Apparatus And Method For An Autonomous Robotic System For Performing Activities In A Well

Abstract

An autonomous robot performs maintenance and repair activities in oil and gas wells, and in pipelines. The robot uses the well and pipeline fluids to provide most of the energy required for its mobility, and to charge a turbine from which it may recharge batteries or power a motor for additional propulsion. A control system of associated systems controls the robot, enabling the robot to share plans and goals, situations, and solution processes with wells, pipelines, and external control systems. The control system includes decision aids in a series of knowledge bases that contain the expertise in appropriate fields to provide intelligent behavior to the control system. The intelligent behavior of the control system enables real time maintenance management of wells and pipelines, through actively collecting information, goal-driven system, reasoning at multiple levels, context sensitive communication, activity performing, and estimation of the operators' intent.

1 . A downhole robotic tool for managing, controlling, and servicing a completed well, the tool comprising:
 a. a group of associates;   b. a command and control loop that enables the associates to perceive, plan, and act;   c. at least one sensor taken from the group of gamma ray sensors, neutron sensors, electrical sensors, and acoustic sensors;   d. location sensors, and a memory containing pattern recognition software and a map of the well;   e. means for providing a bi-directional data flow for:
 i. sending decision aids to a well operator; 
 ii. receiving input from the well operator; and 
 iii. interpreting the well operators' intent; 
   f. means for the associates to collaborate by sharing plans, goals, and shared situation assessments as indicated by interpretation of data from the sensors; and   g. a plurality of knowledge bases containing expertise useful for controlling the behavior of the associates.   
   
   
       2 . The tool of  claim 1 , wherein the knowledge bases include a concept knowledge base, plan goal graphs, monitors and notifications, intermediate representations, and knowledge calculations. 
   
   
       3 . The tool of  claim 5 , wherein the tool further comprises a layered system that defines the interactions between the tool and its environment. 
   
   
       4 . The tool of  claim 6 , wherein the plan goal graphs represent knowledge of the tool required to manage wells, fiber optic smart wells, and electronic fields. 
   
   
       5 . The tool of  claim 7 , wherein dynamic planning through a life cycle of planned activities enables changing of plans in response to changing circumstances. 
   
   
       6 . The tool of  claim 8 , wherein the well is an oil well. 
   
   
       7 . The tool of  claim 8 , wherein the well is a gas well. 
   
   
       8 . The tool of  claim 8 , wherein the well is a multi-lateral well.