes sending an electronic message to an operator device, the electronic message providing information about the pipe condition for drilling operation.

32. METHOD, according to claim 29, characterized in that determining the pipe attribute includes determining at least one of a pipe wall thickness and pipe wear level.

33. METHOD, according to claim 29, characterized in that determining the tube attribute includes determining the tube wall thickness based on one or more differences between an initial tube weight and a current tube weight and a difference between an initial tube diameter and a current tube diameter. Petition 870260011331, dated 05 / 02 / 2026, page 27 / 39 8 / 14 34. METHOD, according to claim 29, characterized in that receiving the first output from the first sensor includes receiving the first output from at least one selected from the group consisting of a load cell, a pressure sensor, a vibration sensor, and an optical sensor.

35. METHOD, according to claim 29, characterized in that receiving the first output from the first sensor includes receiving the first output from a vibration sensor, a torque sensor, a rotational speed sensor, an audio sensor, and an accelerometer.

36. METHOD, according to claim 29, characterized in that it further comprises receiving, by the electronic controller, a second output from a second sensor, the second output indicating a second tube characteristic associated with the tube.

37. METHOD, according to claim 36, characterized in that the second characteristic of the tube includes at least one selected from the group consisting of a tube vibration, a torque exerted on the tube, and a tube rotational speed.

38. METHOD, according to claim 29, characterized in that sending an output signal includes sending a control signal to a tube control unit to exchange the first tube for a second tube.

39. METHOD, according to claim 38, characterized in that the exchange of the first tube for a second tube includes sending a control signal to a tube control actuator to disconnect the first tube from a tube conductor and connect a second tube to the tube conductor.

40. METHOD, according to claim 38, characterized in that exchanging the first tube with a second tube includes sending a control signal to a tube control actuator to insert the first tube into a tube storage compartment and remove the second tube from the tube storage compartment. Petition 870260011331, dated 05 / 02 / 2026, pp. 28 / 39 9 / 14 41. INDUSTRIAL DRILLING RIG FOR MINING OPERATIONS, characterized in that it comprises: a drilling mast; a rotating pipe storage system including a plurality of compartments for storing a plurality of pipes, each compartment configured to selectively store one of the pipes; a drive control actuator configured to rotatably drive a first pipe during a drilling operation; a sensor configured to monitor the weight of a pipe stored in one of the associated compartments;An electronic controller coupled to the sensor and including a processor and memory, the electronic controller being configured to: receive an output from the sensor, determine the presence or absence of one of the tubes within each of the compartments based on an output from the sensor, compare the monitored weight of the tube stored in the associated compartment with an initial weight, the initial weight representing an initial weight and a previously stored weight of the tube stored in one of the associated compartments, and send an output signal;and a tube control drive configured to receive the output signal and selectively rotate the tube storage to align one of the compartments with the drive control actuator based on at least one of the monitored tube weight, the presence of tubes in the compartments and the absence of tubes in the compartments, the tube control drive being configured to transfer the first tube to one of the compartments, the tube control drive being configured to remove a second tube from another compartment and position the second tube close to the drive control actuator.

42. DRILLING MACHINE, according to claim 41, characterized in that the output signal includes an electronic message to an operating device, the electronic message providing information about a pipe condition based on weight.

43. DRILLING MACHINE, according to claim 41, characterized in that the sensor is a load cell.

44. DRILLING MACHINE, according to claim 43, characterized in that the load cell is positioned in a lower portion of the compartment and detects a weight supported on the load cell.

45. DRILLING MACHINE, according to claim 41, characterized in that the electronic controller is configured to determine whether the pipe is unsuitable for use with the drilling machine, wherein the pipe is unsuitable for use when the monitored weight exceeds a predetermined limit.

46. ​​DRILLING RIG, according to claim 41, characterized in that the electronic controller is further configured to determine a modified pipe weight based on a drilling mast angle.

47. DRILLING MACHINE, according to claim 41, characterized in that the electronic controller is further configured to determine a pipe attribute based on pipe weight, the pipe attribute including at least one of a pipe wall thickness and a pipe wear level.

