1. A method of determining a motion vector associated with a set of moving images using an electronic image sensor, comprising:
capturing a first image corresponding to a first region;
determining a main block from the first image including a main block region which is smaller than said first region;
determining at least one ancillary block relating to the main block from the first image said ancillary block including an ancillary block region which is also smaller than said first region, wherein the main block and the ancillary block form a tracking unit in the first image;
capturing a second image subsequent in time to the first image using the image sensor;
correlating the first image to the second image using the tracking unit to determine a first change in position in said main block and a second change in position in said ancillary block; and
outputting the motion vector of said first image and said second image based upon said first and second changes in position.
2. The method of claim 1, wherein the process of correlating comprises:
block matching of the main block of the first image in the second image to determine a shift in position of the main block in said second image relative to the first image; and
checking to confirm the shift in position of the second image relative to the first image using said ancillary blocks of the first image in the second image.
3. The method of claim 1, wherein said ancillary block is smaller in area than said main block.
4. The method of claim 1, further including a step: evaluating a candidate set of ancillary blocks by comparing pixel values of said candidate set of ancillary blocks to said main block.
5. The method of claim 1, wherein said tracking unit includes a plurality of separate ancillary blocks.
6. The method of claim 5 wherein said plurality of ancillary blocks include at least two blocks which differ in size andor shape.
7. The method of claim 1, further including a step: selecting said main block from a middle region of said first image.
8. The method of claim 4, further including a step: selecting an ancillary block from said candidate set of ancillary blocks which differs most in pixel intensity value from said main block.
9. The method of claim 1, further including a step: re-positioning the ancillary block based on an analysis of a position of such ancillary block within said second image.
10. The method of claim 1, further including a step:
re-positioning the ancillary block based on an analysis of said motion vector.
11. The method of claim 1, further including a step: re-shaping the ancillary block based on an analysis of optical characteristics of said ancillary block region relative to optical characteristics of said main block region.
12. The method of claim 1, further including a step:
re-shaping the ancillary block based on an analysis of said motion vector.
13. The method of claim 1, further including the steps of:
computing a predicted location of said main block andor said ancillary block within said second image; and
performing said correlating beginning in a limited region andor at around said predicted location.
14. The method of claim 1, wherein said correlating is terminated for determining said shift in position upon detecting a correlation that exceeds a threshold value.
15. The method of claim 1, wherein said motion vector is based on detecting a first shift in position in said main block and a second shift in position in said ancillary block, and computing an estimated shift in position based on said first shift and said second shift.
16. The method of claim 15, wherein said estimated shift is a weighted average of said first shift and said second shift.
17. The method of claim 1, wherein said main block and said ancillary block are combined so that said correlating is performed at the same time for both said main block and said ancillary block.
18. The method of claim 1, wherein at least one of said main block and said ancillary block has an irregular shape that is not rectangular.
19. The method of claim 1, wherein said second image and said first image are non-sequential images captured by the image sensor.
20. A motion tracking method for determining the relative motion of an optical tracking device comprising an imaging sensor, comprising the steps of:
capturing a first image consisting of an array of pixel values respectively representing a light intensity perceived by the imaging sensor;
selecting a first block in said array of pixel values and at least one additional feature which is in a predetermined relationship with the first block, to construct a first tracking unit;
capturing a second image subsequent in time to the first image;
detecting a second tracking unit within said second image which best matches said first tracking unit in said first image;
determining a relative motion from the first image to the second image according to a displacement between the first tracking unit and the second tracking unit; and
reporting a motion of the optical tracking device based on one or more accumulated relative motion of images captured by the imaging sensor.
21. An optical navigator system comprising:
an image sensor array adapted to capture a first image corresponding to a first region and a second image subsequent in time corresponding to a second region; and
a processing circuit which is adapted to:
a. determine a main block from the first image including a main block region which is smaller than said first region;
b. determine at least one ancillary block relating to the main block from the first image said ancillary block including an ancillary block region which is also smaller than said first region;
c. form a tracking unit including said main block and said ancillary block;
d. correlate the first image to the second image using the tracking unit to determine a first change in position in said main block and a second change in position in said ancillary block; and
e. output the motion vector of said first image and said second image based upon said change in position.
22. The optical navigator system of claim 21, wherein said processing circuit includes a DSP and a set of executable program instructions.
