Unmanned apparatus traversal and inspection system

• US 8,619,134 B2
• Filed: 12/10/2009
• Issued: 12/31/2013
• Est. Priority Date: 03/11/2009
• Status: Active Grant

• Current Assignee: SeaTrepid International LLC
• Original Assignee: SeaTrepid International LLC
• Inventors: Christ, Robert D.
• Primary Examiner(s): Rao, Andy
• Application Number:
  US12/635,493
• Publication Number:
  US 20100235018A1
• Time in Patent Office: 1,482 Days
• Field of Search: 348 82- 86
• US Class Current: 348/84
• CPC Class Codes: B63C 11/52 Tools specially adapted for working underwater, not otherwise provided for
• CPC Class Codes: B63G 2008/002 unmanned
• CPC Class Codes: G01N 21/952 Inspecting the exterior surface of cylindrical bodies or wires G01N21/956 takes precedence
• CPC Class Codes: G01N 2291/2636 cylindrical from inside
• CPC Class Codes: G01N 29/07 by measuring propagation velocity or propagation time of acoustic waves
• CPC Class Codes: G01N 29/11 by measuring attenuation of acoustic waves

Abstract

An unmanned apparatus for use in traversing and inspecting at least a portion of an elongated structure. The unmanned apparatus includes at least one structural member defining a recess sized and configured to receive the portion of the elongated structure. In one aspect, the unmanned apparatus includes a clamping mechanism coupled to the structural member, wherein the clamping mechanism is capable of detachably attaching the unmanned apparatus to the elongated structure. A locomotion system is actuated while the unmanned apparatus is attached to the elongated structure causing the unmanned apparatus to traverse at least a portion of the elongated structure. The unmanned apparatus includes a plurality of cameras and/or at least one sensor capable of providing information regarding the structural integrity of the interior and/or exterior of the elongated structure. A method of inspecting and traversing at least a portion of the elongated structure is also described.

Claims

1. An unmanned apparatus for use in traversing and inspecting at least a portion of an elongated structure, the unmanned apparatus comprising

at least one structural member defining a recess sized and configured to receive the portion of the elongated structure;

attachment means for attaching the unmanned apparatus to the elongated structure, the attachment means comprising traversal means for traversing at least the portion of the elongated structure, wherein the attachment means comprises a plurality of traction members operatively connected to the structural member and the traversal means comprises a locomotion system coupled to at least one of the traction members, and wherein the attachment means further comprises;

a first traction member coupled to the structural member, wherein the first traction member is proximate a top portion of the recess and the first traction member contacts the portion of the elongated structure when the portion of the elongated structure is disposed within the recess during use of the unmanned apparatus; and

a clamping mechanism comprising

(i) at least one hinged member coupled to the structural member,

(ii) a second traction member operatively coupled to the hinged member, and

(iii) a third traction member operatively coupled to the hinged member;

wherein the clamping mechanism is sized and configured so that the clamping mechanism may be selectively biased to contact or separate from the elongated structure and while the portion of the elongated structure is disposed within the recess and the clamping mechanism is biased to contact the elongated structure, the second traction member and the third traction member contact the elongated structure and, when the locomotion system is actuated while each traction member contacts the elongated structure, the unmanned apparatus traverses and inspects at least a portion of a length of the elongated structure; and

a plurality of cameras coupled to at least a portion of the unmanned apparatus, the cameras being configured so that the cameras are collectively capable of providing one or more images of the entire surface area of at least the portion of the elongated structure.

2. The unmanned apparatus of claim 1 wherein the first traction member, the second traction member, and the third traction member each comprises at least one wheel sized and configured for frictional contact with the portion of the elongated structure disposed in the recess.

3. The unmanned apparatus of claim 2 wherein the locomotion system comprises an electrical or hydraulic rotary actuator operatively coupled to at least one of the wheels.

4. The unmanned apparatus of claim 1 wherein the hinged member is operatively coupled to a linear actuator, wherein the linear actuator provides operative force to the hinged member.

5. The unmanned apparatus of claim 1 further comprising at least one of the following:

(i) at least one thruster coupled to the structural member or another portion of the unmanned apparatus, and

(ii) a housing coupled to the structural member.

6. The unmanned apparatus of claim 1 wherein the locomotion system is operatively coupled to the first traction member.

7. The unmanned apparatus of claim 1 wherein the first traction member, the second traction member, and the third traction member are substantially equidistant from each other when each of the first traction member, the second traction member, and the third traction member contact the portion of the elongated structure.

8. The unmanned apparatus of claim 1 further comprising at least one sensor coupled to at least one of the following:

(i) the structural member;

(ii) the first traction member;

(iii) the second traction member;

(iv) the third traction member;

(v) the housing;

(vi) the thruster; and

/or

(vii) the locomotion system,

each sensor detecting at least one parameter indicative of the elongated structure, the external environment, and/or the unmanned apparatus.

9. The unmanned apparatus of claim 1 wherein the elongated structure is selected from the group consisting of a rope, a cable, an umbilical, a jacketed steel structure and a pipe.

