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 robotic system for managing and controlling operations of wells and of robots in the wells, the system comprising a command and control loop that enables the robot to perceive, plan, and act using symbolic processing concepts. 
   
   
       2 . The system of  claim 1 , further comprising a bi-directional data flow providing decision aids to the operator and interpreting the operators' intent. 
   
   
       3 . The system of  claim 2 , further comprising a means for controlling numerous automated wells and devices through collaboration between numerous intelligent agents that share plans and goals and shared situation assessments as indicated by interpretation of data from sensors. 
   
   
       4 . The system of  claim 3 , further comprising a plurality of knowledge bases containing expertise useful for controlling the behavior of the intelligent agents. 
   
   
       5 . The system of  claim 4 , wherein the knowledge bases include a concept knowledge base, plan goal graphs, monitors and notifications, intermediate representations, and knowledge calculations. 
   
   
       6 . The system of  claim 5 , wherein the system is a layered system that defines the interactions between the system and its environment. 
   
   
       7 . The system of  claim 6 , wherein the plan goal graphs represent knowledge of the system required to manage wells, fiber optic smart wells, and electronic fields. 
   
   
       8 . The system of  claim 7 , wherein dynamic planning through a life cycle of planned activities enables changing of plans in response to changing circumstances.