System and Method for Manipulating Tubulars for Subterranean Operations

Abstract

A method for manipulating tubulars for subterranean operations including providing a first tubular at an initial position, wherein in the initial position the first tubular is in a substantially horizontal position and a proximal end region of the first tubular is position on a predetermined vertical axis, engaging the first tubular at the proximal end region with an engagement head, and lifting the first tubular at the proximal end region along the predetermined vertical axis and rotating the first tubular to change a position of the first tubular from the substantially horizontal position to a substantially vertical position, wherein in the substantially vertical position a longitudinal axis of the first tubular has an angular variation with respect to a predetermined vertical axis of not greater than about 5 degrees.

What is claimed is: 
     
         1 . A method for manipulating tubulars for subterranean operations comprising:
 providing a first tubular at an initial position, wherein in the initial position the first tubular is in a substantially horizontal position and a proximal end region of the first tubular is position on a predetermined vertical axis;   engaging the first tubular at the proximal end region with an engagement head; and   lifting the first tubular at the proximal end region along the predetermined vertical axis and rotating the first tubular to change a position of the first tubular from the substantially horizontal position to a substantially vertical position, wherein in the substantially vertical position a longitudinal axis of the first tubular has an angular variation with respect to a predetermined vertical axis of not greater than about 5 degrees.   
     
     
         2 . A method for manipulating tubulars for subterranean operations comprising:
 operating a remote-controlled tubular lift system (RCTLS) including:   engaging a proximal end region of a first tubular with an engagement head at an initial position, wherein in the initial position the proximal end region of the first tubular is position on a predetermined vertical axis;   lifting the first tubular at the proximal end region along the predetermined vertical axis and rotating the first tubular to change a position of the first tubular from the substantially horizontal position to a substantially vertical position, wherein in the substantially vertical position a longitudinal axis of the first tubular has an angular variation with respect to a predetermined vertical axis of not greater than about 5 degrees; and   translating the first tubular in a vertical position along the predetermined vertical axis and maintaining an angular variation with respect to the predetermined vertical axis of not greater than about 5 degrees during translation.   
     
     
         3 . A method for manipulating tubulars for subterranean operations comprising:
 operating a remote-controlled tubular lift system (RCTLS) contained in a work zone from an operator zone spaced away from the work zone, wherein operating the RCTLS comprises:   manipulating a first tubular from a substantially horizontal position to a substantially vertical position and limiting the swinging motion of the first tubular by engaging the first tubular at a proximal end region with an engagement head and engaging the first tubular at a distal end region with a stabilizer; and   controlling the engagement of the first tubular with the engagement head and stabilizer to substantially eliminate uncontrolled motion of a distal end of the first tubular during the change in position from the substantially horizontal position to the substantially vertical position aligned with an predetermined vertical axis.   
     
     
         4 . The method of any one of  claims 1 ,  2 , and  3 , wherein an operator configured to control movement of the engagement head is positioned in an operator zone spaced away from the work zone. 
     
     
         5 . The method of  claim 4 , wherein the operator is configured to control movement of the engagement head from the operator zone via an input module. 
     
     
         6 . The method of  claim 5 , wherein the input module comprises at least one device selected from the group consisting of a control column, a joystick, an analog device, a digital device, a potentiometer, a variable resistor, a gyroscope, and a combination thereof, wherein the RCTLS is an automated system. 
     
     
         7 . The method of any one of  claims 1 ,  2 , and  3 , wherein the proximal end region is spaced away from a center of gravity of the first tubular by at least about 0.2(l), wherein l is a length of the first tubular. 
     
     
         8 . The method of any one of  claims 1 ,  2 , and  3 , wherein the engagement head comprises a jaw having a first portion and a second portion. 
     
     
         9 . The method of any one of  claims 1 ,  2 , and  3 , wherein the engagement head is part of an engagement head assembly comprising the engagement head coupled to an engagement head tower. 
     
     
         10 . The method of any one of  claims 1  and  2 , wherein lifting the first tubular comprises translating the engagement head vertically along the engagement head tower and rotating the engagement head to change the position of the first tubular from the substantially horizontal position to the substantially vertical position. 
     
     
         11 . The method of  claim 10 , wherein during the engagement head axis extends vertically in substantially the same direction as the height of the engagement head tower, and the engagement head axis translates in substantially one direction along the engagement head axis. 
     
     
         12 . The method of any one of  claims 1 ,  2 , and  3 , wherein during changing the position of the first tubular from a substantially horizontal position to a substantially vertical position the engagement head is simultaneously translated vertically along an engagement head axis and rotates about a rotational axis. 
     
