Well logging with autonomous robotic diver

{
  "publication_number": "US10001007B2",
  "country": "US",
  "kind": "B2",
  "title": "Well logging with autonomous robotic diver",
  "abstract": "A logging apparatus for use in a well can include at least one sensor that senses a well parameter, at least one buoyancy control device, and the logging apparatus extending helically between opposite ends of the logging apparatus. A method of logging in a subterranean well can include installing at least one logging apparatus in the well, and the logging apparatus helically displacing in the well as a sensor of the logging apparatus senses a well parameter. A well system can include at least one logging apparatus disposed in a wellbore, the logging apparatus including multiple segments, the segments including at least one buoyancy control device and at least one sensor that senses a well parameter, and the segments being helically arranged in the wellbore.",
  "claims": [
    "1. A logging apparatus for use in a well, the logging apparatus comprising: multiple segments, wherein the multiple segments are directly coupled to each other, wherein an articulation device controls a relative orientation between adjacent segments, wherein the articulation device is operative to change the relative orientation between the multiple segments to dispose the logging apparatus in a helical shape; at least one sensor that senses a well parameter; and at least one buoyancy control device, wherein the logging apparatus displaces in the well in response to a change in a buoyancy of the logging apparatus.",
    "2. The logging apparatus of claim 1, wherein the sensor and the buoyancy control device are included in at least one of the segments.",
    "3. The logging apparatus of claim 1, further comprising at least one engagement device that engages a well surface.",
    "4. The logging apparatus of claim 3, wherein the engagement device comprises a magnetic device.",
    "5. The logging apparatus of claim 3, wherein the engagement device comprises a motorized wheel.",
    "6. The logging apparatus of claim 1, wherein the sensor comprises an ultrasonic sensor.",
    "7. A method of logging in a subterranean well, the method comprising: disposing at least one logging apparatus in the well, wherein the at least one logging apparatus comprises: multiple segments, wherein the multiple segments are directly coupled to each other, wherein an articulation device controls a relative orientation between adjacent segments at least one sensor; and at least one buoyancy device; displacing the logging apparatus through the well in response to a change in the buoyancy of the logging apparatus; changing the relative orientation between the multiple segments to arrange the multiple segments in a helical shape against an inner surface of the well; and taking measurements with the at least one sensor while the logging apparatus maintains the helical shape against the inner surface at a selected position in the well.",
    "8. The method of claim 7, wherein the changing the relative orientation further comprises the logging apparatus changing from a linear configuration to a helical configuration in the well.",
    "9. The method of claim 7, further comprising changing relative orientations between adjacent ones of the segments in the well.",
    "10. The method of claim 7, further comprising changing a torque applied to the logging apparatus, thereby changing a helical configuration of the logging apparatus.",
    "11. The method of claim 7, wherein the installing further comprises attaching the logging apparatus to a cementing plug.",
    "12. A well system, comprising: at least one logging apparatus disposed in a wellbore, the logging apparatus comprising: multiple segments, wherein the multiple segments are directly coupled to each other, wherein an articulation device controls a relative orientation between adjacent segments, wherein the articulation device is operative to change the relative orientation between the multiple segments to dispose the logging apparatus in a helical shape; at least one sensor that senses a well parameter; and at least one buoyancy control device, wherein the logging apparatus displaces in the wellbore in response to a change in a buoyancy of the logging apparatus, and wherein the at least one logging apparatus maintains the helical shape at a selected position against an inner surface of the wellbore.",
    "13. The well system of claim 12, wherein the segments further include at least one engagement device that engages a surface in the wellbore.",
    "14. The well system of claim 12, wherein the well parameter is selected from the group consisting of temperature and ultrasonic waves.",
    "15. The well system of claim 12, wherein the segments further include a communication device."
  ],
  "cpc": [
    "E21B 47/12",
    "E21B 17/22",
    "E21B 23/001",
    "E21B 23/14",
    "E21B 33/16",
    "E21B 41/00",
    "E21B 47/0005",
    "E21B 47/005",
    "E21B 47/065",
    "E21B 47/07",
    "E21B 47/102",
    "E21B 47/113",
    "G01V 1/40"
  ],
  "assignees": [
    "HALLIBURTON ENERGY SERVICES INC"
  ],
  "filing_date": "2014-11-13",
  "publication_date": "2018-06-19",
  "grant_date": "2018-06-19",
  "priority_date": "2014-11-13",
  "application_number": "US-201414899066-A",
  "family_id": "55954789",
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}