Autonomous perforating drone

Abstract

According to some embodiments, an autonomous perforating drone for downhole delivery of a wellbore tool, and associated systems and methods, are disclosed. In an aspect, the wellbore tool may be a plurality of shaped charges that are arranged in a variety of configurations, including helically, in one or more single radial planes, or opposing around a perforating assembly section, and detonated in a top-to-bottom sequence when the autonomous perforating drone reaches a predetermined depth in the wellbore. In another aspect, the shaped charges may be received in shaped charge apertures within a body of a perforating assembly section, wherein the shaped charge apertures are respectively positioned adjacent to at least one of a receiver booster, detonator, and detonating cord for directly initiating the shaped charges.

What is claimed is: 
     
         1 . An autonomous perforating drone for downhole delivery of one or more wellbore tools, comprising:
 a perforating assembly section including at least one aperture configured for receiving a shaped charge;   a control module section positioned upstream of the perforating assembly section relative to an orientation of the drone when deployed in the wellbore, the control module section including a hollow interior portion;   a ballistic channel open to and extending from the hollow interior portion to the at least one aperture in the perforating assembly section;   a control module positioned within the hollow interior portion of the control module section, wherein the control module includes a housing and the housing encloses a donor charge within an inner area of the control module, and the donor charge is positioned adjacent to the ballistic channel; and   a receiver booster positioned within the ballistic channel, at the portion of the ballistic channel that extends to the at least one aperture.   
     
     
         2 . The autonomous perforating drone of  claim 1 , further comprising a ballistic interrupt positioned within the ballistic channel between the donor charge and the receiver booster in a spaced apart configuration from the donor charge and the receiver booster and including a through-bore, wherein
 the ballistic channel extends along a longitudinal axis of the autonomous perforating drone,   the ballistic interrupt is movable between a closed state and an open state,   the through-bore is substantially perpendicular to the longitudinal axis when the ballistic interrupt is in the closed state, and the ballistic interrupt is configured for preventing a perforating jet created by the donor charge from reaching the receiver booster when the ballistic interrupt is in the closed state, and   the through-bore is substantially parallel to the longitudinal axis and coaxial with the ballistic channel when the ballistic interrupt is in the open state, and the donor charge is in ballistic communication with the receiver booster when the ballistic interrupt is in the open state.   
     
     
         3 . The autonomous perforating drone of  claim 1 , wherein the control module section is positioned at a second end of the drone, and the control module section is configured for engaging a mechanism for holding and moving the drone. 
     
     
         4 . The autonomous perforating drone of  claim 1 , wherein the control module section includes at least one of a charging and a programming contact for providing at least one of power and instructions to the control module. 
     
     
         5 . The autonomous perforating drone of  claim 1 , wherein the control module includes at least one of a battery, a capacitor, and a programmable electronic circuit. 
     
     
         6 . The autonomous perforating drone of  claim 5 , wherein the control module includes a programmable electronic circuit, wherein the programmable electronic circuit includes one or more pin contacts for relaying a signal from an external control unit to the programmable electronic circuit, via the at least one charging and programming contact. 
     
     
         7 . The autonomous perforating drone of  claim 6 , wherein the control module includes a capacitor and a detonator, wherein the detonator is configured for initiating the donor charge. 
     
     
         8 . The autonomous perforating drone of  claim 7 , wherein the programmable electronic circuit is configured for receiving and updating information from a depth correlation sensor regarding the depth of the autonomous perforating drone within the wellbore and transmitting a detonation signal to the detonator when the autonomous perforating drone reaches a particular pre-programmed depth, and
 wherein the detonator is configured to detonate and thereby initiate the donor charge upon receiving the detonation signal.   
     
     
         9 . The autonomous perforating drone of  claim 8 , wherein the donor charge is integrated with an explosive load of the detonator. 
     
     
         10 . The autonomous perforating drone of  claim 1 , wherein the perforating assembly section includes a plurality of apertures respectively configured for retaining a shaped charge, wherein the autonomous perforating drone is configured for detonating the shaped charges in an order from an upstream end of the perforating assembly section to a downstream end of the perforating assembly section. 
     
     
         11 . The autonomous perforating drone of  claim 1 , further comprising at least one shaped charge retained in the at least one aperture, wherein at least a portion of the aperture is positioned within a body portion of the drone such that at least a portion of the ballistic channel is adjacent to an initiation end of the shaped charge received within the aperture, and the ballistic channel, the aperture, and the shaped charge are together configured for direct initiation of the shaped charge by at least one of the receiver booster or a detonating cord positioned within the ballistic channel and a detonator positioned within the ballistic channel. 
     
     
         12 . The autonomous perforating drone of  claim 11 , wherein the perforating assembly section includes a plurality of apertures respectively configured for retaining a shaped charge, and at least two of the apertures are configured such that shaped charges respectively received in those apertures are opposing. 
     
