US 12,435,615 B2
Autonomous downhole robot tool string
Abubaker Saeed, Dhahran (SA); Joey Palmowski, Brooklyn, NY (US); Boleslaw Mellerowicz, Brooklyn, NY (US); and Isabel King, Brooklyn, NY (US)
Assigned to SAUDI ARABIAN OIL COMPANY, Dhahran (SA)
Filed by SAUDI ARABIAN OIL COMPANY, Dhahran (SA)
Filed on Aug. 8, 2023, as Appl. No. 18/446,292.
Prior Publication US 2025/0052148 A1, Feb. 13, 2025
Int. Cl. E21B 47/00 (2012.01); E21B 41/04 (2006.01); E21B 47/16 (2006.01); G01N 29/22 (2006.01); G01N 29/265 (2006.01); G01V 1/52 (2006.01); G10K 11/35 (2006.01)
CPC E21B 47/00 (2013.01) [E21B 41/04 (2013.01); E21B 47/16 (2013.01); G01N 29/221 (2013.01); G01N 29/225 (2013.01); G01N 29/265 (2013.01); G01V 1/52 (2013.01); G10K 11/35 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous downhole robot (ADR) tool string having an extended longitudinal axis that is configured for navigating and collecting information in a downhole environment, the ADR tool string comprising:
a sensor head having a cylindrical housing positioned at a distal end of the tool string including:
a wobbler ultrasonic transducer comprising a tubular structure housing an ultrasonic transducer, the tubular structure being coupled to a distal end of the sensor head via a shaft orientated orthogonally to the longitudinal axis of the tool string wherein the tubular structure is tiltable about the shaft, and wherein the distal end of the sensor head is mounted for panned movement about the longitudinal axis providing two degrees of freedom for the wobbler ultrasonic transducer; and
first and second caliper ultrasonic transducers positioned on the cylindrical housing facing the downhole environment, each being configured to pan about an axis orthogonal to the longitudinal axis of the tool string; and
an electronics bay section coupled to the sensor head including electronic circuits for controlling components of the sensor head.