48. SYSTEM FOR DETECTING THE CONDITION OF A DRILL PIPE, including a drilling mast and a drive control actuator configured to rotatably drive a first pipe during a drilling operation, characterized in that the system comprises: Petition 870260011331, dated 05 / 02 / 2026, page 30 / 39 11 / 14 a rotating pipe storage system including a plurality of compartments for storing a plurality of pipes, each compartment configured to selectively store one of the pipes; a sensor configured to monitor the weight of a pipe stored in one of the associated compartments;An electronic controller coupled to the sensor and including a processor and memory, the electronic controller being configured to: receive an output from the sensor, determine the presence or absence of one of the tubes within each of the compartments based on an output from the sensor, compare the monitored weight of the tube stored in the associated compartment with an initial weight, the initial weight representing an initial weight and a previously stored weight of the tube stored in one of the associated compartments, and send an output signal;and a tube control drive configured to receive the output signal and selectively rotate the tube storage to align one of the compartments with the drive control actuator based on at least one of the monitored tube weight, the presence of tubes in the compartments and the absence of tubes in the compartments, the tube control drive being configured to transfer the first tube to one of the compartments, the tube control drive being configured to remove a second tube from another compartment and position the second tube close to the drive control actuator.

49. SYSTEM, according to claim 48, characterized in that the output signal further includes an electronic message to an operating device, the electronic message providing information about a tube condition based on weight. Petition 870260011331, dated 05 / 02 / 2026, pp. 31 / 39 12 / 14 50. SYSTEM, according to claim 48, characterized in that the sensor is a load cell.

51. SYSTEM, according to claim 50, characterized in that the load cell is positioned in a lower portion of the compartment and detects a weight resting on the load cell.

52. SYSTEM, according to claim 48, characterized in that the electronic controller is configured to determine whether the pipe is unsuitable for use with the drilling rig, wherein the pipe is unsuitable for use when the monitored weight exceeds a predetermined limit.

53. SYSTEM, according to claim 48, characterized in that the electronic controller is further configured to determine a modified pipe weight based on a drilling mast angle.

54. SYSTEM, according to claim 48, characterized in that the electronic controller is further configured to determine a pipe attribute based on the weight of the pipe, the pipe attribute including at least one of a pipe wall thickness and a pipe wear level.

55. METHOD FOR DETECTING THE CONDITION OF A DRILL PIPE, having a drilling mast, the drill rig configured to selectively drive one among a plurality of pipes to perform a drilling operation, characterized in that the method comprises: monitoring, with a sensor, the weight of each among a plurality of pipes stored in a plurality of compartments of a rotating pipe storage; receiving, with an electronic controller, an output from the sensor; determining, with the electronic controller, a presence or absence within each of the compartments based on the sensor output; Petition 870260011331, dated 05 / 02 / 2026, p.32 / 39 13 / 14 compare, with the electronic controller, the monitored weight with an initial weight, the initial weight representing an initial weight or a previously stored weight associated with the tube; activate a tube control drive to selectively rotate the tube storage to align a first of the compartments with a drive control actuator based on at least one of the monitored weight of the plurality of tubes, the presence of tubes in the compartments and the absence of tubes in the compartments; and transfer one of the tubes from the first compartment to the drive control actuator.

56. METHOD, according to claim 55, characterized in that it further comprises actuating the tube control drive to selectively rotate the tube storage to align the first compartment with the drive control actuator; and transferring the single tube from the drive control actuator to the first compartment.

57. METHOD, according to claim 55, characterized in that it further comprises sending, with the electronic controller, an output signal including an electronic message to an operating device, the electronic message providing information about a tube condition based on weight.

58. METHOD, according to claim 55, characterized in that it further comprises determining, with the electronic controller, whether the pipe is unsuitable for use with the drilling rig, wherein the pipe is unsuitable for use when the monitored weight exceeds a predetermined limit.

59. METHOD, according to claim 55, characterized in that it further comprises determining, with the electronic controller, a modified pipe weight based on a drilling mast angle. Petition 870260011331, dated 05 / 02 / 2026, pp. 33 / 39 14 / 14 60. METHOD, according to claim 55, characterized in that it further comprises the determination, with the electronic controller, of a pipe attribute based on the pipe weight, the pipe attribute including at least one of a pipe wall thickness and a pipe wear level. Petition 870260011331, dated 05 / 02 / 2026, pp. 34 / 39

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