Proposal and Experimental Trials on an Autonomous Robot for Rigless Well Intervention
- Hugo Santos (Petrobras) | Paulo Paz (Petrobras) | Igor Krettli (Petrobras) | Ney Reis (Petrobras) | Hardy Pinto (Petrobras) | Maurício Galassi (Petrobras) | Daniel Pozzani (Petrobras) | Alessandro Lanzillotta (Petrobras) | Bruno Castro (Petrobras) | André Ferreira (Petrobras) | Lincoln Thomé (Petrobras) | Valter Beal (Senai Cimatec)
- Document ID
- Society of Petroleum Engineers
- SPE Production & Operations
- Publication Date
- November 2019
- Document Type
- Journal Paper
- 843 - 857
- 2019.Society of Petroleum Engineers
- rigless, workover, well, autonomous, robot
- 3 in the last 30 days
- 84 since 2007
- Show more detail
- View rights & permissions
|SPE Member Price:||USD 5.00|
|SPE Non-Member Price:||USD 35.00|
Well interventions, especially in offshore wells, are costly and usually very time-consuming to conduct. This is related mainly to the need for a rig or a similar unit to perform these operations. In this paper we propose the development of an autonomous robot for rigless well interventions. The robot will be inserted through the tree using a special tool. This proposal will result in significant cost reduction by eliminating the rig when performing light-workover operations in offshore locations. This reduces intervention time because a simpler unit might be used to deploy the robot. Examples of operations that could be performed by the robot are production logging, gaslift valve replacement, sliding-sleeve opening and closing, and plug insertion or removal. To evaluate this proposal, a conceptual robot was designed. The feasibility of this conceptual robot was evaluated theoretically. After that, a simplified test robot was constructed to test critical aspects experimentally, in laboratories, and in a test well. The traction system, energy storage, and a positioning algorithm were evaluated. In this paper we will outline the intervention strategy proposed, perform a theoretical evaluation of this proposal on the basis of the conceptual robot, and present experimental results obtained with the simplified test robot.
|File Size||1 MB||Number of Pages||15|
IMO. 1994. Guidelines for Vessels With Dynamic Positioning Systems. Presented at the 63rd Session of the Maritime Safety Committee, London, UK, 6 June. MSC/Circ 645.
Kakogawa, A. M. 2010. Mobility of an In-Pipe Robot, With Screw Drive Mechanism Inside Curved Pipes. Presented at the IEEE International Conference on Robotics and Biomimetics, Tianjin, China, 14–18 December. https://doi.org/10.1109/ROBIO.2010.5723557.
Maxon Motor. 2015. Program 2015/16 High Precision Drives and Systems. Munich, Germany: Maxon Motor Company.
Munkerud, P. K. and Inderberg, O. 2007. Riserless Light Well Intervention (RLWI). Presented at the Offshore Technology Conference, Houston, Texas, USA, 30 April–3 May. OTC-18746-MS. https://doi.org/10.4043/18746-MS.
Petrobras. 2017a. Método de Inserção de um Dispositivo Autônomo em um Poço Submarino de Petróleo, Método de Remoção de um Dispositivo Autônomo de um Poço Submarino de Petróleo, E, Sistema de Inserção E Remoção de um Dispositivo Autônomo em um Poço Submarino de Petróleo. Brazil/INPI Patent No. BR1020170150623, 13 July.
Petrobras. 2017b. Dispositivo de Centralização e/ou Tracionamento de uma Ferramenta em um Duto Compreendendo Rodas Magnéticas e/ou Braços Expansíveis. Brazil/INPI Patent No. BR1020170214052, 5 October.
Saft Batteries. 2015. Saft Lithium Batteries Selector Guide, p. 11. Bagnolet, France: Saft Batteries.
Santos, H. F. L. and Meggiolaro, M. A. 2015. Probabilistic Robotics Applied to Self-Localization Inside Oil Wells of an Autonomous System. Presented at the 23rd ABCM International Congress of Mechanical Engineering COBEM, Rio de Janeiro, Brazil, 12 July–12 November. https://doi.org/10.20906/CPS/COB-2015-1158.
Santos, H. F. L. 2016. Robótica Probabilística Aplicada a uma Unidade Autônoma pra Intervenções em Poços de Petróleo. MS thesis, Pontifical Catholic University, Rio de Janeiro, Brazil (March 2016) (in Portuguese).
Svensen, M., Williamson, R., and Law, M. 2011. Qualification of the Deepwater Subsea Well Intervention System “AX-S” for 10,000 ft Operations. Presented at the SPE Offshore Europe Oil and Gas Conference and Exhibition, Aberdeen, UK, 6–8 September. SPE-146124-MS. https://doi.org/10.2118/146124-MS.
Thrun, S. 2006. Probabilistic Robotics. Cambridge, Massachusetts, USA: MIT Press.
Willis, S. K. and Campbell, J. A. S. 2000. The Development of a Light Well Intervention Ship. Presented at the SPE/ICoTA Coiled Tubing Roundtable, Houston, Texas, USA, 5–6 April. SPE-60729-MS. https://doi.org/10.2118/60729-MS.