Mobility platform for efficient downhole navigation of robotic device
A modular mobility platform has extendable and retractable tractor treads for engaging the walls of a downhole environment. The extendable and retractable tractor treads allow the platform to successfully navigate longitudinally through the downhole environment. The platform is composed of a plurality of different modules removably interconnected together longitudinally. Each module has at least one specific function, such as sensing, navigation, mobility, control, communication, power, or a combination thereof. The platform has longitudinally-directed detectors for detecting the forward or reverse direction through which the platform is to travel. A system and method use the modular mobility platform.
1. A mobility platform having a mobility platform longitudinal axis and capable of traveling in a downhole environment, comprising:
a sensor module having a sensor housing disposed at a distal end of the mobility platform, wherein the sensor module is configured to detect a feature of the downhole environment;
a first drive module having a first drive housing disposed along the mobility platform longitudinal axis adjacent to the sensor housing and having three first tractor treads extendable out from the first drive housing and retractable into the first drive housing, wherein the three first tractor treads are spaced 120 degrees apart from each other about the mobility platform longitudinal axis;
a second drive module having a second drive housing disposed along the mobility platform longitudinal axis and having three second tractor treads extendable out from the second drive housing and retractable into the second drive housing, wherein the three second tractor treads are spaced 120 degrees apart from each other about the mobility platform longitudinal axis, and wherein the three second tractor treads are rotated by a non-zero angle relative to the mobility platform longitudinal axis to be spaced by the non-zero angle relative to the three first tractor treads; and
a computing module having a computing housing disposed along the mobility platform longitudinal axis between the first and second drive housings and configured to determine a first width of an upcoming portion of the downhole environment from the feature;
wherein the computing module is further configured to:
control the first and second drive modules to extend the first and second tractor treads from the first and second drive housings, respectively, or retract the first and second tractor treads into the first and second drive housings, respectively, to have a second width less than a first width to fit the mobility platform in the upcoming portion, and
control the first and second drive modules to drive the first and second tractor treads to move the mobility platform in the upcoming portion.
2. The mobility platform of claim 1 , wherein the sensor module, computing module, and drive module are interconnected.
3. The mobility platform of claim 2 , wherein the sensor module, computing module, and drive module are removably interconnected.
4. The mobility platform of claim 1 , wherein each of the sensor housing, computing housing, and drive housing is substantially cylindrical with a respective module longitudinal axis.
5. The mobility platform of claim 4 , wherein the sensor module, computing module, and drive module are interconnected with the respective module longitudinal axes substantially aligned to form the mobility platform and to define a substantially cylindrical shape along the mobility platform longitudinal axis.
6. The mobility platform of claim 5 , wherein the tractor treads are extended or retracted laterally relative to the mobility platform longitudinal axis.
7. The mobility platform of claim 5 , wherein the sensor module includes a sensor emitting a detection signal in a forward direction at an acute angle to the mobility platform longitudinal axis for detecting the feature.
8. The mobility platform of claim 1 , wherein the computing module controls the drive module using wireless signals.
9. The mobility platform of claim 1 , wherein the non-zero angle is 60 degrees.
10. A system comprising:
a control apparatus having a controller for a user to enter a command; and
a mobility platform having a mobility platform longitudinal axis and capable of traveling in a downhole environment and including:
a sensor module having a sensor housing disposed at a distal end of the mobility platform, wherein the sensor module is configured to detect a feature of the downhole environment;
a first drive module having a first drive housing disposed along the mobility platform longitudinal axis adjacent to the sensor housing and having three first tractor treads extendable from the first drive housing and retractable into the first drive housing, wherein the three first tractor treads are spaced 120 degrees apart from each other about the mobility platform longitudinal axis;
a second drive module having a second drive housing disposed along the mobility platform longitudinal axis and having three second tractor treads extendable from the second drive housing and retractable into the second drive housing, wherein the three second tractor treads are spaced 120 degrees apart from each other about the mobility platform longitudinal axis, and wherein the three second tractor treads are rotated by a non-zero angle relative to the mobility platform longitudinal axis to be spaced by the non-zero angle relative to the three first tractor treads; and
a computing module having a computing housing disposed along the mobility platform longitudinal axis between the first and second drive housings and configured to receive the command and to determine a first width of an upcoming portion of the downhole environment from the feature;
wherein the computing module is further configured to:
control the first and second drive modules to extend the first and second tractor treads from the first and second drive housings, respectively, or retract the first and second tractor treads into the first and second drive housings, respectively, to a second width less than a first width to fit the mobility platform in the upcoming portion of the downhole environment, and
responsive to the received command, control the first and second drive modules to drive the first and second tractor treads to move the mobility platform to and within the upcoming portion of the downhole environment.
11. The system of claim 10 , wherein the sensor module includes a camera for capturing an image of the downhole environment,
wherein the computing module is further configured to transmit the image to the control apparatus, and
wherein the control apparatus includes a display and displays the image on the display.
12. The system of claim 11 , wherein the displayed image is conveyable to the user and wherein the controller is further configured to await a second command whether to move the mobility platform into the upcoming portion of the downhole environment.
13. The system of claim 10 , wherein the sensor module, computing module, and drive module are interconnected.
14. The system of claim 13 , wherein the sensor module, computing module, and drive module are removably interconnected.
15. The system of claim 13 , wherein the sensor module, computing module, and drive module are interconnected with the respective longitudinal axes substantially aligned to form the mobility platform and to define a substantially cylindrical shape along the mobility platform longitudinal axis.
16. The system of claim 15 , wherein the tractor treads are extended or retracted laterally relative to the mobility platform longitudinal axis.
17. The system of claim 15 , wherein the sensor module includes a sensor emitting a detection signal in a forward direction at an acute angle to the mobility platform longitudinal axis for detecting the feature.
18. The system of claim 10 , wherein each of the sensor housing, computing housing, and drive housing is substantially cylindrical with a respective module longitudinal axis.
19. The system of claim 10 , wherein the computing module controls the drive module using wireless signals.
20. A method, comprising:
interconnecting a plurality of modules, the plurality of modules comprising at least a first drive module having a first drive housing having three first tractor treads, a second drive module having a second drive housing having three second tractor treads, a sensor module having a sensor housing, and a computing module having a computing housing, the interconnected modules defining a mobility platform with a mobility platform longitudinal axis, wherein the sensor housing is disposed at a distal end of the mobility platform, the first drive housing is disposed along the mobility platform longitudinal axis adjacent to the sensor housing, and the computing housing is disposed along the mobility platform longitudinal axis between the first and second drive housings;
deploying the mobility platform into a downhole environment;
detecting a feature of the downhole environment using the sensor module;
determining a width of an upcoming portion of the downhole environment using the computing module;
moving the three first tractor treads either out from the first drive housing or into the first drive housing under control of the computing module to fit the mobility platform into the upcoming portion;
moving the three second tractor treads either out from the second drive housing or into the second drive housing under control of the computing module; and
advancing the mobility platform into the upcoming portion of the downhole environment,
wherein the three first tractor treads are spaced 120 degrees apart from each other about the mobility platform longitudinal axis,
wherein the three second tractor treads are spaced 120 degrees apart from each other about the mobility platform longitudinal axis, and
wherein the three second tractor treads are rotated by a non-zero angle relative to the mobility platform longitudinal axis to be spaced by the non-zero angle relative to the three first tractor treads.