Systems and methods for inspection and communication in liquid petroleum product

• US 8,417,188 B1
• Filed: 01/25/2010
• Issued: 04/09/2013
• Est. Priority Date: 02/03/2009
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Vosburgh, Frederick
• Primary Examiner(s): WEST, LEWIS G
• Application Number:
  US12/693,081
• Time in Patent Office: 1,170 Days
• Field of Search: 455/90.3, 455/66.1, 455/420, 340/853.1, 340/853.2, 340/854.1, 340/854.3, 340/618, 701/2
• US Class Current: 455/66.1
• CPC Class Codes: B63B 2201/26 signalling anomalies, e.g. rupture of connection
• CPC Class Codes: B63B 2203/00 Communication means
• CPC Class Codes: B63C 11/48 Means for searching for underwater objects means for indicating the location of sunken objects B63C7/26; locating by use of the reflection or reradiation of radio or other waves G01S ; mountings of acoustic transducers in underwater equipment G10K11/006
• CPC Class Codes: B63G 13/00 Other offensive or defensive arrangements on vessels; Vessels characterised thereby
• CPC Class Codes: B63G 2008/005 remotely controlled
• CPC Class Codes: B63G 2008/007 by means of a physical link to a base, e.g. wire, cable or umbilical
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42

Abstract

A method for communicating in liquid petroleum product includes providing a first communications device disposed in the liquid petroleum product, providing a second communications device remote from and separated from the first communications device by the liquid petroleum product, and transmitting radiofrequency (RF) communication signals embodying data between the first communications device and the second communications device through the liquid petroleum product to enable wireless communications between the first communications device and the second communications device.

Claims

1. A method for communicating in a liquid petroleum product, the method comprising:

providing a first communications device disposed in the liquid petroleum product;

providing a second communications device remote from and separated from the first communications device by the liquid petroleum product; and

transmitting radiofrequency (RF) communication signals embodying data between the first communications device and the second communications device through the liquid petroleum product to enable wireless communications between the first communications device and the second communications device;

wherein;

the first communications device is an unmanned submersible vehicle, and the method includes transiting the unmanned submersible vehicle through the liquid petroleum product;

the second communications device is configured to emit radiofrequency (RF) control communication signals embodying commands to the unmanned submersible vehicle;

the unmanned submersible vehicle is configured to receive and process the RF control communication signals from the second communications device; and

the method includes transmitting the RF control communications signals from the second communications device to the unmanned submersible vehicle through the liquid petroleum product to enable remote wireless control of the unmanned submersible vehicle by the second communications device.

2. The method of claim 1 wherein the liquid petroleum product is a liquid petroleum fuel product.

3. The method of claim 1 including transmitting the RF communication signals between the first communications device and the second communications device at a carrier frequency that is substantially non-coupling with respect to the liquid petroleum product.

4. The method of claim 1 including transmitting the RF communication signals between the first communications device and the second communications device with a signal with a carrier frequency in the UHF band.

5. The method of claim 1 wherein the first communications device includes a sensor, and the method includes:

sensing an environmental condition, an object, and/or an emanation from the object using the sensor; and

transmitting data representing the environmental condition, object and/or emanation from the first communications device to the second communications device through the liquid petroleum product.

6. The method of claim 1 wherein first communications device includes an imaging device, and the method includes:

capturing an image using the imaging device; and

transmitting data representing the image from the first communications device to the second communications device through the liquid petroleum product.

7. The method of claim 1 including autonomously navigating the unmanned submersible vehicle within the liquid petroleum product.

8. A method for communicating in a liquid petroleum product, the method comprising:

providing a first communications device disposed in the liquid petroleum product;

providing a second communications device remote from and separated from the first communications device by the liquid petroleum product; and

transmitting radiofrequency (RF) communication signals embodying data between the first communications device and the second communications device through the liquid petroleum product to enable wireless communications between the first communications device and the second communications device;

wherein;

the first communications device is an unmanned submersible vehicle, and the method includes transiting the unmanned submersible vehicle through the liquid petroleum product;

the unmanned submersible vehicle and the liquid petroleum product are disposed in a container; and

the method includes inspecting the container for explosive devices using the unmanned submersible vehicle.

9. The method of claim 8 wherein the container is part of a moving liquid petroleum product container vehicle.

10. The method of claim 9 wherein the liquid petroleum product container vehicle is a water-borne liquid petroleum product tanker.

11. The method of claim 9 further including:

providing a remote station remote from the liquid petroleum product container vehicle; and

transmitting communication signals between the unmanned submersible vehicle and the remote station via a communications link through the second communications device.

12. The method of claim 11 including remotely controlling operation of the unmanned submersible vehicle using the remote station via the communications link through the second communications device.

13. The method of claim 11 wherein the unmanned submersible vehicle includes a sensor, and the method includes transmitting data acquired by the sensor from the unmanned submersible vehicle to the remote station via the communications link through the second communications device.

14. The method of claim 11 wherein the communications link between the remote station and the second communications device is a satellite communications link.

15. The method of claim 9 including:

providing a plurality of the unmanned submersible vehicles in the liquid petroleum product on the liquid petroleum product container vehicle and remote from the second communications device; and

transmitting RF communication signals embodying data between the second communications device and each of the unmanned submersible vehicles through the liquid petroleum product to enable wireless communications between the unmanned submersible vehicles and the second communications device.

16. The method of claim 9 including:

providing a plurality of the unmanned submersible vehicles each on a respective one of a plurality of liquid petroleum product container vehicles;

providing a plurality of second communications devices each associated with and located on the same liquid petroleum product container vehicle as a respective one of the unmanned submersible vehicles, wherein each of the unmanned submersible vehicles is separated from its associated second communications device by liquid petroleum product;

providing a remote station remote from the plurality of liquid petroleum product container vehicles;

transmitting RF communication signals between each of the unmanned submersible vehicles and the associated second communications devices through the liquid petroleum product to enable wireless communications between each unmanned submersible vehicle and its associated second communications device; and

transmitting communication signals between each unmanned submersible vehicle and the remote station via a communication link through the unmanned submersible vehicle'"'"'s associated second communications device.

17. The method of claim 8 wherein the liquid petroleum product is a liquid petroleum fuel product.

18. The method of claim 8 including transmitting the RF communication signals between the first communications device and the second communications device at a carrier frequency that is substantially non-coupling with respect to the liquid petroleum product.

19. The method of claim 8 including transmitting the RF communication signals between the first communications device and the second communications device with a signal with a carrier frequency in the UHF band.

20. The method of claim 8 wherein the first communications device includes a sensor, and the method includes:

sensing an environmental condition, an object, and/or an emanation from the object using the sensor; and

transmitting data representing the environmental condition, object and/or emanation from the first communications device to the second communications device through the liquid petroleum product.

21. The method of claim 8 wherein first communications device includes an imaging device, and the method includes:

capturing an image using the imaging device; and

transmitting data representing the image from the first communications device to the second communications device through the liquid petroleum product.

22. The method of claim 8 including autonomously navigating the unmanned submersible vehicle within the liquid petroleum product.