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1. 发明授权

US08505632B2 Method and apparatus for deploying and using self-locating downhole devices 有权
标题翻译：用于部署和使用自定位井下装置的方法和装置
公开(公告)号：US08505632B2
公开(公告)日：2013-08-13
申请号：US13112512
申请日：2011-05-20
申请人： Julio Guerrero , Gary L. Rytlewski , Bruno Lecerf , Michael J. Bertoja , Christian Ibeagha , Alex Moody-Stuart , Adam Mooney , Jay Russell , Christopher Hopkins , Adam Paxson , Billy Anthony , Dinesh R. Patel
发明人： Julio Guerrero , Gary L. Rytlewski , Bruno Lecerf , Michael J. Bertoja , Christian Ibeagha , Alex Moody-Stuart , Adam Mooney , Jay Russell , Christopher Hopkins , Adam Paxson , Billy Anthony , Dinesh R. Patel
IPC分类号： E21B34/14
CPC分类号： E21B43/14 , E21B33/12 , E21B34/06 , E21B34/14 , E21B43/08 , E21B43/119 , E21B43/26 , E21B47/04 , E21B47/09 , E21B2034/007
摘要： A technique that is usable with a well includes deploying a plurality of location markers in a passageway of the well and deploying an untethered object in the passageway such that the object travels downhole via the passageway. The technique includes using the untethered object to sense proximity of at least some of the location markers as the object travels downhole, and based on the sensing, selectively expand its size to cause the object to become lodged in the passageway near a predetermined location.
摘要翻译：可用于井的技术包括将多个位置标记部署在井的通道中并在通道中展开无束缚物体，使得物体经由通道向下行进。该技术包括当物体在井下行进时使用未受扰的物体感测位置标记中的至少一些的接近度，并且基于感测，选择性地扩大其尺寸以使物体被容纳在靠近预定位置的通道中。

2. 发明授权

US08651183B2 Robotic exploration of unknown surfaces 有权
标题翻译：未知表面的机器人探测
公开(公告)号：US08651183B2
公开(公告)日：2014-02-18
申请号：US12534063
申请日：2009-07-31
申请人： Julio Guerrero , Steve Dubowsky , Francesco Mazzini , Dan Kettler
发明人： Julio Guerrero , Steve Dubowsky , Francesco Mazzini , Dan Kettler
IPC分类号： E21B47/00 , E21B47/09
CPC分类号： E21B47/09 , E21B23/002 , E21B41/0035
摘要： 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.
摘要翻译：主题描述了一种触觉感测装置，其包括端部执行器和控制单元。控制单元能够从至少一个末端执行器接收触觉信息。该设备使得用户能够识别并相对快速地映射未知表面的形状和位置。

3. 发明授权

US07729860B2 Drilling system powered by energy-harvesting sensor 有权
标题翻译：钻井系统由能量采集传感器供电
公开(公告)号：US07729860B2
公开(公告)日：2010-06-01
申请号：US11490974
申请日：2006-07-21
申请人： Jahir Pabon , Julio Guerrero , Joachim Sihler , Demosthenis Pafitis
发明人： Jahir Pabon , Julio Guerrero , Joachim Sihler , Demosthenis Pafitis
IPC分类号： G01V1/40
CPC分类号： G01V1/44
摘要： A method and system is provided for determining the value of an attribute of ambient energy at a drilling assembly at the bottom of a borehole. Ambient energy includes kinetic energy, hydraulic energy and thermal energy. Attributes include vibration frequency spectrum, pressure difference, and temperature difference. The method uses energy harvested by at least one energy-harvesting sensor to power the system. The system generates data signals from at least one energy-harvesting sensor at one or more locations along a downhole drilling assembly, and transmits data up the borehole.
摘要翻译：提供了一种方法和系统，用于确定在钻孔底部的钻井组件处的环境能量属性的值。环境能量包括动能，液压能和热能。属性包括振动频谱，压力差和温差。该方法使用由至少一个能量收集传感器收获的能量来为系统供电。该系统在沿着井下钻井组件的一个或多个位置处从至少一个能量收集传感器生成数据信号，并将数据传送到钻孔。

