Abstract:
An automated system for handling core samples in and out of an imaging device retrieves the samples from a staging area. During handling, the identity of each core sample is known to the system so that the imaging results are correlated appropriately. The system positions the core sample so the vertical and slab side orientations of the core sample discernable during handling. Core samples are staged in a location, and the automated system includes a robotic arm, which senses the core sample to discern its vertical and slab slot orientations, and then loads the core sample into the imaging device. When imaging is complete, the automated system removes the core sample from the imaging device; and in designated circumstances, transfers the core sample to a location for further analysis. In one example the further analysis is based on analyzing areas of interest identified in the core sample.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    1. Field of Invention 
         [0002]    The present disclosure relates in general to a system for imaging a core sample from a wellbore. More specifically, the present disclosure relates to a system for maintaining orientation and identification of a core sample while analyzing the core sample. 
         [0003]    2. Description of Prior Art 
         [0004]    Various techniques are currently in use for identifying the presence of hydrocarbons in subterranean formations. Some techniques employ devices that emit a signal from a seismic source, and receive reflections of the signal on surface. Others involve disposing logging devices downhole in a wellbore intersecting the subterranean formation, and interrogating the formation from within the wellbore. Example downhole exploration devices include seismic tools that can transmit and receive seismic signals, or ones that simply receive a seismic signal generated at surface. Other devices collect and sample fluid from within the formation or from within the wellbore. Nuclear tools are also employed that direct radiation into the formation, and receive radiation that scatters from the formation. Analyzing the scattered radiation can provide information about fluids residing in the formation adjacent the wellbore, the type of fluid, and information about other materials next to the wellbore, such as gravel pack. 
         [0005]    Logging downhole also is sometimes done while the wellbore itself is being drilled. The logging devices are usually either integral with a drill bit used during drilling, or on a drill string that rotates the drill bit. The logging devices typically are either nuclear, seismic, can in some instances optical devices. In some instances, a core is taken from the wellbore and analyzed after being retrieved to the surface. Analyzing the core generally provides information about the porosity and/or permeability of the rock formation adjacent the wellbore. Cores are generally elongated cylindrical members and obtained with a coring tool having an open barrel for receiving and retaining the core sample. 
       SUMMARY OF THE INVENTION 
       [0006]    Disclosed herein is an example of an automated system for handling core samples in and out of an imaging device. An example of a method of analyzing a core sample includes providing information on the core sample, retrieving the information provided on the core sample, and handling the core sample based on the step of retrieving the information provided on the core sample. The core sample can optionally be imaged, and while being maintained in a designated orientation based on the information retrieved from the core sample. The information retrieved from the core sample may be correlated with an image obtained by imaging the core sample. The core sample may optionally be moved to a designated location based on information obtained from the step of imaging the core sample. This example may further include analyzing the core sample at the designated location with one or more of a spectroscope, a laser, and combinations thereof. In an alternative, the information provided on the core sample can be a core identifier, vertical orientation of the core sample, slab side orientation of the core sample, and combinations thereof. The step of handling the core sample can involve using a core handling system with an articulated arm to insert the core sample into a core sample imaging device. The method may also include disposing the core sample at a staging area, and wherein the step of handling the core sample includes moving the core sample from the staging area to the core sample imaging device with the core handling system. 
         [0007]    In another example method of analyzing a core sample, information is provided on the core sample, the information provided on the core sample is retrieved, the core sample is handled based on the step of retrieving the information provided on the core sample, the core sample is imaged while being maintained in a designated orientation based on the information retrieved from the core sample, and the information retrieved from the core sample is correlated with an image obtained by imaging the core sample. The method may further involve moving the core sample to a designated location based on information obtained from the step of imaging the core sample. In an embodiment, handling the core sample involves using a core handling system with an articulated arm to insert the core sample into a core sample imaging device. The method can further include disposing the core sample at a staging area, and wherein the step of handling the core sample involves moving the core sample from the staging area to the core sample imaging device with the core handling system. 
         [0008]    Also disclosed herein is an example of a system for analyzing a core sample and which includes a mobile enclosure, a core sample imaging device within the mobile enclosure, a loading assembly that selectively receives the core sample, and a core handling system that selectively handles the core sample between the loading assembly and a staging area. The core handling system may include an articulated arm for manipulating the core sample. Alternatively, the core handling system may include a scanner that scans information provided on the core sample to identify the core sample. In one embodiment the core handling system maintains the core sample in a designated orientation based on information provided on the core sample. Information about the core sample may be listed on identification tags provided on the core sample. In this example, the information is made up of data that includes a core identifier, vertical orientation of the core sample, slab side orientation of the core sample, and combinations thereof. A controller may be included that is in communication with the core sample imaging device and the core handling system. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0009]    Some of the features and benefits of the present invention having been stated, others will become apparent as the description proceeds when taken in conjunctions with the accompanying drawings, in which: 
           [0010]      FIG. 1  is a plan partial sectional view of an example of a system for analyzing a core sample. 
           [0011]      FIG. 2  is an overhead view of an example of a cabinet for shielding radiation and conditioning a scanning unit for a core sample. 
           [0012]      FIG. 3  is an axial sectional view of the cabinet of  FIG. 2  and taken along lines  3 - 3 . 
           [0013]      FIG. 4  is a perspective view of the cabinet of  FIG. 2 . 
           [0014]      FIG. 5  is a perspective view of the cabinet of  FIG. 2  in partial phantom view and an example scanning unit in the cabinet. 
           [0015]      FIG. 6  is a perspective view of an example of an image of a core sample. 
       
    
    
       [0016]    While the invention will be described in connection with the preferred embodiments, it will be understood that it is not intended to limit the invention to that embodiment. On the contrary, it is intended to cover all alternatives, modifications, and equivalents, as may be included within the spirit and scope of the invention as defined by the appended claims. 
       DETAILED DESCRIPTION OF INVENTION 
       [0017]    The method and system of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings in which embodiments are shown. The method and system of the present disclosure may be in many different forms and should not be construed as limited to the illustrated embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey its scope to those skilled in the art. Like numbers refer to like elements throughout. In an embodiment, usage of the term “about” includes, but is not necessarily limited to, +/−5% of the cited magnitude. In an embodiment, usage of the term “substantially” includes, but is not necessarily limited to, +/−5% of the cited magnitude. 
         [0018]    It is to be further understood that the scope of the present disclosure is not limited, to the exact details of construction, operation, exact materials, or embodiments shown and described, as modifications and equivalents will be apparent to one skilled in the art. In the drawings and specification, there have been disclosed illustrative embodiments and, although specific terms are employed, they are used in a generic and descriptive sense only and not for the purpose of limitation. 
         [0019]    Shown in a plan partial sectional view in  FIG. 1  is one example of a core analysis system  10 , which includes first, second and third mobile enclosures. In the example of  FIG. 1 , the first mobile enclosure is a scan trailer  12 , the second mobile enclosure is a handling trailer  14 , and the third mobile enclosure is an analysis trailer  16 . In one example, each of the enclosures may be part of a tractor trailer and which are movable by a tractor trailer. Schematically illustrated in the scan trailer  12  is a scan system  18 , and substantially all of which is housed within a cabinet  19 . In the illustrated example, cabinet  19  is specially designed to shield any radiation within, generated, inherent, or otherwise, from making its way to outside of the cabinet  19 . Thus, cabinet  19  is in compliance with 21 C.F.R. 1020.40. Further shown in cabinet  19  is a scan source  20 , which in one embodiment includes a device for emitting radiation, such as but not limited to an X-ray, microwave, millimeter wave, etc. A scan receiver  22  is also shown provided within cabinet  19  and combined with scan source  20 , in one example, forms a Computed Tomography (CT) scanner. 
         [0020]    An elongate and cylindrical core sample  24  is shown axially inserted within scan system  18 . Core sample  24  is disposed into scan system  18  through a loading assembly  26 , which is shown coupled to one end of the scan system  18  and projecting through an opening in a side wall of handling trailer  14 . In an example, core sample  24  is taken from a subterranean formation below system  10 , and is retrieved via a wellbore  27  shown adjacent system  10 . Thus the wellbore  27  intersects the subterranean formation. Embodiments exist where the system  10  is “onsite” in the field and where the distance between the wellbore  27  to system  10  can range from less than one hundred yards up to five miles, and any distance between. Accordingly, real time analysis while drilling the wellbore  27  can take place within the system  10 . Feedback from the analysis can be used by the drilling operator to make adjustments or changes to the drilling operation. 
         [0021]    A hatch assembly  28  is schematically illustrated which provides the coupling interface between trailers  12 ,  14  and includes sealing around the loading assembly  26 . While in scan system  18 , core sample  24  rests on a core carrier  30 . In an example, core carrier  30  is fabricated from a material transparent to X-Rays, and can support the load of the core sample  24  with minimum deflection to maintain the resolution of a stationary scanner. Core carrier  30  is part of a manipulator system  31 , which further includes a manipulator arm  32  that telescopingly moves along a manipulator base  34 . As shown, an end of manipulator arm  32  distal from manipulator base  34  couples onto an end of core carrier  30 , so that core carrier is basically cantilevered on an end of the manipulator arm  32 . Manipulator arm  32  is shown in an extended position over manipulator base  34 . Manipulator arm  32  axially moves with respect to manipulator base  34  via a motor  36  shown having a shaft  38  that couples to manipulator arm  32 . In one example, motor  36  is a linear direct current motor. A gear (not shown) on an end of shaft  38  distal from motor  36  engages a gear rack  40  that is provided on manipulator arm  32 . Accordingly, selectively operating motor  36  urges manipulator arm  32 , core carrier  30  and core sample  24  in an axial direction with respect to scan source  20 . Moving manipulator arm  32  into a retracted position onto manipulator base  34  positions the entire length of core sample  24  in scan system  18 , so that all of core sample  24  may be analyzed by the scan system  18 . In one example, the scan source  20  and scan receiver  22  orbit around the core sample  24  and so that when in combination of axial movement of core sample  24  within system  18 , a helical scan is taken of core sample  24 . Further optionally, motor  36 , or additional motors not shown, may manipulate and selectively move manipulator arm vertically and/or laterally to thereby better position core sample  24  into a designated orientation and/or spatial position during the scanning process. 
         [0022]    Further shown in  FIG. 1  are a series of work surfaces  42  provided within handling trailer  14 . In one example of operation, before or after core sample  24  is scanned, it may be broken into sections for further analysis and analyzed on surfaces  42 . Examples of the surfaces  42  include a crusher, sample divider, and mortar grinder. Additional analysis may take place within analysis trailer  16 . Schematically illustrated within analysis trailer  16  are a variety of analysis equipment such as, but not limited to, scanners and spectrometers. One such analysis equipment is a nanotom  44 , which can include a scanning system for scanning the internals of core sample  24 , or parts of the core sample. Further analysis equipment in the analysis trailer  16  may be a laser induced spectroscope  46 , a Raman spectroscope  48 , and near infrared spectroscope  49 . It will be understood that alternate embodiments may include more trailers or fewer trailers. For example, an appropriately sized scan system  18  may allow loading assembly  26  to be in scan trailer  12  without projecting through an opening in the trailer and without a hatch assembly  28 . A further embodiment may provide work surfaces  42  in the same trailer as the analysis equipment, or the analysis equipment may be contained in handling trailer  14 . In yet a further embodiment, scan system  18 , loading assembly  26 , work surfaces  42  and analysis equipment (e.g., nanotom  44 , spectroscopes  46 ,  48 ,  49 , or others) are all contained in one trailer. 
         [0023]    Referring now to  FIG. 2 , shown in an overhead view is an example of the scan system  18  and an upper surface of cabinet  19 . Further illustrated in this example is a conditioning vent  50  on an upper end of the cabinet  19 , where conditioning vent  50  provides a path for airflow and that is used in conditioning the inside of the cabinet  19 , while blocking the leakage of any radiation from cabinet  19 . An advantage of the conditioning vent  50  is that conditioned air at proper temperature and humidity may be injected into the inside of cabinet  19  so that the sensitive devices housed within the cabinet  19  may be maintained in proper operating conditions to ensure normal operating functionality. In an example, operational conditions require maintaining a substantially constant temperature within the cabinet  19 . In one embodiment, the temperature variation in the cabinet  19  is kept of within 2 degrees C. of a designated temperature. An advantage of the device described herein is that the temperature in the cabinet  19  can be maintained within the designated range in spite of substantial air replacement. Air replacement in the cabinet  19 , due to the loading mechanism operation, maintains temperature uniformity across the scanner frame and rotary element. In one example, the volumetric rate of air replacement is at least about 4 m 3 /min. A power distribution panel  52  is shown provided at an aft end of cabinet  19 , and which includes buses (not shown) and other devices for distributing power through cabinet  19  into scan system  18 . A control panel  54  is shown adjacent power distribution panel  52  and includes hardware and software for managing control of the operation of the systems house within cabinet  19 . Projecting outward past the forward end of cabinet  19  is the loading assembly  26  in an open configuration. In the illustrated example, the loading assembly  26  includes a loading cover  56  and loading basin  58 , where the loading cover  56  is shown swung open from a loading basin  58 . As shown the core sample  24  has been inserted into open loading assembly  26  and onto the core carrier  30 . As will be described in more detail below, safety features are included with the system that prevent operation of the manipulator system  31  when the loading assembly  26  is in the open position of  FIG. 2 . 
         [0024]      FIG. 3  shows an example of the cabinet  19  in a sectional view and taken along lines  3 - 3  of  FIG. 2 . This view which is taken along the axial portion of manipulator system  31  shows one example of a wiring track  60 ; which has cross members for organizing the control and power wires needed for use in the scan system  18  and as the manipulator arm  32  axially moves with respect to manipulator base  34 . Wiring track  60  maintains the wires in a designated location and position with use of wiring track  60  during operation of the manipulator system  31 . Further in the example of  FIG. 3  is a shroud  62  shown mounted on an upper end of manipulator system  31  and which covers a portion of the upper end and shields components within the manipulator system  31 . Manipulator base  34  (and thus manipulator arm  32 ) is supported on a vertical mounting pedestal  64 , which has a generally rectangular cross section along its axis, and has a lower end mounted on the floor of cabinet  19 . Shown housed within shroud  62  is a wiring bus  66  which extends axially along the manipulator assembly. 
         [0025]      FIG. 4  provides in perspective view of one example of the cabinet  19  and having hinged panel  68  along its outer surface. As indicated above, the structure of cabinet  19  is in compliance with 21 C.F.R. 1020.40. Thus proper protective shielding and interlocking is provided in the panel  68  and along the hinged interface. An additional safety feature is a door assembly  70  which includes a barrier (not shown) that slides axially across the opening shown at the base of the loading assembly  26  and in a forward wall of cabinet  19 . The barrier thus provides a radiation shield from the inside to the outside of cabinet  19  while still allowing core sample loading in compliance with 21 C.F.R. §1020.40. 
         [0026]    An example of the manipulator assembly within cabinet  19  is illustrated in perspective view in  FIG. 5 , and where cabinet  19  is shown in a partial phantom view. In this embodiment, a rearward end of manipulator base  34  is supported on a rearward end of cabinet  19 ; manipulator base  34  extends axially away from the rearward wall of cabinet  19  with the manipulator arm  32  axially sliding on manipulator base  34 . Motor  36  is shown oriented generally perpendicular to an axis of manipulator arm  32  and manipulator base  34 , and couples to manipulator arm  32  by shaft  38 . Further illustrated is how the core carrier  30  couples to a mounting plate  72 ; where mounting plate  72  is a generally circular and planar member that mounts on a forward end of manipulator arm  32 . In one embodiment, this member along with an extended tunnel provides the seal that inhibits excessive air flow during the loading process. 
         [0027]    Axial movement, as shown by the double headed arrow A, of core sample  24  is accomplished via motor  36 . X, Y, and Z axes are illustrated to define an example coordinate system for the purposes of reference herein. While not limited to this coordinate system, the axes depict axial movement of any object, such as the core sample  24 , to be along the Z axis, vertical movement to be along the Y axis, and lateral movement to be along the X axis. As indicated above, operation of motor  36  can move core sample  24  along all of these axes. Further shown in  FIG. 5  are curved supports  74 ,  76  that circumscribe manipulator arm  32  and provide a mounting surface for scan source  20  and scan receiver  22 . The combination of the support  74 ,  76  define a gantry  78  that when rotated puts the scan source  20  and scan receiver  22  at an orbiting rotation around the core sample  24  and provides the scanning capabilities of the scan system  18 . As indicated above, the air replacement capabilities provided with cabinet  19  maintains a substantially constant temperature across the gantry  78 . 
         [0028]    Referring back to  FIG. 4 , an interlock connector  80  is shown provided on the loading cover  56  and loading basin  58 . The interlock connectors  80  thus may recognize when the cover  56  is in the open position of  FIG. 4  and in combination with controller  82  may prevent operation of the manipulator system  31 . However, the control system associated with the scan system  18  that allows for motion of the manipulator system  31  when the cover  56  is in the closed position and interlock connectors  80  are adjacent one another. 
