Tactile Inspection Manipulator for Wellbore Surface Mapping
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Solution Overview
Problem
Existing methods for locating and mapping unknown surfaces in wellbores, such as those in multilateral hydrocarbon wells, face challenges due to opaque fluids and sparse tactile data, which hinder efficient characterization of geometries, especially in constrained internal environments where time is a critical factor.
Innovation Solution
A method employing a tactile inspection manipulator with a control unit that reconstructs surface models using tactile data, determines optimal probing directions, and uses the Best Cone Strategy to minimize data points and travel distance, allowing for fast identification and mapping of unknown surfaces by integrating surface fitting, segmentation, and intersection modeling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dense data collection methods are used to characterize unknown surfaces, then measurement precision is improved, but data acquisition time increases significantly
Solution Approach 1:
The patent applies partial action by collecting only the minimum necessary tactile data points required to characterize unknown surfaces. Instead of systematically scanning entire surfaces with dense data collection, the robot selectively probes specific locations that provide maximum information about surface geometry, achieving adequate characterization with fewer measurements.
Solution Approach 2:
The patent uses preliminary action by first performing a coarse exploration phase to identify potential geometric primitives and their approximate locations. Based on this preliminary information, the system then focuses subsequent detailed probing only on relevant areas, avoiding unnecessary data collection in regions that have already been characterized or are unlikely to contain important features.
2Loss of information
If systematic grid sampling is used to map unknown geometries, then measurement completeness is improved, but productivity decreases due to excessive data points required
Solution Approach 1:
The system performs partial sampling by selectively probing only those regions of the surface that are necessary to identify geometric primitives. Rather than systematically sampling the entire surface area, the robot intelligently selects probe locations based on current knowledge of the geometry, achieving complete characterization of relevant features with fewer total measurements.
Solution Approach 2:
The patent implements dynamic adaptation of the sampling strategy. The probing pattern is not fixed but changes based on information gathered during exploration. The system continuously updates its model of the unknown surface and adjusts subsequent probe locations dynamically, concentrating measurements where they provide maximum information gain about geometric primitives.
3Productivity
If visual sensors are used to measure junctions in wellbores, then measurement speed is improved, but reliability deteriorates due to opaque fluids and mud cake obscuration
Solution Approach 1:
The patent replaces optical sensing with tactile sensing. Instead of using visual sensors that are blocked by opaque fluids and mud cake, the system employs a robot with tactile probes that physically contact the surface to gather geometric information. This mechanical substitution allows reliable measurement in environments where optical methods fail.
Solution Approach 2:
The tactile probe acts as an intermediary between the robot and the unknown surface. Rather than attempting to optically sense through obscuring media, the probe physically touches the surface, bypassing the problem of opaque fluids and mud cake. The tactile contact provides direct mechanical information about surface geometry that is independent of optical conditions.
Data Source
AI summary
The subject matter describes a tactile sensing device comprising an end effector and a control unit. The control unit is capable of receiving tactile information from the at least one end effector. The device enables a user to identify and relatively quickly map the shape and location of unknown surfaces.