Autonomous Geotechnical Rig Carousel for Remote Tool Exchange
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Solution Overview
Problem
Existing geotechnical investigation methods require direct human interaction on site, which can be impractical or unsafe in certain environments.
Innovation Solution
A remotely operated geotechnical rig system utilizing a vessel-based carousel system with interchangeable carousels and a crane for autonomous drilling and sampling, enabling operations without direct human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If direct human interaction is used for geotechnical drilling and sampling, then ease of operation is maintained, but safety and practicality deteriorate in challenging environments
Solution Approach 1:
The system is divided into modular components: a vessel platform, interchangeable carousel modules (each holding specific tooling), and a drill string assembly. This segmentation allows autonomous operation while managing complexity through standardized interfaces between modules.
Solution Approach 2:
The carousel is designed as a universal interface that can accommodate multiple types of tooling (drilling equipment, sampling devices, CPT tools) through standardized slots and coupling mechanisms, enabling one system to perform multiple geotechnical functions autonomously.
2Ease of operation
If human operators are present on site, then ease of operation is maintained, but safety and practicality worsen in hazardous or remote locations
Solution Approach 1:
The system performs self-service operations through automated carousel rotation, tool retrieval, and drill string deployment. The robotic arm automatically exchanges tools between the carousel and drill string without human intervention, maintaining operational simplicity while eliminating exposure to environmental hazards.
Solution Approach 2:
A robotic arm serves as an intermediary between the operator and the drilling operations. The robotic arm retrieves tools from the carousel and positions them on the drill string, enabling operation simplicity while physically separating operators from hazardous environments.
3Adaptability or versatility
If a fixed tool storage system is used, then device complexity is reduced, but adaptability deteriorates when different geotechnical tasks are required
Solution Approach 1:
The carousel system transitions from a fixed storage structure to a dynamic, rotatable platform with multiple slots that can be selectively accessed. The carousel rotates to bring different tools into position for the robotic arm, providing adaptability while managing complexity through controlled motion.
Solution Approach 2:
The tool storage is segmented into multiple independent slots within the carousel, each capable of holding different tooling types. This segmentation enables versatile tool interchangeability while keeping each individual slot simple in design.
4Productivity
If manual tool exchange is used, then device complexity is reduced, but productivity deteriorates due to slower tool replacement rates
Solution Approach 1:
The carousel rotates continuously or in rapid sequences to present different tools to the robotic arm, enabling continuous tool exchange operations. This continuous action eliminates idle time between tool replacements, significantly improving productivity while the automated system manages the complexity of coordinated motion and tool handling.
Solution Approach 2:
Manual mechanical tool exchange is replaced with an automated robotic arm system controlled by computer programs. This substitution dramatically increases tool exchange rates while the automation system manages the complexity of precise positioning and tool handling.
Data Source
AI summary
This invention relates generally to geotechnical rig systems and methods. In one embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor.