Method and drill string handling arrangement for handling aligning a grip areas of drill string component with a wrench unit

Abstract

A method for operating a drill string handling arrangement (100) is provided. The drill string handling arrangement (100) is arranged to receive a drill string component (1). The drill string handling arrangement (100) comprises a wrench unit (40) for gripping grip areas (11) of the drill string component (1). The method comprises rotating the drill string component (1). The method comprises obtaining sensor data indicative of detection of a plurality of the grip areas (11) of the drill string component (1). The method comprises identifying, based on the sensor data, an extent of a plurality of grip areas (11) and / or an extent of distinctive areas (12) of the drill string component (1). The method comprises aligning the plurality of grip areas (11) with a predefined grip position of the wrench unit (40) based on the obtained sensor data.

Description

[0001] P23116

[0002] 1

[0003] METHOD AND DRILL STRING HANDLING ARRANGEMENT FOR HANDLING

[0004] ALIGNING A GRIP AREAS OF DRILL STRING COMPONENT WITH A WRENCH UNIT

[0005] TECHNICAL FIELD

[0006] Embodiments herein relate to a method and a drill string handling arrangement for aligning grip areas of a drill string component with a wrench unit of the drill string handling arrangement. Furthermore, a vehicle, a computer program, and a carrier are also provided herein.

[0007] BACKGROUND

[0008] Handling drill strings is a difficult process to automate as drill strings and their components, typically pipes, can be large, heavy, and generally difficult to control, in particular this is the case in the context of mining where they are used by drill rigs when drilling into a rock foundation. Hence, when there is a need to handle drill strings, such as to connect drill string components such as pipes together in a drill string, a wrench unit is typically used to grip and control the component. However due to their size and the need for accuracy, gripping drill string components is complex and associated with risks of damaging the drill string.

[0009] Hence, there is a need to improve efficiency of handling drill string components.

[0010] SUMMARY

[0011] As a part of developing embodiments herein one or more problems have been identified and will first be discussed. When handling drill string components such as pipes, to avoid destroying the drill string components and / or to be able to operate the drill string components with high accuracy and precision, a wrench unit needs to be aligned precisely with the grip areas of the pipe before gripping the pipe. Since it is typically not possible to obtain a sufficiently precise rotational angle of the pipe, manual inspection is often needed to accurately align the grip areas with the wrench unit. Due to manual inspection, productivity is lowered as the drill string component cannot be immediately used without risk of damage. Furthermore, human errors may still occur which may result in damages to the drill string components and wrench unit and / or inefficient use due to imprecise alignment. P23116

[0012] 2

[0013] An object herein is to improve efficiency of handling of a drill string component, drill string componentsdrill string componentdrill string componentsdrill string component drill string componentdrill string component. For example, as will be discussed in examples herein, the wrench unit may comprise two halves arranged to grip drill string component at the predefined grip position by interlocking the two halves to encompass drill string component at the predefined grip positiondrill string componentdrill string component may refer to any suitable pipe or other entity that can be connected to a drill string or used for forming a drill string, drill string componentdrill string componentdrill string componentdrill string componentThe advantages of any one or more out of the second, third, fourth, and / or fifth aspect corresponds to the advantages of the first aspect. All embodiments, examples and / or options related to and / or applying to any of the listed aspects above and / or their further descriptions in the detailed description below, apply to all other aspects in a corresponding manner. Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0014] BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0016] Figs. 1a-c are schematic block diagrams illustrating a drill string component according to example embodiments herein.

[0017] Figs. 2a-b are schematic block diagrams illustrating a drill string component handling arrangement according to example embodiments herein.

[0018] Figs. 3a-d are schematic block diagrams illustrating example scenarios of using sensor arrangements according to example embodiments herein.

[0019] Fig. 4 is a flowchart depicting a method according to example embodiments herein.

[0020] Fig. 5 is a schematic diagram illustrating example embodiments herein.

[0021] Fig. 6 is a schematic diagram illustrating example embodiments herein.

[0022] Fig. 7 is a schematic diagram illustrating example embodiments herein.

[0023] Fig. 8 is a schematic diagram illustrating example embodiments herein.

[0024] Fig. 9 is a schematic diagram illustrating example embodiments herein.

[0025] Fig. 10 is a schematic diagram illustrating a computer program and a carrier according to example embodiments herein. P23116

[0026] 3

[0027] Fig. 10 is a schematic block diagram illustrating example embodiments of a control arrangement.

[0028] Fig. 11 is a schematic block diagram illustrating example embodiments of a drill rig.

[0029] DETAILED DESCRIPTION

[0030] Fig. 1a illustrates a drill string component 1. While exemplified as a pipe in Fig. 1a and examples herein, any suitable shape may apply. The drill string component 1 may be arranged to be used in a mining context, e.g., to be used as part of a drilling operation performed by a drill rigg. >

[0031] The drill string component 1 comprises a plurality of grip areas 11. The grip areas 11 may typically be flat areas or any suitable shape for gripping the drill string component 1.

[0032] The drill string component 1 may further comprise one or more distinctive areas 12. The distinctive areas 12 may be rounded areas or any other suitable areas that are different from the grip areas 11 such that it is possible to differentiate between the grip areas 11 and the distinctive areas 12. The drill string component 1 may typically be hollow as indicated by an opening 2 on one side of the drill string component 1.

