Subsea robot and method for detecting norm breakdown in a production system
In order to meet the objectives described above, the present invention provides a robot for detecting breakdown of NORM (Naturally Occurring Radioactive Materials) in a production system, in order to plan operations to remove scale containing radioactive material, and for decommissioning subsea system operations. The fields of application are the area of flow assurance and reservoir management, using operations to chemically remove scale containing NORM in the production system, and to improve the safety of the decommissioning processes of production systems. The invention allows the position of the scale inside the production system to be safely detected, such as, for example, the beginning of the deposit inside a production line, the extension of the deposit, and the end of the deposit, as well as whether the deposit occurred at different points along the production line.
1. A Remotely Operated Vehicle (ROV) subsea robot for detecting a breakdown in production systems, the ROV subsea robot comprising:
a propulsion system ( 14 ),
at least one battery ( 15 ),
a set of cameras ( 16 ),
a body ( 17 ) that enables the insertion of various auxiliary components,
a remote connection ( 18 ),
a connection with the RCV vessel ( 19 ),
a Naturally Occurring Radioactive Material (NORM)-detection system ( 11 ), and
an ultrasound emission system ( 12 ),
wherein the NORM-detection system ( 11 ) comprises a sodium iodide Nal crystal scintillator detector, coated with magnesium oxide, with an aluminum housing, in which the array is duly encapsulated to be used at depths deeper than 1500 meters.
2. The ROV subsea robot of claim 1 , further comprising:
a set of wheels for movement ( 13 ) with the distances between axles and between wheels being variable and adapted to enable movement over the oil production lines ( 30 ).
3. The ROV subsea robot of claim 1 , further comprising:
an ultrasound emission system ( 12 ) in which the transducer has emissions in the range of 20 kHz to 100 kHz with capacity of at least 1 W/cm2, made of piezoelectric ceramics and being located on the lower part of the robot ( 10 ).
4. The ROV subsea robot of claim 2 , wherein the wheels for movement ( 13 ) are adjustable for diameters ranging from 4 inches to 12 inches.
5. A method for detecting breakdown in production systems according to the equipment of claim 1 , wherein the method comprises:
moving, by the ROV robot ( 10 ), over the production line ( 30 ),
mapping the locations of the scale using NORM sensors ( 11 ) at the same time the ROV robot ( 10 ) is moving;
pumping the removal product (chelating agent) to the target position on the section of the production line ( 30 ) where the scale is located;
moving the ROV robot ( 10 ) with the ultrasound ( 12 ) active, to the target position on the production line, in order to release the scale from inside the line; and
pumping the fluid is to move the chelating agent with the dissolved scale to the SPU or to the support vessel ( 20 ), thus cleaning the production line ( 30 ).