     
         13 . A method for perforating a wellbore casing or hydrocarbon formation, comprising:
 arming an autonomous perforating drone, wherein the autonomous perforating drone includes
 a perforating assembly section including at least one shaped charge received in an aperture, wherein at least a portion of the shaped charge and the aperture extend into a body of the drone, 
 a control module section positioned upstream of the perforating assembly section relative to an orientation of the drone when deployed in the wellbore, the control module section including a hollow interior portion, 
 a ballistic channel open to and extending from the hollow interior portion to the at least one aperture in the perforating assembly section, 
 a control module positioned within the hollow interior portion of the control module section, wherein the control module includes a housing and the housing encloses a detonator and a donor charge, and the detonator is configured for initiating the donor charge, wherein the donor charge is positioned adjacent to the ballistic channel, 
 a receiver booster positioned within the ballistic channel, at the portion of the ballistic channel that extends to the at least one aperture, 
 a ballistic interrupt positioned within the ballistic channel between the donor charge and the receiver booster in a spaced apart configuration from the donor charge and the receiver booster, wherein the ballistic interrupt is movable between a closed state and an open state, wherein arming the autonomous perforating drone includes moving the ballistic interrupt from the closed state to the open state; 
   deploying the drone into the wellbore; and   detonating the at least one shaped charge.   
     
     
         14 . The method of  claim 13 , wherein the ballistic interrupt includes a through-bore, wherein moving the ballistic interrupt from the closed state to the open state includes moving the through-bore from an orientation that is substantially perpendicular to a longitudinal axis of the ballistic channel to an orientation that is substantially parallel to the longitudinal axis and coaxial with the ballistic channel. 
     
     
         15 . The method of  claim 14 , wherein moving the ballistic interrupt from the closed state to the open state places the donor charge in ballistic communication with the receiver booster, via the through-bore. 
     
     
         16 . The method of  claim 13 , wherein the at least a portion of the aperture extends into the body of the drone such that at least a portion of the ballistic channel is adjacent to an initiation end of the shaped charge received within the aperture, and the ballistic channel, the aperture, and the shaped charge are together configured for direct initiation of the shaped charge by at least one of the receiver booster or a detonating cord positioned within the ballistic channel and a detonator positioned within the ballistic channel, and detonating the at least one shaped charge includes directly initiating the shaped charge with the at least one of the receiver booster, the detonator, and the detonating cord. 
     
     
         17 . The method of  claim 13 , further comprising performing at least one of a function test and a safety check of the autonomous perforating drone, wherein arming the drone is in response to a successful result of the at least one of the function test and the safety check, wherein the drone includes at least one charging and programming contact in electrical communication with the control module and the at least one of the function test and the safety check is performed by electrically connecting the control module to an external controller, via the at least one programming contact. 
     
     
         18 . The method of  claim 13 , wherein detonating the at least one shaped charge includes receiving and updating, at a programmable electronic circuit of the control module, information from a depth correlation sensor regarding the depth of the autonomous perforating drone within the wellbore and transmitting a detonation signal to the detonator when the autonomous perforating drone reaches a particular pre-programmed depth. 
     
     
         19 . An autonomous perforating drone for downhole delivery of one or more wellbore tools, comprising:
 a perforating assembly section;   a control module section positioned upstream of the perforating assembly section relative to an orientation of the drone when deployed in the wellbore, the control module section including a hollow interior portion;   a ballistic channel open to and extending from the hollow interior portion into at least a portion of the perforating assembly section;   a control module positioned within the hollow interior portion of the control module section, and a donor charge housed within the control module and substantially aligned with the ballistic channel;   a receiver booster positioned at least in part within the portion of the ballistic channel within the perforating assembly section;   a first plurality of shaped charges received in a first plurality of shaped charge apertures in the body portion of the drone positioned at the perforating assembly section, wherein the first plurality of shaped charge apertures are arranged in a first single radial plane and an initiation end of each of the first plurality of shaped charges is substantially adjacent to the receiver booster when the respective shaped charges are received in the respective shaped charge apertures; and   a second plurality of shaped charges received in a second plurality of shaped charge apertures in the body portion of drone positioned at the perforating assembly section, wherein the second plurality of shaped charge apertures are arranged in a second single radial plane, wherein the second single radial plane is positioned upstream of the first single radial plane, and an initiation end of each of the second plurality of shaped charges is substantially adjacent to the receiver booster when the respective shaped charges are received in the respective shaped charge apertures.   
     
     
         20 . The autonomous perforating drone of  claim 19 , further comprising a ballistic interrupt positioned within the ballistic channel between the donor charge and the receiver booster in a spaced apart configuration from the donor charge and the receiver booster, wherein the ballistic interrupt is movable between a closed state and an open state.