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US 12,607,080 B2Granted
Systems and methods for autonomous well intervention
AssigneeSchlumberger Technology Corporation
InventorsAndrew Mueller, Todor K. Sheiretov, Luis Silva, David Engel, Kamalah Chang, Fabio Jose Pestana
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Abstract
A system includes an autonomous robotic system and a docking system deployed by a seaborne vessel. The docking system houses the autonomous robotic system and couples to a subsea structure of a subsea system. The subsea structure is disposed on a sea floor. The autonomous robotic system deploys from the docking system into a wellbore of a subsea well of the subsea system. The autonomous robotic system also moves within the wellbore.
Claims20
A system, comprising:
- an autonomous robotic system, comprising:
- a well intervention system configured to service a wellbore of a subsea well of a subsea system, the well intervention system comprising:
- a tool;
- and
- a robotic manipulator configured to move the tool;
- and
- a navigation sensor configured to provide navigation data indicative of a navigation parameter associated with the autonomous robotic system;
- and
- a docking system deployed by a seaborne vessel, the docking system configured to:
- house the autonomous robotic system;
- and
- couple to a subsea structure of the subsea system, the subsea structure disposed on a sea floor;
- wherein the autonomous robotic system is configured to:
- deploy from the docking system into the wellbore;
- move within the wellbore;
- and
- control the robotic manipulator based on the navigation data.
14 more elements
A system, comprising:
- an autonomous robotic system, comprising:
- a well intervention system configured to service a wellbore of a subsea well of a subsea system, the well intervention system comprising:
- a tool;
- and
- a robotic manipulator configured to move the tool;
- and
- a navigation sensor configured to provide navigation data indicative of a navigation parameter associated with the autonomous robotic system;
- wherein the autonomous robotic system is configured to:
- deploy from a docking system into the wellbore, wherein the docking system is deployed from a surface and coupled to a subsea structure of the subsea system, and
- wherein the wellbore is disposed in a sea floor;
- move within the wellbore;
- and
- control the robotic manipulator based on the navigation data.
10 more elements
A method, comprising:
- deploying, via a seaborne vessel, a docking system to a subsea structure of a subsea system;
- deploying an autonomous robotic system from the docking system into a wellbore of the subsea system, wherein the autonomous robotic system comprises:
- a well intervention system configured to service the wellbore of a subsea well of the subsea system, the well intervention system comprising:
- a tool;
- and
- a robotic manipulator configured to move the tool;
- and
- a navigation sensor configured to provide navigation data indicative of a navigation parameter associated with the autonomous robotic system;
- deploying the tool housed in the autonomous robotic system;
- and
- controlling the robotic manipulator to perform an operation on the wellbore with the tool based on the navigation data.
8 more elements
Dependencies are inferred from the claim text.