10. A system to traverse and inspect at least a portion of an elongated underwater structure, the system comprising

the unmanned apparatus of claim 1;

a remotely operated vehicle comprising at least one coupling member, the coupling member being sized and configured to couple the remotely operated vehicle to the unmanned apparatus;

a surface control station; and

a primary cable coupling the surface control station to the remotely operated vehicle, wherein the primary cable includes a coaxial cable or a twisted pair electrical conductor and/or an optical fiber, wherein the coaxial cable and twisted pair electrical conductor are capable of transmitting information and/or energy between the surface control station and the remotely operated vehicle and the optical fiber is capable of transmitting information between the surface control station and the remotely operated vehicle.

11. The underwater inspection and traversing system of claim 10 wherein the remotely operated vehicle further comprises at least one thruster.

12. The underwater inspection and traversing system of claim 10 wherein the elongated structure is selected from the group consisting of a rope, a cable, an umbilical, a jacketed steel structure and a pipe.

13. A system to traverse and inspect at least a portion of an elongated underwater structure, the system comprising

a surface control station located on a maritime vessel comprising a launch assembly, wherein a portion of the launch assembly is disposable in the water;

the unmanned apparatus of claim 1, the unmanned apparatus being sized and configured to detachably attach to the launch assembly;

a remotely operated vehicle comprising at least one manipulator member, the manipulator member sized and configured to detach the unmanned apparatus from the launch assembly and attach the unmanned apparatus to the elongated underwater structure; and

a primary cable coupling the surface control station to the remotely operated vehicle.

14. A method of traversing and inspecting at least a portion of an elongated structure using an unmanned apparatus, the method comprising

disposing a portion of the elongated structure within a recess defined by a structural member of the unmanned apparatus, the recess sized and configured to receive the portion of the elongated structure and the unmanned apparatus comprising

(i) attachment means for attaching the unmanned apparatus to the elongated structure when the elongated structure is disposed within the recess, the attachment means comprising traversal means for moving the unmanned apparatus relative to at least the portion of the elongated structure, wherein the attachment means comprises a plurality of traction members operatively connected to the structural member and the traversal means comprises a locomotion system coupled to at least one of the traction members, and wherein the attachment means further comprises

a first traction member coupled to the structural member, wherein the first traction member is proximate a top portion of the recess and the first traction member contacts the portion of the elongated structure when the portion of the elongated structure is disposed within the recess during use of the unmanned apparatus;

and

a clamping mechanism comprising

(a) at least one hinged member coupled to the structural member,

(b) a second traction member operatively coupled to the hinged member, and

(c) a third traction member operatively coupled to the hinged member,

wherein, the clamping mechanism is sized and configured so that the clamping mechanism may be selectively biased to contact or separate from the elongated structure and while the portion of the elongated structure is disposed within the recess and the clamping mechanism is biased to contact the elongated structure, the second traction member and the third traction member contact the elongated structure and, when the locomotion system is actuated while each traction member contacts the elongated structure, the unmanned apparatus traverses and inspects at least a portion of a length of the elongated structure;

(ii) a plurality of cameras coupled to at least one portion of the unmanned apparatus, the cameras being configured so that the cameras are collectively capable of providing one or more images of the entire surface area of at least the portion of the elongated structure;

biasing at least a portion of the traversal means into contact with the portion of the elongated structure;

actuating the traversal means so that the unmanned apparatus traverses at least the portion of the elongated structure; and

capturing with the cameras one or more images of at least the portion of the elongated structure.

15. The method of claim 14 further comprising coupling the unmanned apparatus to a remotely operated vehicle, wherein the remotely operated vehicle comprises at least one thruster, the remotely operated vehicle positioning the unmanned apparatus so that the elongated structure is disposed within the recess.

16. The method of claim 15 further comprising transmitting energy and/or information between the remotely operated vehicle and a surface control station, the energy and/or information transmitted by a primary cable coupling the remotely operated vehicle to the surface control station.

17. The method of claim 15 further comprising transmitting energy and/or information between the remotely operated vehicle and the unmanned apparatus, the energy and/or information transmitted by a secondary cable coupling the remotely operated vehicle to the unmanned apparatus.

18. The method according to claim 15 further comprising disposing the unmanned apparatus on a launch assembly by an operator of a surface control station, the unmanned apparatus and launch assembly placed in the water and the remotely operated vehicle further comprises at least one manipulator member, the manipulator member sized and configured to couple and/or decouple the remotely operated vehicle to and/or from the unmanned apparatus.

19. The method according to claim 15 further comprising coupling at least one sensor to at least one of the following:

(i) the structural member;

(ii) the first traction member;

(iii) the second traction member;

(iv) the third traction member; and

/or

(v) the locomotion system

of the unmanned apparatus, the sensor detecting at least one parameter indicative of the elongated structure, the external environment, and/or the unmanned apparatus.

