Systems, apparatuses, and methods for measuring submerged surfaces

• US 9,874,507 B2
• Filed: 04/28/2016
• Issued: 01/23/2018
• Est. Priority Date: 04/28/2015
• Status: Active Grant

• Current Assignee: Delta SubSea LLC (DeepOcean Group Holding BV)
• Original Assignee: Delta SubSea LLC (DeepOcean Group Holding BV)
• Inventors: Dingman, Scott P., Warnock, Roger, Vagata, Alessandro
• Primary Examiner(s): Kim, Kiho
• Application Number:
  US15/141,269
• Publication Number:
  US 20160320282A1
• Time in Patent Office: 635 Days
• CPC Class Codes: B63G 2008/005 remotely controlled
• 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
• CPC Class Codes: F16L 2201/30 Detecting leaks
• CPC Class Codes: G01B 15/02 for measuring thickness
• CPC Class Codes: G01N 11/04 through a restricted passage, e.g. tube, aperture
• CPC Class Codes: G01N 17/00 Investigating resistance of materials to the weather, to corrosion, or to light
• CPC Class Codes: G01N 2223/1013 gamma
• CPC Class Codes: G01N 2223/308 support of radiation source
• CPC Class Codes: G01N 2223/628 tubes, pipes
• CPC Class Codes: G01N 2223/631 large structures, walls
• CPC Class Codes: G01N 23/00 Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
• CPC Class Codes: G01N 23/02 by transmitting the radiation through the material
• CPC Class Codes: G01N 23/12 the material being a flowing fluid or a flowing granular solid
• CPC Class Codes: G01N 23/18 Investigating the presence of flaws defects or foreign matter
• CPC Class Codes: G01N 9/24 by observing the transmission of wave or particle radiation through the material
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/223 Command input arrangements on the remote controller, e.g. joysticks or touch screens
• CPC Class Codes: G05D 1/227 Handing over between remote control and on-board control; Handing over between remote control arrangements

Abstract

The present disclosure provides systems, apparatuses, and methods for measuring submerged surfaces. Embodiments include a measurement apparatus including a main frame, a source positioned outside a pipe and connected to the main frame, and a detector positioned outside the pipe at a location diametrically opposite the source and connected to the main frame. The source may transmit a first amount of radiation. The detector may receive a second amount of radiation, determine a composition of the pipe based on the first and second amounts of radiation, and send at least one measurement signal. A control canister positioned on the main frame or on a remotely operated vehicle (ROV) attached to the apparatus may receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside.

Claims

1. A measurement apparatus, comprising:

a main frame;

a source positioned outside a section of pipe located underwater and connected to the main frame, the source configured to transmit a continuous first amount of radiation;

a detector positioned outside the pipe and connected to the main frame at a location opposite the source, the detector configured to receive a continuous second amount of radiation, determine a composition of a media within the section of pipe based on the first amount of radiation and the second amount of radiation, and send at least one measurement signal;

a control system positioned on the main frame or on a remotely operated vehicle (ROV) attached to the apparatus, including a control canister having a data acquisition system (DAQ) configured to receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside; and

at least one buoyancy structure positioned on the main frame, the at least one buoyancy structure configured to hold the measurement apparatus in place on the pipe,

wherein the measurement apparatus is configured to be at least one of autonomously, semi-autonomously, or manually controlled to be moved along the pipe and take multiple measurements of sections of the pipe;

wherein the measurement apparatus is configured to include a stabilizing system positioned beneath the at least one buoyancy structure and within the main frame, and configured to act as a ballast using electric motors configured to move the stabilizing system transversally within the main frame of the measurement apparatus to maintain the stability of the measurement apparatus on the pipe.

2. The measurement apparatus of claim 1, wherein the apparatus is autonomously controlled via at least a battery and wireless connections to the ROV.

3. The measurement apparatus of claim 1, wherein the apparatus is manually controlled via at least an underwater diver and the ROV.

4. A measurement apparatus, comprising:

a main frame;

a source positioned outside a pipe and connected to the main frame, the source configured to transmit a first amount of radiation;

a detector positioned outside the pipe and connected to the main frame at a location opposite the source, the detector configured to receive a second amount of radiation, determine a composition of a media within the pipe based on the first amount of radiation and the second amount of radiation, and send at least one measurement signal;

a control canister positioned on the main frame or on a remotely operated vehicle (ROV) attached to the measurement apparatus, the control canister configured to receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside; and

at least one buoyancy structure positioned on the main frame, the at least one buoyancy structure configured to hold the apparatus in place on the pipe;

wherein the measurement apparatus is configured to include a stabilizing system positioned beneath the at least one buoyancy structure and within the main frame, and configured to act as a ballast using electric motors configured to move the stabilizing system transversally within the main frame of the measurement apparatus to maintain the stability of the measurement apparatus on the pipe.

5. The measurement apparatus of claim 4, wherein the source and detector are each connected to the main frame using a support frame.

