Underwater vehicles with integrated surface cleaning and inspection

A system for performing cleaning, cathodic protection voltage readings, and ultrasonic testing thickness measurements at an underwater surface, comprising:

• a remotely operated underwater vehicle having a robotic support arm with a distal end;
• an integrated probe for cleaning, measuring cathodic protection voltage, and ultrasonic testing thickness measurement coupled to the distal end of the robotic support arm, wherein the integrated probe includes:
• a housing having a front surface and a rear surface;
• a cleaning jet tool having an orifice extending through the front surface of the housing;
• an ultrasonic probe disposed within the housing, the ultrasonic probe having a transducer crystal and a flexible membrane arranged about the transducer crystal;
• and
• a cathodic inspection tool having one or more legs, each having an electrically conductive tip and a subsea housing containing a reference electrode, each leg extending longitudinally away from the housing and arranged about the cleaning jet tool and ultrasonic probe,
• wherein the one or more legs are passively adjustable in response to a force imparted when the one or more legs contact the underwater surface, and
• wherein the one or more legs extend away from the housing at a distance such that in a condition in which the conductive tip of the one or more legs is in contact with the underwater surface, the cleaning jet tool and ultrasonic probe are at a distance for effective cleaning and ultrasonic measuring, respectively.