[0033] The grip areas 11 may be limited to a grip section 10 of the drill string component 1 , such that a non-grip section 5 of the drill string component 1 only comprises the distinctive areas 12.

[0034] Fig. 1b illustrates the non-grip section 5, and Fig. 1c illustrates the grip section 10 from a cross-section view of the drill string component 1. In Fig. 1c, it may be seen that the grip areas 11 may comprise flat areas 11 on different parts of the drill string component 1.

[0035] Fig. 2a illustrates a drill string handling arrangement 100. The drill string arrangement 100 is arranged to receive the drill string component 1.

[0036] The drill string handling arrangement 100 comprises a sensor 20 for detecting the drill string component 1. Additionally the drill string handling arrangement 100 may further comprise an at least one supplementary sensor 25. While discussed as examples of one or two sensors 20, 25, any number of sensors may apply to examples herein. P23116

[0037] 4

[0038] The sensor 20 and / or the at least one supplementary sensor 25 may respectively be inductive sensors or any suitable sensors for detecting, sensing, and / or identifying an extent of the grip areas 11 and / or the distinctive areas 12 such as optical sensors, mechanical sensors such as sensing sensors sensing using arms or rollers, and laser distance sensors.

[0039] The sensor 20 and / or the at least one supplementary sensor 25 may respectively be used for identifying an extent of the grip areas 11 and / or the distinctive areas 12 as the drill string component 1 is rotated. Sensor data of the grip areas 11 and / or the distinctive areas 12 and / or sensor data indicative of a transition of sensing the grip areas 11 to sensing the distinctive areas 12, or vice versa, as the drill string component 1 is rotating may be used for identifying an extent of the grip areas 11 and / or the distinctive areas 12, e.g., their area and respective current and / or future rotational angle.

[0040] The sensor 20 and / or the at least one supplementary sensor 25 may respectively have The drill string handling arrangement 100 comprises a wrench unit 40 arranged for gripping the plurality of grip areas 11 the drill string component 1. The wrench unit 40 has a predefined grip position, i.e., when gripping, the grip of the wrench unit 40 may be arranged to encompass the drill string component 1 , and in particular the grip areas 11 in said predefined grip position.

[0041] The wrench unit 40 may be arranged to grip the drill string component 1 with respect to the grip areas 11.

[0042] The wrench unit 40 may be any suitable entity for gripping the drill string component. Preferably, the wrench unit 40 may comprise two halves 41, 42 of the wrench unit 40 and wherein gripping the drill string component comprises triggering the wrench unit 40 such that the two halves 41, 42 interlocks to encompass the grip areas 11 at the predefined grip position.

[0043] The drill string handling arrangement 100 may be able to control a motion of the drill string component 1 and may comprise means for motion control of the drill string component 1. For example, the drill string handling arrangement 100 may comprise a motion control unit 7 for handling the motion of the drill string component 1. The motion control unit 7 may comprise a motor or any suitable means for controlling the motion of the drill string component 1.

[0044] In examples herein, the drill string component 1 may be controlled to rotate and / or to pause, i.e., stop, its rotation, e.g., by the motion control unit 7, as exemplified by a rotational direction 8. In examples herein, the drill string component 1 may be rotated P23116

[0045] 5 with a set constant speed and / or by applying a set constant torque to the drill string component 1, e.g., by the motion control unit 7.

[0046] In examples herein, the drill string component 1 may be controlled to longitudinally move, e.g., by the motion control unit 7, along a longitudinal axis a of the drill string component 1 , e.g., for aligning longitudinally with the predefined grip position of the wrench unit 40.

[0047] In particular, the drill string handling arrangement 100 is configured to rotate the drill string component 1 around the longitudinal axis a of the drill string component I .The drill string handling arrangement 100 is further configured to obtain sensor data from the sensor 20. The sensor data comprises a first set of data indicative of detection of the plurality of grip areas 11 of the drill string component 1. The drill string handling arrangement 100 is further configured to identify, based on the sensor data, an extent of the plurality of grip areas 11 and / or an extent of the distinctive areas 12 of the drill string component 1. The drill string handling arrangement 100 is further configured to align the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 based on the obtained sensor data. Aligning the plurality of grip areas 11 with the predefined grip position comprises pausing the rotational motion of the drill string component 1. The pausing may be a complete stop of the rotational motion.

[0048] Fig. 2b further illustrates a cross section of the wrench unit 40 of the drill string handling arrangement 100. The wrench unit 40 may be controlled in examples herein to grip the drill string component 1 at the predefined grip position by connecting and locking the two halves 41 , 42 of the wrench unit 40 to encompass the grip areas 11 at the predefined grip position. In particular, respective locking entities 43, 44 of the different halves 41, 42 may be merged and locked in any suitable manner when the wrench unit 40 is arranged to grip the drill string component 1.

[0049] The examples herein may be performed by any suitable means of the drill string handling arrangement, such as by being performed as controlled by a control system 70. The control system 70 may comprise any suitable control unit, processor, processing circuitry, computer program mediums, or any suitable means for controlling the drill string handling arrangement 100. The control system 70 may be capable of controlling any suitable entity of the drill string handling arrangement 100, e.g., the motion control unit 7. The control system 70 may be comprised in the drill string handling arrangement 100 but may also be fully or partly remote to the drill string handling arrangement 100, e.g., as part of a server or cloud service. P23116

[0050] 6

[0051] The drill string handling arrangement and / or the control system 70 may further be configured to perform any of the examples discussed below.