23. An optical navigator comprising:
an image sensor configured to capture a first image and a second image;
means for determining a main block from the first image;
means for determining one or more ancillary block(s) relating to the main block from the first image;
wherein the main block and the one or more ancillary block(s) form a tracking unit in the first image;
means for capturing a second image subsequent in time to the first image using the image sensor;
means for correlating the first image to the second image using the tracking unit of the first image, wherein the process of correlating comprises:
matching said main block of the first image to a location in the second image to determine a change in position of the second image relative to the first image;
verifying said change in position by identifying a location of said one or more ancillary blocks in said second image relative to the first image; and
means for outputting the motion vector of said first image and said second image based upon the change in position.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An expandable apparatus, comprising:
a tubular body comprising a fluid passageway;
a drive element disposed within the tubular body and coupled to one or more expandable features, the drive element operably associated with an end surface in communication with a chamber within the tubular body separate from the fluid passageway and operably associated with another end surface in communication with another chamber within the tubular body separate from the fluid passageway, wherein the other end surface has a larger surface area than the end surface, the drive element configured to move axially to extend the one or more expandable features; and
a valve within the tubular body configured to selectively control the flow of drilling fluid from the fluid passageway into the other chamber.
2. The expandable apparatus of claim 1, wherein the end surface is exposed to the flow of drilling fluid in the chamber whenever a drilling fluid is introduced into the fluid passageway.
3. The expandable apparatus of claim 1, wherein the valve comprises:
a valve sleeve disposed within the fluid passageway of the tubular body and including at least one aperture in communication with the other chamber;
a movable valve cylinder comprising a bore for providing a flow restriction within the fluid passageway; and
a spring configured and disposed to exert a bias force on the valve cylinder.
4. The expandable apparatus of claim 3, wherein the valve cylinder is operably coupled to the valve sleeve by at least one element carried by one of the valve sleeve and the valve cylinder engaged with a cooperative structure located in the other of the valve sleeve and the valve cylinder, the at least one element and the cooperative structure, in combination, configured to control movement of the valve cylinder relative to the valve sleeve responsive to the bias force of the spring and selected application of a force provided by drilling fluid flow through the bore of the valve cylinder.
5. The expandable apparatus of claim 4, wherein the valve cylinder comprises at least one valve port alignable with the at least one aperture to communicate drilling fluid from the fluid passageway to the other chamber responsive to movement of the valve cylinder.
6. An expandable apparatus, comprising:
a tubular body comprising a fluid passageway;
a drive element disposed within the tubular body and coupled to one or more expandable features, the drive element operably associated with an end surface in communication with a chamber within the tubular body separate from the fluid passageway and operably associated with another end surface in communication with another chamber within the tubular body separate from the fluid passageway, wherein the another surface has a larger surface area than the end surface, the drive element configured to move axially to extend the one or more expandable features; and
a valve within the tubular body configured to selectively control the flow of drilling fluid from the fluid passageway into the other chamber, wherein the valve comprises:
at least one valve associated with a valve port that extends between the fluid passageway and the lower annular chamber;
an actuation device within the tubular body and separate from the drive element and coupled to the at least one valve to selectively open and close the at least one valve; and
a controller operably coupled to the actuation device and configured to change a state of the actuation device in response to a command signal.
7. The expandable reamer apparatus of claim 6, wherein the actuation device comprises a servo motor or a solenoid.
8. The expandable reamer apparatus of claim 1, wherein the fluid passageway comprises:
at least two fluid ports longitudinally offset from each other, extending through a sidewall of the fluid passageway and coupling the fluid passageway to the chamber; and
a necked down orifice disposed longitudinally between the at least two fluid ports.
9. A method of operating an expandable apparatus, comprising:
flowing a drilling fluid through a fluid passageway in a tubular body of an expandable apparatus;
exerting a force on a drive element disposed within the tubular body sufficient to bias the drive element downward and to retract the one or more expandable features coupled to the drive element, wherein exerting a force on the drive element sufficient to bias the push sleeve axially downward comprises exerting the force with the drilling fluid in a chamber within the tubular body and on an end surface operably associated with the drive element in communication with the chamber, the end surface comprising a smaller surface area than a surface area of another end surface operably associated with the drive element and in communication with another chamber;
opening a valve between the fluid passageway and the other chamber, and flowing the drilling fluid into the other chamber in communication with the other end surface; and
exerting a force with the drilling fluid on the other end surface and moving the drive element axially upward to expand the one or more expandable features coupled to the drive element.