6. The measurement apparatus of claim 4, wherein the source and detector are each mounted within a source carriage and detector carriage, respectively.

7. The measurement apparatus of claim 6, further comprising at least one roller attached to at least one of each opposing side of the main frame and an end of each of the source carriage and detector carriage, respectively, the at least one roller configured to assist in moving the apparatus along the pipe.

8. The measurement apparatus of claim 6, further comprising a cleaning structure attached to a forward-direction facing end of at least one of the source carriage and detector carriage, the cleaning structure configured to move debris away from the pipe.

9. The measurement apparatus of claim 4, further comprising at least two crawlers positioned beneath the apparatus, the at least two crawlers configured to assist in moving the apparatus along the pipe.

10. The measurement apparatus of claim 4, further comprising a distance counter attached to the apparatus, the distance counter configured to measure and control the speed and distance traveled by the apparatus.

11. The measurement apparatus of claim 4, further comprising at least one brush attached to the apparatus, the at least one brush configured to clean debris on the pipe.

12. The measurement apparatus of claim 4, wherein the source includes a collimator to direct the first amount of radiation towards the pipe.

13. The measurement apparatus of claim 12, wherein the source includes a shutter to open or close the collimator.

14. The measurement apparatus of claim 13, wherein the source includes electric motors to activate the shutter.

15. The measurement apparatus of claim 4, wherein the control canister includes a data acquisition (DAQ) system configured to assist in receiving the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside.

16. The measurement apparatus of claim 4, further comprising a handle mounted on the main frame, the handle configured to provide for manual or ROV-assisted manipulation and placement of the apparatus.

17. The measurement apparatus of claim 4, further comprising at least one sensor located within the main frame, the at least one sensor configured to take a measurement of the pipe and send at least one signal based on the measurement.

18. The measurement apparatus of claim 17, wherein the at least one sensor is a pulsed eddy current (PEC) sensor.

19. The measurement apparatus of claim 4, further comprising hydraulic clamps attached to the apparatus, the hydraulic clamps configured to attach the apparatus on the pipe.

20. The measurement apparatus of claim 19, further comprising at least one hydraulic line between the ROV and the apparatus, the at least one hydraulic line configured to activate the hydraulic clamps.

21. The measurement apparatus of claim 4, further comprising at least one electrical line between the ROV and the apparatus, the at least one electrical line configured to provide power to run the measurement apparatus.

22. The measurement apparatus of claim 4, wherein the first amount of radiation and the second amount of radiation include gamma rays.

23. The measurement apparatus of claim 22, wherein the gamma rays are derived from 137Cs.

24. A method for measuring submerged pipelines, comprising:

connecting an attachment of a measurement apparatus to a remotely operated vehicle (ROV), wherein the measurement apparatus comprises;

a main frame;

a source positioned outside a section of pipe and connected to the main frame, the source configured to transmit a first amount of radiation;

a detector positioned outside the section of pipe and connected to the main frame at a location opposite the source, the detector configured to receive a second amount of radiation, determine a composition of a media within the section of pipe based on the first amount of radiation and the second amount of radiation, and send at least one measurement signal;

a control canister positioned on the main frame or on the ROV, the control canister configured to receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside; and

at least one buoyancy structure positioned on the main frame, the at least one buoyancy structure configured to hold the measurement apparatus in place on the pipe, lowering and placing the measurement apparatus upon the section of pipe using the ROV;

taking a measurement of the section of pipe using the detector to create the at least one measurement signal;

sending the at least one measurement signal from the detector to the control canister; and

conveying the at least one measurement signal from the control canister to the software located topside;

wherein the measurement apparatus is configured to include a stabilizing system positioned beneath the at least one buoyancy structure and within the main frame, and configured to act as a ballast using electric motors configured to move the stabilizing system transversally within the main frame of the measurement apparatus to maintain the stability of the measurement apparatus on the pipe.

25. The method of claim 24, further comprising moving the measurement apparatus to another section of the pipe using the ROV after each round of measurements.

26. A system, comprising:

a remotely operated vehicle (ROY); and

a measurement apparatus connected to the ROV, the measurement apparatus comprising;

a main frame;

a source positioned outside a section of pipe and connected to the main frame, the source configured to transmit a first amount of radiation;

a detector positioned outside the section of pipe and connected to the main frame at a location opposite the source, the detector configured to receive a second amount of radiation, determine a composition of a media within the section of pipe based on the first amount of radiation and the second amount of radiation, and send at least one measurement signal; and

a control canister positioned on the main frame or on the ROV, the control canister configured to receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside,

wherein the measurement apparatus is configured to include a stabilizing system positioned beneath the at least one buoyancy structure and within the main frame, and configured to act as a ballast using electric motors configured to move the stabilizing system transversally within the main frame of the measurement apparatus to maintain the stability of the measurement apparatus on the pipe, and

wherein the software is configured such that a user may access the software to view the composition and other properties of the section of pipe and to control movement of the apparatus via the ROV.