[0052] Figs. 3a-d illustrates different example scenarios of the sensor 20 and / or the at least one supplementary sensor 25. In the example scenarios of Figs 3a-d, the drill string component may be rotating in any suitable direction.

[0053] In the example of Fig. 3a, the sensor 20 is sensing 21 a distinctive area 12 as indicated by the dotted line. The sensor may use induction to sense the distinctive area 12 but any suitable sensor and sensing means may apply. The sensor 20 may be mounted to a sensor holding arrangement 22. The sensor 20 and the sensor holding arrangement 22 may be positioned in a set position and orientation with respect to the drill string component 1 such that the sensor data of the sensor 20 may be accounted for with respect to a predefined relative position to the drill string component 1. The set position used in examples herein may be predefined or dynamically set as the sensor holding arrangement 22 do not necessarily have to be mounted at a fixed position. Dynamic solutions of examples herein may adapt for any suitable position of the sensor holding arrangement 22 when applicable.

[0054] In Fig. 3a, when the sensor 20 senses 21 a transition from sensing the distinctive area 12 and the grip area 11 , it may be possible to identify an extent of the grip areas 11 and / or the distinctive areas 12 with high accuracy. This is since the transition may only happen during a small time frame when the drill string component is in a certain rotational angle, which may be predetermined which means that the extent of the grip areas 11 may be identified with respect to the predetermined rotational angle.

[0055] The extent of the grip areas 11 and / or the distinctive areas 12 may be the area and / or rotational angle or position of the grip areas 11 and / or the distinctive areas 12.

[0056] In the example of Fig. 3b, the supplementary sensor 25 is also mounted on the sensor holding arrangement 22 such that the at least one supplementary sensor is also arranged to sense 26 the drill string component 1. The sensor 20 and the supplementary sensor 25 may be arranged at predefined orientations for identifying the extent of the grip areas 11 and / or the distinctive areas 12. In Fig. 3b, the sensor 20 and the supplementary sensor 25 may both sense 21 , 26 different grip areas 11

[0057] In the example of Fig. 3b, the sensor 20 and the supplementary sensor 25 may both sense 21 , 26 different grip areas 11.

[0058] In the example of Fig. 3c, the sensor 20 and the supplementary sensor 25 may both sense 21, 26 different distinctive areas 11 P23116

[0059] 7

[0060] In the example of Fig. 3d, the sensor 20 may sense 21 a grip area 11 and the supplementary sensor may sense a transition from sensing 26 a grip area 11 and to sensing 26 a distinctive area 12. When detecting such a transition scenario, it may be possible to identify the extent of the grip areas 11 and / or the distinctive areas 12 with high accuracy. While Fig. 3d is only one example scenario, examples herein may comprise identifying the extent of the grip areas 11 and / or the distinctive areas 12, such as their rotational position by utilizing two sensors 20, 25, where one sensor, e.g., the sensor 20 or at least one supplementary sensor 25, is sensing a transition between the grip areas 11 and the distinctive areas 12, and where the other sensor, e.g., the sensor 20 or at least one supplementary sensor 25, is respectively arranged to sense the grip areas 11 , the distinctive areas 12 and / or a transition between them.

[0061] Fig. 4 is a flowchart depicting an example method for operating the drill string handling arrangement 100. The method may be performed by the control system 70 and / or by the drill string arrangement 100. The drill string handling arrangement 100 is arranged to receive the drill string component 1 comprising the plurality of grip areas 11. The drill string handling arrangement 100 comprises the sensor 20 for detecting the drill string component 1. The drill string handling arrangement 100 comprises the wrench unit 40 for gripping the plurality of grip areas 11 of the drill string component 1. The wrench unit 40 has the predefined grip position.

[0062] The method may be performed only in response to detecting that one or more start requirements are fulfilled. The start requirements may relate to any one or more out of:

[0063] • that the method is allowed to be run, e.g., based on any suitable parameter or input,

[0064] • that no emergency stop is triggered,

[0065] • that a rotation motor is operational, e.g., as part of the motion control unit 7,

[0066] • that an associated lubrication system is operational,

[0067] • that a gear of the rotation motor is engaged,

[0068] • that the wrench unit 40 is retracted, e.g., such that it may receive and grip the drill string component 1 , or

[0069] • a combination thereof such as two or more or all of the above.

[0070] The method comprises the following steps which may be taken in any suitable order. In Fig. 4, dashed boxes may indicate optional actions.

[0071] Step 401. P23116

[0072] 8

[0073] The method comprises rotating the drill string component 1 around the longitudinal axis a of the drill string component 1. Rotating the drill string component 1 may be performed by the motion control unit 7. Rotating the drill string component 1 may be performed by a predefined speed or torque.

[0074] Step 402.

[0075] The method comprises obtaining sensor data from the sensor 20. The sensor data comprises a first set of data indicative of detection of the plurality of grip areas 11 of the drill string component 1. Additionally or alternatively, the first set of data may be indicative of detection of the distinctive areas 12, and / or indicative of detection of a transition between detecting the grip areas 11 and the distinctive areas 12, or vice versa.