         [0029]    Referring now back to  FIG. 1 , schematically illustrated is an example of a core handling system  84  disposed within the handling trailer  14 . In the example shown, core handling system  84  handles core samples  24  shown arranged in a staging area  85  set adjacent handling trailer  14 . Included with the core handling system  84  is an articulated arm  86 , which selectively extends outward from within the handling trailer  14  to grasp one of the core samples  24  in the staging area  85 . Arm  86  can also then dispose the core sample  24  into the loading assembly  26  for scanning the core sample  24  in the scan system  18 ; and remove the core sample  24  from the loading assembly  26  after scanning is complete. Further in the illustrated example, an end effector  88  having automated grappling elements  89  grasps and holds the core sample  24  during handling. In the embodiment shown, grappling elements  89  are elongate finger like elements that may or may not be articulated, and which grapple the core sample  24  by positioning elements  89  on opposite sides of the core sample  24  and then are moved towards one another to apply a grappling force onto the core sample  24 . An optional scanner  90  is provided with the end effector  88  for registering information about the core sample  24 . In an alternate embodiment, an identification tag  92  is shown on the core samples  24  for obtaining information about the core sample  24  that can be used during handling of the core sample  24 . For example, the information on the identification tag  92  can include a core identifier, vertical orientation of the core sample  24 , and slab side orientation of the core sample  24 . In an example, slab side orientation of the core sample  24  defines the azimuthal orientation of the core sample  24  when it was obtained from the formation (not shown). The scanner  90  can be optical radar, infrared, ultrasound, or combinations thereof. 
         [0030]    An optional controller  94  for controlling and/or monitoring operation of the core handling system  84  is shown in communication with the core handling system  84 . In the example shown, controller  94  communicates with core handling system  84  via communication means  96  and communicates with scan system  18  via communication means  98 . Communication means  96 ,  98  can be solid, such as signal lines and/or printed circuit boards, or can be wireless, such electromagnetic waves, radio waves, infrared waves and the like. In a non-limiting example of operation, controller  94  provides operational commands to core handling system  84  and/or scan system  18  to oversee handling of the core samples  24  between the staging area  85  and scan system  18 . Examples exist where controller  94  receives communication from the core handling system  84  and/or scan system  18 , where the communication can include information from the identification tag  92 . Thus during scanning, information from the identification tag  92  can be integrated with information obtained during the scan so that orientation, location in the formation, and slab side orientation of the core sample  24 . In an embodiment, core handling system  84  can be commanded to seek out and retrieve a specific one of the core samples  24 , where the command can be initiated by an operator (not shown), or via controller  94 . An advantage of this feature is when core samples  24  that were obtained from adjacent locations in the wellbore are to be scanned sequentially. Alternatively, the arm  86  can be equipped with a marking instrument (not shown) for marking or otherwise identifying a specific location on the core sample  24  for further analysis. 
         [0031]    Using the information from the identification tag  92  about the core sample  24  in conjunction with the information obtained while scanning, a scan image  100  ( FIG. 6 ) can be generated. Moreover, the scan image  100  can be correlated with other known data known about the core sample  24  so that visually observing the scan image  100  can yield more information about the formation from where the core sample  24  was extracted than would be available without the step of correlating with the other known data. An additional step of analysis possible by correlating scan data with information about the core sample  24  is radial indexing. 
         [0032]    An advantage exists by maintaining knowledge of the orientation of the core sample  24 . This enables proper correlation of the scanned information to the depth, orientation, gamma, and slab side orientation of the core sample  24 . Thus meaningful information can be obtained about the formation from where the core sample  24  was taken. Based on the results of the scan, the core handling system  84  can strategically position the particular core sample  24  at a designated location in the work  42 , or other area, so that additional analysis of the particular core sample  24  can be performed. Additional functions performed by the scanner  90  include inspecting each core sample  24  for contamination and integrity of the core sample  24 . 
         [0033]    The present invention described herein, therefore, is well adapted to carry out the objects and attain the ends and advantages mentioned, as well as others inherent therein. While a presently preferred embodiment of the invention has been given for purposes of disclosure, numerous changes exist in the details of procedures for accomplishing the desired results. For example, in an embodiment, mounting and shock absorption hardware is provided for securing the components in the core analysis system  10  to maintain their integrity and alignment during transportation in the trailers. The gantry can include reinforced mounting for rotating elements and added adhesive for board mounted components, e.g. integrated circuitry, resistors, capacitors, and the like. A transport locking mechanism can be used to prevent sliding door movement when power is removed, and a locking mechanism can be used on all threaded fasteners. All circuit boards can be mechanically secured to reduce vibration and remove gravity loading on connectors. Relays can be secured to mounting sockets, and expansion loops can be added in all cables and hoses and secured to cabinet walls. High voltage cables can be cushioned, and service door fastening can be added to prevent load on interlock closure. Cooling tan mounting can be reinforced and cooler unit can be secured for shipment. Also, transformer can be set near high voltage generator by mounting to the floor of the cabinet. An advantage of this is a scanned image of the core sample  24  can be produced at a resolution of up to 200 microns. These and other similar modifications will readily suggest themselves to those skilled in the art, and are intended to be encompassed within the spirit of the present invention disclosed herein and the scope of the appended claims.