Patent ID: 11867016
Assignee: SAUDI ARABIAN OIL COMPANY
Field: Handling (Mechanical engineering)
Classification: CPC B  E | IPC B  E

Claim 11:
12. A method of fishing an object from within a wellbore, the method comprising:
disposing a robotic fishing tool in the wellbore, the robotic fishing tool comprising:
a main body;
an intermediate body connected to a downhole end of the main body by an upper articulating joint;
a robotic hand connected to a downhole end of the intermediate body by a lower articulating joint, the robotic hand configurable between an open configuration and a closed configuration and comprising:
a palm;
a robotic thumb and a robotic finger attached at their respective proximal ends to the palm in opposition such that, when the robotic hand is in the closed configuration, a distal end of the robotic thumb and a distal end of robotic finger are within a grasp center area centered on a center point defined by an intersection of a grasping axis and an opposition axis of the robotic hand; and
a camera positioned on the palm, the camera having an optical axis that intersects the grasp center area proximate the center point;

flowing, by a fluid nozzle positioned on the palm, a substantially optically clear fluid to the grasp center area;
determining, based on an image from the camera, a characteristic of the object, the characteristic of the object comprising at least one of its type, location, position, orientation, or size; and
based on the determined the characteristic of the object:
positioning the robotic hand in the wellbore such that the object is in or near the grasp center area; and
configuring the robotic thumb and robotic finger to grasp the object.