[0076] The detection of the plurality of grip areas 11 may be an explicit or implicit detection or non-detection of the grip areas 11 , typically as the drill string component 1 is rotating. For example, the shape of the drill string component 1 may be of a predefined shape, e.g., as seen in Figs. 1a-c. Hence, the first set of data may indicate detection of any part of the drill string component 1 and thereby implicitly also indicate detection of the grip areas 11. This is since when the drill string component 1 is of a predefined shape, detection of any part such as the distinctive areas 12, or a transition between detecting the grip areas 11 and the distinctive areas 12 may implicitly indicate the rotational angle of the drill string component 1 and thereby indicate all areas of the drill string component 1.

[0077] In some examples, the sensor data comprises second set of data associated with a rotational motion performed by the drill string component 1 from an initiation of pausing the rotational motion to a pause of the rotational motion, e.g., when performed as part of step 404 as will be further discussed.

[0078] The sensor data may comprise a third set of data associated with a transition between the detection of the distinctive areas 12 and the detection of the grip areas 11 during a rotational motion of the drill string component 1.

[0079] In some examples herein, the drill string handling arrangement 100 further comprises at least one supplementary sensor 25 for detecting the plurality of grip areas 11 of the drill string component 1. In these examples, the sensor data further comprises supplementary sensor data. As with the sensor 20, using the sensor 25 for detecting the plurality of grip area 11 may be performed implicitly by detecting any part of the drill string component 1, or preferably a transition between detecting the grip area 11 and the distinctive areas 12 such that a rotational angle of the drill string component 1 is implied. P23116

[0080] 9

[0081] As discussed above, the sensor 20 and / or the at least one supplementary sensor 25 may respectively be inductive sensors. In some of these examples, obtaining the sensor data may comprises obtaining induction sensor data indicative of the grip areas 11 of the drill string component 11 and distinctive areas 12 of the drill string component 1 , as the drill string component 1 is rotating. Such data may be similar as the same area is measured, but may clearly indicate when a transition between measuring a grip area 11 to a distinctive area 12, or vice versa.

[0082] Step 403.

[0083] The method comprises identifying, based on the sensor data, an extent of the plurality of grip areas 11 and / or an extent of the distinctive areas 12 of the drill string component 1.

[0084] When the sensor data comprises information of the transition between the detection of the distinctive areas 12 and the detection of the grip areas 11 during a rotational motion of the drill string component 1 and / or when the sensor data comprises the supplementary sensor data, accuracy of identifying the extent of the grip areas 11 and / or the distinctive areas 12 may be improved.

[0085] The extent of the grip areas 11 and / or the distinctive areas 12 may in examples herein be a position, area, and / or rotational angle of the grip areas 11 and / or the distinctive areas 12.

[0086] The transition may indicate a more accurate rotational angle of the drill string component, thereby improving accuracy of identifying the extent of the grip areas 11 and / or the distinctive areas 12.

[0087] Step 404.

[0088] The method comprises aligning the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 based on the obtained sensor data. The step 404 of aligning the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 based on the obtained sensor data comprises pausing the rotational motion of the drill string component 1. Pausing the rotational motion may comprise stopping the drill string component 1. Pausing the rotational motion of the drill string component 1 may comprise pausing the rotational motion of the drill string component 1 as it aligns with the predefined grip position and may in some examples comprise an initial test pausing of the rotational motion before the drill string component 1 is rotated to align with the predefined grip position based on sensor data of the test pausing. P23116

[0089] 10

[0090] In other words, pausing as used in step 404 may mean to immediately initiate a stop of the rotation of the drill string component 1 to stop and align the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 as it stops, or to first test the stopping motion of the drill string component 1 and then to again rotate and stop the drill string component 1 based on the tested stopping motion.

[0091] Aligning the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 may be performed by use of the motion control unit 7 for controlling the motion of the drill string component 1. A PID controller may be used as part of the motion control unit 7 for controlling a rotational angle of the drill string component 1.

[0092] In some examples, the step 404 of aligning the grip areas 11 with the predefined grip position of the wrench unit 40 comprises rotating the drill string component 1 a predetermined rotation angle in response to the detection of the plurality of grip areas 11 of the drill string component 1. This may be possible as when the extent of the plurality of grip areas 11 and / or the extent of the distinctive areas 12 of the drill string component 1 is identified, the sensor 20, and optionally the at least one supplementary sensor 25 may be arranged such that when the extent of the plurality of grip areas 11 and / or the extent of the distinctive areas 12 can be identified or sensed by the sensor 20 and / or the sensor 25, the drill string component 1 will have a predefined rotational angle which may then be adjusted with the predefined rotational angle to align with the predefined grip position of the wrench unit 40. In this way, the motion control unit 7 may be arranged to apply torque which will rotate the drill string component 1 by the predefined rotational angle, e.g., which torque may be set to a predefined function of time which rotates the drill string component 1 by the predefined rotational angle.

[0093] In other words, the motion control unit 7 may apply a torque which will rotate the drill string component 1 to achieve the predefined rotational angle, which result in aligning the grip areas 11 with the grip position of the wrench unit 40.

