The present invention addresses to a system for removing hydrates and other scales in subsea pipes in oil production fields. More specifically, the present invention addresses to a system for fighting and removing hydrates and other scales comprising independent traction modules, equipped with load cells that act by controlling other traction modules, wherein said traction modules are interconnected intercalated with armored cable sections. The system of the present invention is applied in rigid or flexible pipes that present restrictions or blocks to the flow.

Provided are tractor wheels for a downhole tractor. An example tractor wheel comprises a series of continuous springs disposed on the circumference of the tractor wheel, wherein the individual continuous springs in the series of continuous springs are separated by a gap, and a void disposed on the interior of the tractor wheel and that is continuous about the circumference of the tractor wheel.

A method for determining a location of a proppant in a subterranean formation includes obtaining a first set of data in a wellbore using a downhole tool. The proppant is pumped into the wellbore after the first set of data is obtained. The proppant is pumped while or after the subterranean formation is fractured. A second set of data is obtained in the wellbore using the downhole tool after the proppant is pumped into the wellbore. The first set of data and the second set of data include a gravitational field measurement. The first and second sets of data are compared, and in response to the comparison, the location of the proppant in the subterranean formation is determined.

The present invention concerns a drive module (10′, 10″, 10″′, 10″″) for a wellbore tractor (1). Each drive module (10′, 10″, 10″′, 10″″) comprises a drive module housing (13) and a hydraulically actuated and pivoting drive unit (11) comprising an arm housing (11′) and two drive wheels (12′, 12″) arranged thereto. The drive wheels (12′, 12″) are driven by a motor (16) mounted inside the arm housing (11′). The drive wheels (12′, 12″) are drivingly connected to the motor (16) via a drive line comprising a worm gear drive rrangement (14). The invention teaches also a wellbore tractor (1) comprising at least one of said drive modules (10′, 10″, 10″′, 10″″).

A wellbore positioning system includes a first wellbore casing element bearing a first magnetic pattern that encodes first information associated with the wellbore or a drone. The first wellbore casing element is configured for placement down-hole in the wellbore. The first wellbore casing element extends along a central axis and defines an axially oriented passage. Also, the system includes an untethered drone configured for relative movement in the passage of the first wellbore casing element. The drone is configured to detect the first magnetic pattern and determine a position of the drone within the wellbore based on the first information.

Downhole tractor control systems and methods to maintain a load of a downhole tractor are disclosed. A method to maintain a load of a downhole tractor includes identifying a reduction of power of a first set of motors of a plurality of motors of the downhole tractor, determining whether the reduction of power of the first set of motors is below a first threshold, and increasing, in response to the determination, a first power limit of a second set of motors of the plurality of motors to a maximum acceptable power limit of the second set of motors while maintaining the load of the downhole tractor.

Techniques according to the present disclosure include moving an untethered downhole tool through a wellbore between a terranean surface and a particular depth in the wellbore; during the moving the untethered downhole tool through the wellbore, acquiring a set of sensed data from one or more sensors in the untethered downhole tool in a time domain; transforming the plurality of data values associated with the wellbore parameter in the time-domain into a plurality of data values associated with the wellbore parameter in a depth-domain based at least in part on at least one accelerometer output and the locations of a plurality of casing collars; and preparing the plurality of data values associated with the wellbore parameter in the depth-domain for presentation on a graphical user interface (GUI).

Downhole tractor control systems and methods to maintain a load among multiple tractors are disclosed. A method to adjust a load among multiple tractors includes receiving first power feedback of a first downhole tractor, receiving second power feedback of a second downhole tractor, identifying an unbalance load condition when a difference between the first power feedback and the second power feedback exceeds a predetermined threshold, and adjusting, in response to identifying the unbalance load condition and based on the difference, power reference of the first downhole tractor and the second downhole tractor.

A wheel assembly and a method for detachably connecting the wheel assembly to a downhole tool to reduce friction between the downhole tool and a sidewall of a wellbore through which the downhole tool is conveyed. The wheel assembly may include an axle configured to contact a sidewall of the downhole tool, a wheel rotatably connected with the axle, and a fastener configured to extend into the sidewall of the downhole tool to detachably connect the axle to the downhole tool.

The systems and techniques described herein may allow for optimized boring through a variety of geologies. A plurality of different boring techniques may be utilized for boring through a geological formation, in order to suit the characteristics of various portions of the geological formation. The systems and techniques described herein includes determining geological features and adjusting operation of boring based on the geological features. In certain such embodiments, boring systems may include a bore head that includes a plurality of boring elements. Such boring elements may be contact and/or non-contact boring elements.