10. The method of claim 9, wherein opening the valve comprises:
biasing a valve cylinder disposed within a valve sleeve downward in response to a force applied on the valve cylinder by the flowing drilling fluid.
11. The method of claim 10, further comprising:
reducing the flow rate of the drilling fluid;
biasing the valve cylinder upward in response to a force exerted by a spring coupled to the valve cylinder and at least partially rotating the valve cylinder;
increasing the flow rate of the drilling fluid; and
biasing the valve cylinder downward in response to a force applied on the valve cylinder by the flowing drilling fluid and at least partially rotating the valve cylinder.
12. The method of claim 9, wherein opening the valve coupled to the valve port comprises:
communicating a command signal to a controller; and
changing the state of the valve in response to the command signal.
13. The method of claim 12, wherein communicating the command signal to the controller comprises rotating the expandable reamer according to at least one combination of parameters including rotational speed of the expandable apparatus or a drill string secured thereto, axial movement of the expandable apparatus or a drill string secured thereto, flow rate of drilling fluid through a drill string secured to the expandable apparatus, flow or absence of flow of drilling fluid through a drill string secured to the expandable apparatus, at least one of a number and a pattern of drilling fluid pulses, and time.
14. An expandable apparatus, comprising:
a tubular body comprising a fluid passageway;
a drive element disposed within the tubular body and coupled to one or more expandable features, the drive element operably associated with an end surface disposed in a chamber within the tubular body and configured to move axially responsive to a flow of drilling fluid through the fluid passageway to extend and retract the one or more expandable features; and
a valve independent of the drive element within the tubular body configured to selectively control the flow of drilling fluid from the fluid passageway into the chamber.
15. The expandable apparatus of claim 13, wherein the valve comprises a stationary valve sleeve having a longitudinally movable trap disposed therein and configured to obstruct one or more fluid ports extending between the fluid passageway and the chamber while passing a fluid through a central portion thereof.
16. The expandable apparatus of claim 15, wherein the trap is configured to trap a flow restricting element on a seat located in a bore thereof and is releasable from the valve sleeve responsive to axially downward fluid pressure when the flow restricting element is on the seat.
17. The expandable apparatus of claim 16, further comprising a catcher located within the inner bore below the valve and sized to receive at least one trap and one flow restricting element therein.
18. An apparatus for use downhole, comprising:
an actuation device configured to actuate a downhole device disposed within drilling fluid in a wellbore, the actuation device including:
a housing comprising a chamber configured for isolation from drilling fluid when the actuation device is located within a wellbore, containing a substantially non-compressible fluid therein and divided by a partition member into a first chamber section and a second chamber section;
a moveable member operably coupled to the partition member;
the housing comprising at least one port through a wall thereof;
the moveable member comprising at least one port through a wall thereof alignable with the at least one port through the wall of the housing; and
a control unit configured to permit movement of the substantially non-compressible fluid between the first chamber section and the second chamber section, wherein when the substantially non-compressible fluid is permitted to move substantially into the first chamber section the at least one port through the wall of the moveable member is alignable with the at least one port through the wall of the housing to enable drilling fluid to be supplied to actuate the downhole device and when the substantially non-compressible fluid is permitted to move substantially into the second chamber section the at least one port through the wall of the moveable member is misalignable with the at least one port through the wall of the housing to prevent supply of the drilling fluid.
19. The apparatus of claim 18, wherein the movable member includes a passage for flow of the drilling fluid therethrough and wherein the flow of the drilling fluid through the passage of the movable member is enabled to move the movable member to align the at least one port through the wall thereof with the at least one port through the wall of the housing when the control unit permits flow of the substantially non-compressible fluid between the second chamber section and the first chamber section.
20. The apparatus of claim 19, further comprising a biasing member positioned to move the movable member in opposition to a direction of flow of the drilling fluid when a force of flow of drilling fluid through the passage of the movable member is reduced below an opposing force applied to the movable member by the biasing member and the control unit permits movement of the substantially non-compressible fluid between the first chamber section and the second chamber section to misalign the at least one port through the wall of the moveable member and the at least one port through the wall of the housing.