4. 发明申请

US20080033653A1 Drilling system powered by energy-harvesting sensor 有权
标题翻译：钻井系统由能量采集传感器供电
公开(公告)号：US20080033653A1
公开(公告)日：2008-02-07
申请号：US11490974
申请日：2006-07-21
申请人： Jahir Pabon , Julio Guerrero , Joachim Sihler , Demosthenis Pafitis
发明人： Jahir Pabon , Julio Guerrero , Joachim Sihler , Demosthenis Pafitis
IPC分类号： G01V1/40
CPC分类号： G01V1/44
摘要： A method and system is provided for determining the value of an attribute of ambient energy at a drilling assembly at the bottom of a borehole. Ambient energy includes kinetic energy, hydraulic energy and thermal energy. Attributes include vibration frequency spectrum, pressure difference, and temperature difference. The method uses energy harvested by at least one energy-harvesting sensor to power the system. The system generates data signals from at least one energy-harvesting sensor at one or more locations along a downhole drilling assembly, and transmits data up the borehole.
摘要翻译：提供了一种方法和系统，用于确定在钻孔底部的钻井组件处的环境能量属性的值。环境能量包括动能，液压能和热能。属性包括振动频谱，压力差和温差。该方法使用由至少一个能量收集传感器收获的能量来为系统供电。该系统在沿着井下钻井组件的一个或多个位置处从至少一个能量收集传感器生成数据信号，并将数据传送到钻孔。

5. 发明申请

US20120067268A1 VERTICAL GLIDER ROBOT 有权
标题翻译：垂直玻璃机器人
公开(公告)号：US20120067268A1
公开(公告)日：2012-03-22
申请号：US12871433
申请日：2010-08-30
申请人： Julio Guerrero , Franz Hover , Charles Ambler , Brooks Reed , Robert Hummel
发明人： Julio Guerrero , Franz Hover , Charles Ambler , Brooks Reed , Robert Hummel
IPC分类号： B63G8/00 , B63B43/10 , G01F23/00 , B63G8/20 , G01S15/06 , B63H25/00 , B63G8/14
CPC分类号： G01V3/12 , B63B51/00
摘要： A subsea vertical glider robot which supports deployment in subsea oilfield activities is disclosed. This vertical glider robot can also be used in oceanographic research exploration. One application of this vertical glider robot is the autonomous delivery of equipment and sensor systems to a precise predetermined location on the sea floor. The vertical glider robot is deployed from a surface ship or any other suitable sea surface platform and allowed to free fall to the bottom of the ocean. The traversal through the body of water is performed primarily by converting initial potential energy of the apparatus into kinetic energy, it does not use propellers. The traversing of the seafloor is controlled with a steering module that refines orientation while processing information about the vertical glider robot's current position and the target where it has to land.
摘要翻译：公开了一种支持海底油田活动部署的海底垂直滑翔机器人。这种垂直滑翔机器人也可以用于海洋学研究的探索。这种垂直滑翔机器人的一个应用是将设备和传感器系统自动传送到海底上精确的预定位置。垂直滑翔机器人从地面船舶或任何其他合适的海面平台部署，并允许自由落体到海底。主要通过将装置的初始势能转化为动能，不使用螺旋桨进行穿过水体。通过转向模块来控制海底的运行，该转向模块在处理关于垂直滑翔机器人的当前位置和必须着陆的目标的信息的同时精炼定向。