     
         13 . The method of any one of  claims 1  and  2 , further comprising engaging the first tubular at a proximal end region with an engagement head and engaging the first tubular at a distal end region with a stabilizer. 
     
     
         14 . The method of any one of  claims 3  and  13 , wherein during changing the position of the first tubular from a substantially horizontal position to a substantially vertical position a rotational motion of the engagement head and a motion of the stabilizer are coordinated relative to each other to limit uncontrolled motion of the first tubular. 
     
     
         15 . The method of any one of  claims 3  and  13 , wherein during changing the position of the first tubular from a substantially horizontal position to a substantially vertical position a vertical motion of the engagement head and a motion of the stabilizer are coordinated relative to each other to limit uncontrolled motion of the first tubular. 
     
     
         16 . The method of any one of  claims 3  and  13 , wherein during changing the position of the first tubular from a substantially horizontal position to a substantially vertical position a motion of the engagement head is measured and used to control movement of the stabilizer. 
     
     
         17 . The method of any one of  claims 1 ,  2 , and  3 , further comprising engaging the first tubular with at least one alignment element in the substantially vertical position. 
     
     
         18 . The method of  claim 17 , further comprising engaging the first tubular with at least one alignment element while the first tubular is translated along a predetermined vertical axis in the substantially vertical position and maintaining the angular variation of not greater than about 5 degrees during translation of the first tubular along the predetermined vertical axis. 
     
     
         19 . The method of  claim 17 , wherein the alignment element can include at least one roller configured to rotate in response to translation of the first tubular over a surface of the at least one roller. 
     
     
         20 . The method of  claim 19 , wherein the first tubular is disposed between rollers. 
     
     
         21 . The method of any one of  claims 1 , and  3 , further comprising translating the first tubular along a predetermined axis in a stabilized state having an angular variation of not greater than about 5 degrees. 
     
     
         22 . The method of any one of  claims 1 ,  2 , and  3 , further comprising:
 selecting between a first mousehole and a second mousehole of a mousehole assembly;   aligning one of a first central axis of the first mousehole and a second central axis of a second mousehole with the predetermined vertical axis; and   translating the first tubular vertically along the predetermined vertical axis and delivering the first tubular to one of the first mousehole and the second mousehole aligned with the predetermined vertical axis.   
     
     
         23 . The method of  claim 22 , further comprising:
 placing a first tubular in a first mousehole of a mousehole assembly;   changing a position of the mousehole assembly relative to the predetermined vertical axis; and   placing a second tubular in a second mousehole of the mousehole assembly.   
     
     
         24 . The method of  claim 23 , wherein changing a position of the first mousehole assembly comprises translating the mousehole assembly from a first position to a second position, wherein in the first position the first mousehole is aligned with the predetermined vertical axis and in the second position the second mousehole is aligned with the predetermined vertical axis. 
     
     
         25 . The method of  claim 22 , further comprising:
 providing a second tubular at an initial position, wherein in the initial position the second tubular is in a substantially horizontal position and a proximal end region of the first tubular is position on the predetermined vertical axis;   engaging the second tubular at the proximal end region with an engagement head; and   lifting the second tubular at the proximal end region along the predetermined vertical axis and rotating the second tubular to change a position of the second tubular from the substantially horizontal position to a substantially vertical position.   
     
     
         26 . The method of  claim 25 , further comprising:
 selecting one of the first mousehole and the second mousehole and aligning one of a first central axis of the first mousehole and a second central axis of a second mousehole with the predetermined vertical axis; and   translating the second tubular vertically along the predetermined vertical axis and delivering the second tubular to one of the first mousehole and the second mousehole aligned with the predetermined vertical axis.   
     
     
         27 . The method of  claim 26 , further comprising
 providing a third tubular at an initial position, wherein in the initial position the third tubular is in a substantially horizontal position and a proximal end region of the first tubular is position on the predetermined vertical axis;   engaging the third tubular at the proximal end region with an engagement head; and   lifting the third tubular at the proximal end region along the predetermined vertical axis and rotating the third tubular to change a position of the third tubular from the substantially horizontal position to a substantially vertical position.   
     
     
         28 . The method of  claim 27 , further comprising joining the third tubular with one of the first tubular contained in the first mousehole to form a double. 
     
     
         29 . The method of  claim 27 , further comprising joining one of the first tubular and second tubular with a double including the third tubular to form a stand. 
     
     
         30 . The method of  claim 29 , further comprising engaging the stand with a griphead and delivering the stand to one of the well-center and storage center.