21. The apparatus of claim 20, wherein the downhole device is selected from the group consisting of:
an expandable reamer; a force application member to apply force to a wellbore wall;
an anchor configured to clamp the downhole device to wellbore wall and an adjustable stabilizer.
22. The apparatus of claim 18, further comprising a telemetry unit comprising structure configured to send a first command signal to the control unit to activate the downhole device and a second command signal to the control unit to deactivate the downhole device, wherein each command signal comprises a pattern recognition signal detectable by at least one sensor associated with the control unit.
23. The apparatus of claim 22, wherein the structure of the telemetry unit is configured to send the command signals comprising at least one of rotation of a tubular coupled to the control unit, axial movement of a tubular coupled to the control unit, a flow rate of drilling fluid through a tubular coupled to the control unit, drilling fluid pressure in a tubular coupled to the control unit, a presence or absence of drilling fluid flow through a tubular coupled to the control unit, and a pattern of drilling fluid pulses.
24. A method of performing a downhole operation, comprising:
placing a downhole device configured to attain an activated state and a deactivated state in a wellbore, the downhole device having associated therewith an actuation device that includes a first chamber and a second chamber, wherein when a substantially non-compressible fluid is moved substantially into the first chamber under applied force of drilling fluid flowing through a component of the actuation device, the drilling fluid is enabled to be supplied from the flow thereof through the downhole device to a location within the downhole device external to the actuation device and otherwise isolated from flow of the drilling fluid through the downhole device to actuate the downhole device, and when the substantially non-compressible fluid is moved substantially into the second chamber under biasing force applied to the component in excess or absence of any force of the drilling fluid flowing through the component, the supply of the drilling fluid is stopped to enable the downhole device to deactivate; and
moving the first substantially non-compressible fluid between the first chamber and second chamber by selective application of the applied drilling fluid force to selectively activate and deactivate the downhole device.
25. The method of claim 24, wherein moving the first substantially non-compressible fluid comprises using a controller to selectively enable movement of the substantially non-compressible fluid between the first and second chambers.
26. The method of claim 25, further comprising sending signals to the controller to permit movement of the substantially non-compressible fluid between the first chamber and the second chamber.
27. The method of claim 26, wherein sending signals comprises sending pattern recognition signals.
28. A downhole tool, comprising:
a housing including a chamber and a first port in fluid communication with a component of the downhole tool to be activated;
a piston configured to move axially inside the housing, wherein the piston and the housing are mutually biased by a biasing member, the piston comprising:
a bore for flow of drilling fluid through the piston;
a second port configured to enable drilling fluid communication from the bore to the first port at a selected position of the piston; and
a partition member within the chamber of the tubular housing dividing the chamber into a first chamber and a second chamber; and
a flow control device configured, in response to detected pattern commands to allow or prevent a respective amount of a substantially non-compressible fluid isolated from drilling fluid within the downhole tool in the first chamber and the second chamber to change by allowing or preventing flow between the first chamber and the second chamber;
wherein, when the first chamber is substantially filled with the isolated substantially non-compressible fluid the second port is aligned with the first port, and when the second chamber is substantially filled with the isolated substantially non-compressible fluid, the second port is out of alignment with the first port.
29. An assembly for use downhole, comprising:
a tubular body having a drilling fluid flow path therethrough;
a first port in fluid communication with a chamber of the assembly outside the drilling fluid flow path;
a locking device; and
a piston configured to move axially within the tubular body, wherein the piston is axially biased with respect to the tubular body by a biasing member, the piston comprising:
a bore in communication with the drilling fluid flow path for flow of drilling fluid through the piston;
a restriction within the bore configured to utilize a flow of drilling fluid through the bore to provide an axial force to the piston;
a second port configured to enable communication of drilling fluid from the drilling fluid flow path through the first port at a selected axial position of the piston; and
an partition member positioned within another chamber of the tubular body and coupled to the piston, wherein the locking device is configured to control axial movement of the piston by selectively locking and unlocking movement of the partition member within the other chamber by selectively allocating a volume of substantially non-compressible fluid in isolation from drilling fluid within the tubular body to opposing sides of the partition member.
30. The device of claim 29, wherein the partition member sealingly divides the other chamber into a first chamber section and a second chamber section, and wherein the locking device comprises a flow control device in fluid communication with the first and second chamber sections to lock and unlock the partition member by controlling a respective amount of the substantially non-compressible fluid in the first and second chamber sections.