Laser tool for removing scaling
An example laser tool includes a laser head to output a laser beam and a robotic arm that is articulated and that is connected to the laser head. The robotic arm includes segments that are connected by flexible joints to enable movement of the laser head in six degrees of freedom. A control system is configured to control the robotic arm to direct output of the laser beam.
1. A method of removing scaling from an object within a confined space using a laser tool comprised of a robotic arm having segments and a laser head connected to the robotic arm to output a laser beam, the method comprising:
moving the laser tool into the confined space; and
controlling the segments of the robotic arm with a plurality of motors such that the robotic arm moves in at least three degrees of freedom within the confined space in order to direct a laser beam output by the laser head connected to the robotic arm to remove the scaling from the object, the at least three degrees of freedom including surge, roll and one or more of: sway, heave, pitch, and yaw,
wherein each segment of the robotic arm is associated with a corresponding motor of the plurality of motors.
2. The method of claim 1 , where controlling the robotic arm comprises controlling the robotic arm to move in at least six degrees of freedom, the at least six degrees of freedom including surge, roll, sway, heave, pitch, and yaw.
3. The method of claim 1 , where controlling the robotic arm comprises sending at least one command from a control system to electronics located in the segments of the robotic arm.
4. The method of claim 1 , where the object comprises at least one of a pump, a sub-surface safety valve, a screen, and a gravel pack.
5. The method of claim 1 , where directing the laser beam for removal of the scaling comprises pointing the laser beam at the scaling.
6. The method of claim 1 , where directing the laser beam for removal of the scaling comprises pointing the laser beam at a surface of the object adjacent to the scaling.
7. The method of claim 1 , where the scaling removed from the object is suctioned away from the laser head using a vacuum.
8. The method of claim 1 , where controlling the robotic arm comprises moving the robotic arm in a spiral pattern.
9. The method of claim 1 , where controlling the robotic arm comprises moving the robotic arm in a circular pattern.
10. The method of claim 1 , further comprising:
outputting a purging medium towards the scaling during removal of the scaling by the laser tool.
11. The method of claim 1 , further comprising:
monitoring environmental conditions within the confined space during removal of the scaling by the laser tool;
where control over the robotic arm is based, at least in part, on the environmental conditions.
12. The method of claim 11 , where the environmental conditions comprise one or more a temperature within the confined space, pressure within the confined space, or sound within the confined space.
13. The method of claim 11 , further comprising:
securing at least part of the robotic arm against the object during removal of the scaling.
14. The method of claim 13 , where the at least part of the robotic arm is centered within the confined space during removal of the scaling.
15. The method of claim 1 , where an optical power of the laser beam is between 1 kilowatt (kW) and 10 kW.
16. The method of claim 1 , further comprising:
shaping the laser beam prior to output, where shaping the laser beam comprises at least one of focusing the laser beam, collimating the laser beam, or dispersing the laser beam.
17. The method of claim 1 , where the object is a metal pipe; and
where the confined space is an interior of the metal pipe.
18. The method of claim 1 , further comprising assembling the laser tool prior to moving the laser tool,
wherein the laser tool comprises a length in a range from about 1 meter to about 7 meters.
19. The method of claim 1 , further comprising activating a stabilizer to secure part of the robotic arm of the laser tool to an inner surface of the confined space.
20. The method of claim 19 , further comprising:
rotating the robotic arm within the stabilizer; and
translating the robotic arm through the stabilizer.
21. The method of claim 19 , wherein:
the robotic arm includes a first part and a second part adjacent to the first part;
the stabilizer comprises a holder that limits movement of a first part of the robotic arm to rotational and translational movement within the holder; and
controlling the robotic arm comprises:
controlling the first part of the robotic arm to rotate and translate within the holder; and
controlling a second part of the robotic arm, adjacent to the first part, to move in the at least three degrees of freedom.
22. The method of claim 21 , wherein the stabilizer further comprises support arms connected to the holder, the support arms being controllable to move relative to the robotic arm.
23. The method of claim 21 , where controlling the second part of the robotic arm comprises controlling the second part of the robotic arm to move in at least six degrees of freedom, the at least six degrees of freedom including surge, roll, sway, heave, pitch, and yaw.