Granted Patent B2

US 12,607,080 · App. 18/649,469 · Granted Apr 21, 2026

Inventors: Andrew Mueller (Sugar Land, TX); Todor K. Sheiretov (Sugar Land, TX); Luis Silva (Sugar Land, TX); David Engel (Larose, LA); Kamalah Chang (Taubate, BR); Fabio Jose Pestana (Taubate, BR)

Assignee: SCHLUMBERGER TECHNOLOGY CORPORATION

E21B23/001E21B41/0007E21B37/00E21B41/04E21B43/123E21B47/12

Abstract

Claims (81)

1 . 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.

2 . The system of claim 1 , wherein the autonomous robotic system is a mobile robot configured to move through the wellbore in an axial direction of the wellbore, wherein the mobile robot is self-powered and self-propelled.

3 . The system of claim 1 , wherein the autonomous robotic system is configured to communicate with the seaborne vessel, the docking system, or a combination thereof via wireless signals, acoustics, fluid pressure pulses, tethered electrical connection, tethered hydraulic connection, or a combination thereof.

4 . The system of claim 1 , comprising a controller having a memory and a processor, the controller configured to:

receive the navigation data provided by the navigation sensor; and

determine the navigation parameter based on the navigation data.

5 . The system of claim 4 , wherein the navigation parameter is indicative of a position of the autonomous robotic system within the wellbore relative to the docking system.

6 . The system of claim 4 , wherein servicing the wellbore comprises:

adjusting an isolation plug;

setting, retrieving, or adjusting a gas lift valve;

repairing a downhole safety valve;

cleaning the wellbore of corrosion;

retrieving wellbore production logging data; or

a combination thereof.

7 . The system of claim 4 , wherein the controller is configured to:

store a wellbore intervention plan on the memory; and

execute the wellbore intervention plan without communication with the seaborne vessel.

8 . The system of claim 4 , wherein the navigation sensor comprises a pressure sensor, a current sensor, a linear potentiometer, a wheel counter, a casing collar locator, an accelerometer, or a combination thereof.

9 . The system of claim 4 , wherein the autonomous robotic system comprises a wellbore sensor configured to provide wellbore data indicative of a wellbore parameter.

10 . The system of claim 9 , wherein the controller is configured to:

receive the wellbore data from the wellbore sensor;

determine the wellbore parameter based on the wellbore data; and

transmit the wellbore data to the seaborne vessel.

11 . The system of claim 4 , wherein the controller is configured to control the robotic manipulator to adjust an isolation plug disposed in the wellbore based on the navigation parameter.

12 . The system of claim 1 , wherein the autonomous robotic system comprises an energy storage module, wherein the autonomous robotic system is configured to:

harvest energy; and

at least partially replenish the energy storage module with the harvested energy.

13 . The system of claim 1 , wherein the autonomous robotic system comprises:

a wellbore sensor configured to provide wellbore data indicative of a wellbore parameter; and

a controller having a memory and a processor, the controller configured to:

receive the navigation data provided by the navigation sensor;

determine the navigation parameter based on the navigation data;

control the robotic manipulator based on the navigation parameter;

store a wellbore intervention plan on the memory;

execute the wellbore intervention plan without communication with the seaborne vessel;

receive the wellbore data from the wellbore sensor;

determine the wellbore parameter based on the wellbore data; and

transmit the wellbore data to the seaborne vessel.

14 . 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.

15 . The system of claim 14 , wherein the autonomous robotic system is a mobile robot configured to move through the wellbore in an axial direction of the wellbore, wherein the mobile robot is self-powered and self-propelled.

16 . The system of claim 14 , comprising a controller having a memory and a processor, the controller configured to:

receive the navigation data provided by the navigation sensor; and

determine the navigation parameter based on the navigation data.

17 . The system of claim 16 , wherein the autonomous robotic system comprises a wellbore sensor configured to provide wellbore data indicative of a wellbore parameter.

18 . The system of claim 17 , wherein the controller is configured to:

receive the wellbore data from the wellbore sensor; and

determine the wellbore parameter based on the wellbore data.

19 . 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.

20 . The method of claim 19 , comprising:

receiving, via a controller, wellbore data from a wellbore sensor of the autonomous robotic system; and

determining, via the controller, a wellbore parameter based on the wellbore data.

Assignments (2)

Continuity (1)

References Cited (29)