[0094] The predetermined rotational angle may be based on a predetermined orientation and position of the sensor 20. In other words, since the sensor position and orientation is predefined, the identified extent of the grip areas 11 may further be identified based on the position and orientation of the sensor 20.

[0095] In some examples, the sensor data comprises the second set of data associated with a rotational motion performed by the drill string component 1 from an initiation of pausing the rotational motion to a pause of the rotational motion. The second set of data may be obtained as part of step 402. In some examples, the second set of data comprises at least one selected from a group of data comprising or consisting of : • a rotational angle rotated by the drill string component 1 from the initiation of pausing the rotational motion to the pause of the rotational motion,

[0096] • a rotational angle of the drill string component 1 at the pause of the rotational motion, and

[0097] • an elapsed time from the initiation of pausing the rotational motion to the pause of the rotational motion.

[0098] The second set of data may additionally or alternatively comprise or consist of a rotational angle rotated by the drill string component 1 from the detection of a change in detecting the grip areas 11 and the the distinctive areas 12 to a rotation angle which aligns the grip areas 11 with the wrench unit 40.

[0099] To exemplify, the aligning the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 based on the obtained sensor data may in particular be based on the second set of data. For example, a resulting rotational motion rotated from initiating of pausing the rotational motion to a pause of the rotational motion and / or the elapsed time may be used as a reference of how much and / or how long the drill string component 1 will rotate after initiating pausing of the rotational motion. Such information of elapsed time and / or performed rotational motion may then be used for aligning the grip areas 11 of the drill string component 1 by again starting the rotation of the drill string component and pausing the rotational motion such that the reference time or rotational motion will align the drill string component 1 with the predefined grip position. The pause may be initiated in response to again identifying the extent of the grip areas 11 and / or the distinctive areas 12, and the pause may be adjusted such that the reference rotational motion and / or elapsed time for pausing the rotational motion will cause the grip areas 11 to align with the predefined grip position of the wrench unit 40.

[0100] If the rotational angle performed when pausing the rotational motion of the drill string component 1 is obtained, said rotational angle may additionally or alternatively be used as a reference for aligning the grip areas 11 with the predefined grip position.

[0101] The above example may be optional, and it may be preferable, if applicable to stop or pause the rotation of the drill string component 1 to directly align with the grip areas 11, e.g., by using any suitable controller such as a Proportional-integral-derivative (PID) controller as discussed in examples herein.

[0102] In some examples, aligning the grip areas 11 with the predefined grip position of the wrench unit 40 is performed when the sensor data indicates a transition between nondetection by the sensor 20 of the grip areas 11 to detection by the sensor 20 of distinctive areas 12 and the grip areas 11 of the drill string component 1, and while the 12 supplementary sensor data 20 indicates detection by the at least one supplementary sensor 25 of the distinctive areas 12 of the drill string component 1. While the above example is tested to ensure accuracy for aligning the grip areas 11 with the predefined grip position, any suitable concrete detection patterns of the sensor 20 and the at least one supplementary sensor 25 may be used for initiating the pausing.

[0103] Step 405.

[0104] The method may further comprise controlling the wrench unit 40 to grip the drill string component 1 at the predefined grip position.

[0105] In some examples, the step of controlling the wrench unit 40 to grip the drill string component 1 at the predefined grip position may comprise connecting and locking the two halves 41 , 42 of the wrench unit 40 to encompass the grip areas 11 at the predefined grip position. When the wrench unit 40 is of another type than a type comprising the two halves 41, 42, then controlling the wrench unit 40 may grip the drill string component 1 by gripping the grip areas using the wrench unit 40 in any suitable manner.

[0106] In some examples, the step of controlling the wrench unit 40 to grip the drill string component 1 at the predefined grip position comprises verifying that the grip areas 11 are aligned with the predefined grip position and controlling the wrench unit 40 to grip the drill string component 1 in response to the verification.

[0107] In some examples, the step of verifying that the grip areas 11 are aligned with the predefined grip position comprises measuring the drill string component 1 using the sensor 20 and determining that the grip areas 11 are aligned with the predefined grip position of the wrench unit 40 based on the obtained measurement.

[0108] In some examples, the step of verifying that the grip areas 11 are aligned with the predefined grip position comprises obtaining a rotational angle of the drill string component 1 and determining that the grip areas 11 are aligned with the predefined grip position of the wrench unit 40 based on the rotational angle. The rotational angle may be obtained in any suitable manner, e.g., by means of a sensor measuring the rotational angle such as by using a rotary sensor as part of the motion control unit 7, and / or based on using sensor data of the sensor 20. The rotary sensor may for example be any suitable pulse sensor or speed sensor for measuring or estimating position, rotation, or speed of rotation.

[0109] In some examples, the step of controlling the wrench unit 40 to grip the drill string component 1 at the predefined grip position comprises longitudinally aligning the grip areas 11 with the predefined grip position of the wrench unit 40. P23116

[0110] 13

[0111] In some examples, to perform the method of steps 401-405, one or more predefined start requirements may exist which may be met before the method can proceed. For examples, any of the following tests may be performed before performing the steps above:

[0112] • verify that the method is allowed to be run, e.g., based on any suitable parameter or input,

[0113] • verify that no emergency stop is triggered,

[0114] • verify that a rotation motor is on, e.g., as part of the motion control unit 7,

[0115] • verify that lubrication system is operational,

[0116] • verify that a gear of the rotation motor is engaged,

[0117] • verify that the wrench 40 is retracted, e.g., such that it may receive and grip the drill string component 1 , or

[0118] • a combination thereof.