6. 发明授权

US07832488B2 Anchoring system and method 有权
标题翻译：锚定系统和方法
公开(公告)号：US07832488B2
公开(公告)日：2010-11-16
申请号：US11273758
申请日：2005-11-15
申请人： Julio Guerrero , Kartik M. Varadarajan , Martin L. Culpepper
发明人： Julio Guerrero , Kartik M. Varadarajan , Martin L. Culpepper
IPC分类号： E21B33/12
CPC分类号： E21B23/01 , E21B33/134
摘要： An anchoring module capable of being secured within a structure includes at least one compliant ring configured to radially expand and an expandable device positioned within the compliant ring to expand the compliant ring from a relaxed state to interface with the structure. The anchoring module is part of a modular system used to harvest fluid, such as oil or natural gas from a structure, such as a pipe or well. Another module of the system, sometimes referred to as a support or back-up module, employs an expandable surface that is capable of expanding to the diameter of the interior of the borehole. These modules may be combined in a variety of configurations to support a sealing element, such as an inflatable sealing element. The self-conforming nature of the system obviates the need for prior knowledge of the structure or complex sensor systems to chart the structure. The anchoring module can also be utilized in a crawling system to convey tools inside a structure.
摘要翻译：能够被固定在结构内的锚定模块包括至少一个构造成径向扩张的柔性环和位于柔性环内的可扩张装置，以将柔性环从松弛状态扩展到与结构相接触。锚固模块是用于从诸如管道或井的结构收获流体的模块化系统的一部分，例如油或天然气。该系统的另一模块有时被称为支撑或支撑模块，其采用能够扩展到钻孔内部直径的可膨胀表面。这些模块可以以各种构造组合以支撑密封元件，例如可膨胀的密封元件。系统的自适应性消除了对结构或复杂传感器系统的先前知识来绘制结构的需求。锚固模块还可以用于爬行系统中以在结构内传送工具。

7. 发明申请

US20110029289A1 ROBOTIC EXPLORATION OF UNKNOWN SURFACES 有权
标题翻译：未知表面的机械探测
公开(公告)号：US20110029289A1
公开(公告)日：2011-02-03
申请号：US12534063
申请日：2009-07-31
申请人： Julio Guerrero , Steve Dubowsky , Francesco Mazzini , Dan Kettler
发明人： Julio Guerrero , Steve Dubowsky , Francesco Mazzini , Dan Kettler
IPC分类号： G06F17/50 , G01B5/20 , G06F19/00
CPC分类号： E21B47/09 , E21B23/002 , E21B41/0035
摘要： The subject matter disclosed provides 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. With the foregoing disclosure, it is capable of identifying and relatively quickly mapping the shape and location of unknown surfaces.
摘要翻译：所公开的主题提供了包括端部执行器和控制单元的触觉感测装置。控制单元能够从至少一个末端执行器接收触觉信息。通过上述公开内容，能够识别和相对快速地映射未知表面的形状和位置。

8. 发明申请

US20060042835A1 Apparatus and method for drilling a branch borehole from an oil well 失效
标题翻译：从油井钻分支井的装置和方法
公开(公告)号：US20060042835A1
公开(公告)日：2006-03-02
申请号：US10931332
申请日：2004-09-01
申请人： Julio Guerrero , Demos Pafitis , Alex Arzoumanidis
发明人： Julio Guerrero , Demos Pafitis , Alex Arzoumanidis
IPC分类号： E21B7/04
CPC分类号： E21B21/00 , E21B7/06 , E21B29/06 , E21B2023/008
摘要： A wireline drill train is used to drill an elongated, small diameter, lateral branch borehole from near the base of a main well. The drill train, includes a drill module, a first self-propelled thrust module coupled to the drill module, and a second self-propelled thrust module pivotally coupled to the first self-propelled thrust module. Each thrust module includes at least two extendible thrusters. Each extendible thruster includes a six-bar mechanism and a traction tread. The drill train further includes a first articulated linkage linking the first self-propelled thrust module to the drill module, and a second articulated linkage linking the second thrust module to the first thrust module. The second articulated linkage includes a thrust-transmission bar and three retractable stiffener bars. The method for drilling the curved transition region of the lateral branch borehole includes executing a series of alternating pivotal drilling steps and forward drilling steps to create a step-cut region of branch borehole having very small radius of curvature.
摘要翻译：使用有线钻杆从主井底部钻出细长的小直径的侧向分支钻孔。所述钻机组包括钻模组件，联接到所述钻模组件的第一自推进推力模块和枢转地联接到所述第一自推进推力模块的第二自推进推力模块。每个推力模块包括至少两个可延伸的推进器。每个可延伸推进器包括六杆机构和牵引踏板。钻机还包括将第一自推进推力模块连接到钻头模块的第一铰接连杆和将第二推力模块连接到第一推力模块的第二铰接连杆。第二铰接连杆机构包括推力传动杆和三个伸缩加强筋。用于钻出横向分支钻孔的弯曲过渡区域的方法包括执行一系列交替的枢转钻孔步骤和向前钻孔步骤以创建具有非常小的曲率半径的分支钻孔的阶梯切割区域。