20. The method according to claim 14 further comprising transporting the unmanned apparatus to the elongated structure by an extended lifting device.

21. A method of inspecting an elongated structure comprising

traversing the elongated structure as in claim 14, wherein the elongated structure terminates proximate a docking station;

coupling the unmanned apparatus to the docking station;

transmitting energy and/or information between the docking station and the unmanned apparatus; and

decoupling the unmanned apparatus from the docking station;

traversing the elongate structure in a direction opposing the docking station; and

inspecting the elongated structure as the unmanned apparatus traverses the elongated structure.

22. The method of claim 14 wherein the elongated structure is selected from the group consisting of a rope, a cable, an umbilical, a jacketed steel structure and a pipe.

23. An unmanned apparatus for use in traversing and inspecting at least a portion of an elongated structure, the unmanned apparatus comprising

at least one structural member defining a recess sized and configured to receive the portion of the elongated structure;

attachment means for attaching the unmanned apparatus to the elongated structure, the attachment means comprising traversal means for traversing at least the portion of the elongated structure, wherein the attachment means comprises a plurality of traction members operatively connected to the structural member and the traversal means comprises a locomotion system coupled to at least one of the traction members, and wherein the attachment means further comprises

a first traction member coupled to the structural member, wherein the first traction member is proximate a top portion of the recess and the first traction member contacts the portion of the elongated structure when the portion of the elongated structure is disposed within the recess during use of the unmanned apparatus; and

a clamping mechanism comprising

(i) at least one hinged member coupled to the structural member,

(ii) a second traction member operatively coupled to the hinged member, and

(iii) a third traction member operatively coupled to the hinged member;

wherein the clamping mechanism is sized and configured so that the clamping mechanism may be selectively biased to contact or separate from the elongated structure and while the portion of the elongated structure is disposed within the recess and the clamping mechanism is biased to contact the elongated structure, the second traction member and the third traction member contact the elongated structure and, when the locomotion system is actuated while each traction member contacts the elongated structure, the unmanned apparatus traverses and inspects at least a portion of a length of the elongated structure; and

at least one sensor coupled to a portion of the unmanned apparatus, the sensor comprising a transmitter proximate a receiver, wherein at least one wave form is transmitted from the transmitter to the elongated structure and thereafter received by the receiver, such that information regarding the elongated structure may be recovered from the wave form.

24. The unmanned apparatus of claim 23 wherein the elongated structure is selected from the group consisting of a rope, a cable, an umbilical, a jacketed steel structure and a pipe.

25. A system to traverse and inspect at least a portion of an elongated underwater structure, the system comprising

the unmanned apparatus of claim 23;

a remotely operated vehicle comprising at least one coupling member, the coupling member being sized and configured to couple the remotely operated vehicle to the unmanned apparatus;

a surface control station; and

a primary cable coupling the surface control station to the remotely operated vehicle.

26. A method of traversing and inspecting at least a portion of an elongated structure using an unmanned apparatus, the method comprising

disposing a portion of the elongated structure within a recess defined by a structural member of the unmanned apparatus, the recess sized and configured to receive the portion of the elongated structure and the unmanned apparatus comprising

(i) attachment means for attaching the unmanned apparatus to the elongated structure when the elongated structure is disposed within the recess, the attachment means comprising traversal means for moving the unmanned apparatus relative to at least the portion of the elongated structure, and

(ii) at least one sensor comprising a transmitter proximate a receiver, wherein at least one wave form is transmitted from the transmitter to the elongated structure and thereafter received by the receiver, such that information regarding the internal portion of the elongated structure may be recovered from the wave form;

biasing at least a portion of the traversal means into contact with the portion of the elongated structure;

actuating the traversal means so that the unmanned apparatus traverses at least the portion of the elongated structure; and

detecting with the sensor information regarding the internal portion of the elongated structure.

27. The method of claim 26 wherein the attachment means comprises a plurality of traction members operatively connected to the structural member and the traversal means comprises a locomotion system coupled to at least one of the traction members.

28. The method of claim 27 wherein the attachment means further comprises

a first traction member coupled to the structural member, wherein the first traction member is proximate a top portion of the recess and the first traction member contacts the portion of the elongated structure when the portion of the elongated structure is disposed within the recess during use of the unmanned apparatus;

and

a clamping mechanism comprising

(i) at least one hinged member coupled to the structural member,

(ii) a second traction member operatively coupled to the hinged member, and

(iii) a third traction member operatively coupled to the hinged member,

wherein, the clamping mechanism is sized and configured so that the clamping mechanism may be selectively biased to contact or separate from the elongated structure and while the portion of the elongated structure is disposed within the recess and the clamping mechanism is biased to contact the elongated structure, the second traction member and the third traction member contact the elongated structure and, when the locomotion system is actuated while each traction member contacts the elongated structure, the unmanned apparatus traverses and inspects at least a portion of a length of the elongated structure.

29. The method of claim 26 wherein the elongated structure is selected from the group consisting of a rope, a cable, an umbilical, a jacketed steel structure and a pipe.