[0119] Fig. 5 illustrates an example view of the drill string handling arrangement 100, wherein the drill string component 1 and / or the wrench 40 is triggered to initially be moved such that the sensor 20 may be arranged to sense or measure the grip areas 11. This may involve moving the drill string component 1 or moving 501 the wrench unit 40 towards the drill string component 1 using a predefined motion or until the sensor 20 can sense the drill string component 1. This may be performed using a traverse function, e.g., using a PID position controller such as the motion control unit 7. The sensor 20 and / or the at least one supplementary sensor 25 may be located at a different location from the wrench unit 40, e.g., any suitable location. The halves 41, 42 may be half as wide as a grip of the wrench unit 40. Flat parts of the halves 41 , 42 for locking the halves 41 , 42 may have a width half of a grip of the wrench unit 40.

[0120] Sensors may be mounted on the sensor holding arrangement 22 which may be a non-locking part of the wrench unit 40.

[0121] Fig. 6 illustrates another example view of the drill string handling arrangement 100, where the sensor 20 is illustrated to measure the grip areas 11 and the distinctive areas 12. The sensor 20 may be mounted on the sensor holding arrangement 22 with a fixed position and orientation towards the drill string component 1.

[0122] The wrench 40 with the sensor 20 may be fixed at a position such that the sensor 20 can measure the grip areas 11.

[0123] At this stage, a rollout verification may be performed, e.g., wherein the method of steps 401-405 may only be performed in response to verifying that the start requirements P23116

[0124] 14 are fulfilled, e.g., as discussed with respect to Fig. 4, and in response, the drill string handling arrangement may be configured to perform the following, e.g., as part of the method above:

[0125] • start rotation of the drill string component 1, e.g., as in step 401,

[0126] • wait for rotation to have the desired speed, e.g., as part of step 401,

[0127] • identify the extent of the grip areas 11 and / or the distinctive areas, e.g., as part of step 403,

[0128] • Optionally as in some examples, e.g., of step 404,: Start a rotation measurement while ramping down the rotation of the drill string component,. This is to define how long it would take to stop rotation when we try to position the wrench, and then:

[0129] ■ Stop rotation of the drill string component 1 ,

[0130] ■ Wait for backspin e.g., due to large mass of the drill string component 1 ,

[0131] ■ Verify that the drill string component 1 has stopped, and

[0132] ■ Log the rotational distance until full stop to align a subsequent stop with the grip areas 11 ;

[0133] • Optionally as in some examples, e.g., of step 404, using position control, such as by applying a position controller, e.g., a PID controller, such as part of the motion control unit 7 to rotate the drill string component 1 to a predefined rotational angle after identifying the extent of the grip areas 11 and / or the distinctive areas 12 such as to align the grip areas 11 with the predefined grip position of the wrench unit 40. The position controller may consider potential backspin of the drill string component 1.

[0134] Fig. 7 illustrates another example view of the drill string handling arrangement 100, where the drill string component 1 is received into the drill string handling arrangement 100. The drill string component 1 is in this example a pipe with the opening 2. The sensor holding arrangement 22 comprises the sensor 20 as mounted with a fixed position and orientation towards the drill string component 1. Additionally as seen in the example of Fig. 7, the at least one supplementary sensor 25 may further be mounted to the second holding arrangement 22 as mounted with a fixed position and orientation towards the drill string component 1. As the drill string component 1 is rotated, the sensor 20 and optionally the at least one supplementary sensor 25 may measure induction of the rotating drill string component, e.g., as part of the sensor data obtained in step 402, in particular P23116

[0135] 15 with respect to the grip areas and distinctive areas 12, and how such induction may change as the sensor 20 and / or the at least one supplementary sensor 25 transitions from measuring a grip area 11 to the distinctive area 12, or vice versa, as the drill string component 1 is rotating.

[0136] Fig. 8 illustrates another example view of the drill string handling arrangement 100, where for the wrench unit 40 to grip the drill string component 1, the drill string component 1 may first need to be aligned longitudinally along the axis a with the wrench unit 40, in particular in this example, with the two halves 41 , 42 arranged to grip the grip areas 11 by encompassing and locking around said grip areas 11. Hence, as illustrated in Fig. 7, and e.g., as part of step 405, the drill string component 1 may be controlled to align longitudinally with the wrench unit 40, e.g., to moved longitudinally by a predefined distance or until a trigger condition is met.

[0137] Fig. 9 illustrates another example view of the drill string handling arrangement 100, where it is illustrated how the wrench unit 40, when comprising the two halves 41, 42 may be controlled 901 , e.g., as part of step 405, to move towards each other and wherein the two different halves 41 , 42 may overlap and then lock using any suitable locking mechanism.

[0138] Fig. 10 is a schematic block diagram illustrating examples of the control system 70 and / or control means as part of the drill string handling arrangement 100.