9. 发明申请

US20050034874A1 Open hole tractor with tracks 有权
标题翻译：带轨道的开孔拖拉机
公开(公告)号：US20050034874A1
公开(公告)日：2005-02-17
申请号：US10891782
申请日：2004-07-15
申请人： Julio Guerrero , Falk Doering , Carl Roy , Paul Beguin
发明人： Julio Guerrero , Falk Doering , Carl Roy , Paul Beguin
IPC分类号： E21B23/00 , E21B23/14 , E21B19/16 , E21B4/00
CPC分类号： E21B23/14 , E21B2023/008
摘要： A downhole tractor is provided that may be used in open or cased wells, and is also designed for use in open holes having a variety of soil/formation consistencies (e.g., soft, firm, rigid, etc.), varying diameters and non-uniform and irregular bore profiles. The tractor may include a track assembly including a plurality of idler wheels and a continuous track rotatably disposed around the idler wheels. A motor may be adapted to rotate the track around the idler wheels. Upper and lower arms may be pivotally connected to opposite ends of the track assembly and pivotally connected to a tractor housing. An actuator arm or link assembly may be provided to impart an outward force to the track assembly to move the track assembly outwardly into an open position and a retracting force to retract the track assembly into a closed position. A rotatable screw may be connected to a second motor, or a rod may be connected to a hydraulic system, to actuate the actuator arm or link assembly.
摘要翻译：提供了一种井下拖拉机，可用于开放井或套管井，并且还设计用于具有多种土壤/地层一致性（例如，软，坚固，刚性等），变化的直径和非均匀性的开孔，均匀和不规则的孔型材。拖拉机可以包括轨道组件，该轨道组件包括多个惰轮，以及围绕惰轮可旋转地设置的连续轨道。马达可以适于围绕惰轮旋转轨道。上臂和下臂可以枢转地连接到轨道组件的相对端并枢转地连接到拖拉机壳体。可以提供致动器臂或连杆组件以向轨道组件施加向外的力以将轨道组件向外移动到打开位置和缩回力以将轨道组件缩回到关闭位置。可旋转螺杆可以连接到第二马达，或者杆可以连接到液压系统，以致动致动器臂或连杆组件。

10. 发明授权

US08397657B2 Vertical glider robot 有权
标题翻译：垂直滑翔机器人
公开(公告)号：US08397657B2
公开(公告)日：2013-03-19
申请号：US12871433
申请日：2010-08-30
申请人： Julio Guerrero , Franz Hover , Charles Ambler , Brooks Reed , Robert Hummel
发明人： Julio Guerrero , Franz Hover , Charles Ambler , Brooks Reed , Robert Hummel
IPC分类号： B63G8/00
CPC分类号： G01V3/12 , B63B51/00
摘要： A subsea vertical glider robot which supports deployment in subsea oilfield activities is disclosed. This vertical glider robot can also be used in oceanographic research exploration. One application of this vertical glider robot is the autonomous delivery of equipment and sensor systems to a precise predetermined location on the sea floor. The vertical glider robot is deployed from a surface ship or any other suitable sea surface platform and allowed to free fall to the bottom of the ocean. The traversal through the body of water is performed primarily by converting initial potential energy of the apparatus into kinetic energy, it does not use propellers. The traversing of the seafloor is controlled with a steering module that refines orientation while processing information about the vertical glider robot's current position and the target where it has to land.
摘要翻译：公开了一种支持海底油田活动部署的海底垂直滑翔机器人。这种垂直滑翔机器人也可以用于海洋学研究的探索。这种垂直滑翔机器人的一个应用是将设备和传感器系统自动传送到海底上精确的预定位置。垂直滑翔机器人从地面船舶或任何其他合适的海面平台部署，并允许自由落体到海底。主要通过将装置的初始势能转化为动能，不使用螺旋桨进行穿过水体。通过转向模块来控制海底运行，该转向模块在处理关于垂直滑翔机器人的当前位置和必须着陆的目标的信息的同时精炼定向。

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