[0139] To perform exemplary embodiments herein, e.g. the method according to steps 401-405 above, may be performed by the control system 70 and / or the drill handling arrangement 100 by any suitable means. The control system 70 may be arranged in a centralized location, e.g. as part of a server, as part of a control station, or as part of a cloud service, and / or may be comprise in the drill handling arrangement 100.

[0140] The drill string handling arrangement 100 is arranged to receive the drill string component 1 comprising the plurality of grip areas 11. The drill string handling arrangement 100 comprising the sensor 20 for detecting the drill string component 1 and a wrench unit 40 for gripping the plurality of grip areas 11 of the drill string component 1. The wrench unit 40 having a predefined grip position.

[0141] The control system 70 and / or the drill handling arrangement 100 may comprise an arrangement depicted in Fig. 10.

[0142] The control system 70 and / or the drill handling arrangement 100 may comprise an input and output interface 1000 e.g. for communicating with entities herein, e.g., the motion control unit 7 and / or for performing remote communications when the control system 70 is comprised in a remote location. The input and output interface 1000 may e.g., comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown.

[0143] The control system 70 and / or the drill handling arrangement 100 may be able to control all suitable aspects and entities of the drill handling arrangement 100.

[0144] The control system 70 and / or the drill handling arrangement 100 may be configured to perform steps 401-405 above. In particular examples, the control system 70 and / or the drill handling arrangement 100 may be configured to: rotate the drill string component 1 around a longitudinal axis (a) of the drill string component 1 , e.g., as in step 401, obtain sensor data from the sensor 20, wherein the sensor data comprises the first set of data indicative of detection of the plurality of grip areas 11 of the drill string component 1 , e.g., as in step 402, identify, based on the sensor data, an extent of the plurality of grip areas 11 and / or an extent of the distinctive areas 12 of the drill string component 1, e.g., as in step 403, align the plurality of grip areas 11 with the predefined grip position of the wrench unit 40 based on the obtained sensor data, where the step of aligning comprises pausing the rotational motion of the drill string component 1, e.g., as in step 404. The control system 70 and / or the drill handling arrangement 100 may further be configured to control the wrench unit 40 to grip the drill string component 1 at the predefined grip position, e.g., as in step 405.

[0145] In examples above, when the control system 70 is configured to perform a task or step, this may mean that the control system 70 is configured to trigger the drill string handling arrangement 100 to perform said task or step.

[0146] The examples herein may be implemented through one or more processors, such as a processor 1060 of a processing circuitry comprised in the control system 70 and / or in the drill handling arrangement 100, depicted in Fig. 10, together with a computer program 1080 comprising instructions, which when executed by a processor, causes the processor to perform the functions and steps of the examples herein.

[0147] In some examples, a respective carrier 1090 comprises the respective computer program 1080, wherein the carrier 1090 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium. For example, one such carrier may be in the form of a CD ROM disc or a memory stick. The computer program 1080 may furthermore be provided as pure program code on a server and downloaded to the control 17 system 70. The carrier 1090 may be at least one selected from the group consisting of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, and a computer-readable storage medium.

[0148] The control system 70 and / or the drill handling arrangement 100 may comprise a memory 1070 comprising one or more memory units. The memory 1070 comprises instructions executable by the processor in the control system 70. The memory 1070 is arranged to be used to store e.g. information, indications, data, configurations, measurements, and applications to perform the exemplary embodiments herein when being executed in the control system 70.

[0149] Those skilled in the art will appreciate that the units described above may refer to a combination of analog and digital circuits, and / or one or more processors configured with software and / or firmware, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry ASIC, or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip SoC.

[0150] Fig. 11 is a schematic block diagram illustrating example embodiments of a drill rig 1100. The drill rig 1100 may comprise the drill string handling arrangement 100. The drill rig as exemplified in Fig. 11 may be a raise boring rig however the drill string handling arrangement may be applicable for any suitable drill rig such as for slot boring rigs or for any rig or machine that may relate to handling drill rig components such as drill strings or pipes. The drill rig 1101 may be connected to a vehicle 1101, e.g., used for transporting and positioning the drill rigg 1101.

[0151] Insert the half of the worktable wrench, where the sensors are mounted Sensors are mounted on the non-locking part of the worktable wrench Need to be inserted to get sensors close to the wrench flats

[0152] In examples herein, when using the word "comprise" or “comprising” it shall be interpreted as non- limiting, i.e. meaning "consist at least of".

[0153] It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, P23116

[0154] 18 apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the examples herein are limited only by the following claims and their legal equivalents.

Claims

P2311619CLAIMS1. A method performed by a control system for operating a drill string handling arrangement (100), the drill string handling arrangement (100) being arranged to receive a drill string component (1) comprising a plurality of grip areas (11), the drill string handling arrangement (100) comprising a sensor (20) for detecting the drill string component (1), and a wrench unit (40) for gripping the plurality of grip areas (11) of the drill string component (1), said wrench unit (40) having a predefined grip position, the method comprising steps of: rotating (401) the drill string component (1) around a longitudinal axis (a) of the drill string component (1), obtaining (402) sensor data from the sensor (20), the sensor data comprising a first set of data indicative of detection of the plurality of grip areas (11) of the drill string component (1), identifying (403), based on the sensor data, an extent of the plurality of grip areas (11) and / or an extent of the distinctive areas (12) of the drill string component (1), and aligning (404) the plurality of grip areas (11) with the predefined grip position of the wrench unit (40) based on the obtained sensor data, where the step of aligning (404) comprises pausing the rotational motion of the drill string component (1).

2. The method according to claim 1 , wherein the step of aligning (404) the grip areas (11) with the predefined grip position of the wrench unit (40) comprises rotating the drill string component (1) a predetermined rotation angle in response to the detection of the plurality of grip areas (11) of the drill string component (1).

3. The method according to claim 2, wherein the predetermined rotational angle is based on a predetermined orientation and position of the sensor (20).

4. The method according to claim 1, wherein the sensor data comprises a second set of data associated with a rotational motion performed by the drill string component (1) from an initiation of pausing the rotational motion to a pause of the rotational motion.

5. The method according to claim 4 wherein the second set of data comprises at least one selected from a group of data consisting of:P2311620 a rotational angle rotated by the drill string component (1) from the initiation of pausing the rotational motion to the pause of the rotational motion, a rotational angle of the drill string component (1) at the pause of the rotational motion, and an elapsed time from the initiation of pausing the rotational motion to the pause of the rotational motion.

6. The method of claim 1-5, wherein the sensor data comprises a third set of data associated with a transition between the detection of the distinctive areas (12) and the detection of the grip areas (11) during a rotational motion of the drill string component (1).

7. The method of claims 1-6, wherein the drill string handling arrangement (100) further comprises at least one supplementary sensor (25) for detecting the plurality of grip areas (11) of the drill string component (1), and the sensor data further comprises supplementary sensor data.

8. The method of claim 7 wherein aligning (404) the grip areas (11) with the predefined grip position of the wrench unit (40) is performed when the sensor data indicates a transition between non-detection by the sensor (20) of the grip areas (11) to detection by the sensor (20) of distinctive areas (12) and the grip areas (11) of the drill string component (1), and while the supplementary sensor data (20) indicates detection by the at least one supplementary sensor (25) of the distinctive areas (12) of the drill string component (1).

9. The method of any of claims 1-8, further comprising controlling (405) the wrench unit (40) to grip the drill string component (1) at the predefined grip position.

10. The method of claim 9, wherein the step of controlling (405) the wrench unit (40) to grip the drill string component (1) at the predefined grip position further comprises verifying that the grip areas (11) are aligned with the predefined grip position and controlling the wrench unit (40) to grip the drill string component (1) in response to the verification.

11. The method of claim 10, wherein the step of verifying that the grip areas (11) are aligned with the predefined grip position comprises measuring the drill stringP2311621 component (1) using the sensor (20) and determining that the grip areas (11) are aligned with the predefined grip position of the wrench unit (40) based on the obtained measurement.

12. The method of claim 10 or 11 , wherein the step of verifying that the grip areas (11) are aligned with the predefined grip position comprises obtaining a rotational angle of the drill string component (1) and determining that the grip areas (11) are aligned with the predefined grip position of the wrench unit (40) based on the rotational angle.

13. The method of any one of claims 9 to 12, wherein the step of controlling (405) the wrench unit (40) to grip the drill string component (1) at the predefined grip position comprises connecting and locking two halves (41 , 42) of the wrench unit (40) to encompass the grip areas (11) at the predefined grip position.

14. The method of any one of claims 9 to 13, wherein the step of controlling (405) the wrench unit (40) to grip the drill string component (1) at the predefined grip position comprises longitudinally aligning the grip areas (11) with the predefined grip position of the wrench unit (40).

15. The method of any one of claims 1 to 14, wherein the sensor (20) is an inductive sensor, and wherein the step of obtaining (402) the sensor data further comprises obtaining induction sensor data indicative of the grip areas (11) of the drill string component (11) and distinctive areas (12) of the drill string component (1), as the drill string component (1) is rotating.

16. A drill string handling arrangement (100) arranged to receive a drill string component (1) comprising a plurality of grip areas (11), the drill string handling arrangement (100) comprising a sensor (20) for detecting the drill string component (1) and a wrench unit (40) for gripping the plurality of grip areas (11) of the drill string component (1), said wrench unit (40) having a predefined grip position, the drill string handling arrangement (100) being configured to: rotate the drill string component (1) around a longitudinal axis (a) of the drill string component (1), obtain sensor data from the sensor (20), the sensor data comprising a first set of data indicative of detection of the plurality of grip areas (11) of the drill string component (1),P2311622 identify, based on the sensor data, an extent of the plurality of grip areas (11) and / or an extent of the distinctive areas (12) of the drill string component (1), and align the plurality of grip areas (11) with the predefined grip position of the wrench unit (40) based on the obtained sensor data, where the step of aligning (404) comprises pausing the rotational motion of the drill string component (1).

17. The drill string handling arrangement (100) according to claim 17 is further configured to perform the method according to any of claims 1-15.

18. A drill rig (1100) comprising the drill string handling arrangement (100) according to claim 16 or 17.

19. A computer program comprising instructions, which when executed by a processor, causes the drill string handling arrangement (100) according to claim 16 or 17, to perform the method according to any of claims 1-15.

20. A carrier comprising the computer program of claim 19, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

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