# US 10,481,134 B2 · Underwater vehicles with integrated surface cleaning and inspection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,134 B2 - Document ID: US10481134B2 - Status: Granted - Kind: B2 - Application number: 15/641,453 - Filed: 2017-07-05 - Published: 2019-01-10 - Granted: 2019-11-19 - Earliest claimed: 2017-07-05 - Assignees: Saudi Arabian Oil Company - Applicants: Saudi Arabian Oil Company - Inventors: Ayman Amer; Fadl Abdellatif - Web page: https://patentgrep.com/patent/US10481134B2 ## CPC - G01N 29/245: {Ceramic probes, e.g. lead zirconate titanate [PZT] probes} - B08B 3/02: Cleaning by the force of jets or sprays - B08B 9/023: Cleaning the external surfaces {(B08B9/021 takes precedence)} - B08B 13/00: Accessories or details of general applicability for machines or apparatus for cleaning - B63B 59/08: of underwater surfaces while afloat (B63B59/10 takes precedence) - C23F 13/22: Monitoring arrangements therefor - G01B 17/02: for measuring thickness - G01N 17/02: Electrochemical measuring systems for weathering, corrosion or corrosion-protection measurement - G01N 29/225: {Supports, positioning or alignment in moving situation} - G01N 29/265: by moving the sensor relative to a stationary material - G01R 19/0084: {Measuring voltage only} - B08B 2203/0217: Use of a detergent in high pressure cleaners; arrangements for supplying the same - B08B 2203/027: Pump details - 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)} - B63G 2008/005: {remotely controlled} - C23F 2213/31: Immersed structures, e.g. submarine structures - E02B 17/0034: {Maintenance, repair or inspection of offshore constructions} - G01N 2291/02854: Length, thickness - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - B08B: CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) - C23F: NON-MECHANICAL REMOVAL OF METALLIC MATERIAL FROM SURFACE (working metal by laser beams B23K26/00; desurfacing by applying flames B23K7/00; working of metal by electro-erosion B23H; producing decorative effects by removing surface material, e.g. by engraving, by etching, B44C1/22; electrolytic etching or polishing C25F); INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL; MULTI-STEP PROCESSES FOR SURFACE TREATMENT OF METALLIC MATERIAL INVOLVING AT LEAST ONE PROCESS PROVIDED FOR IN CLASS C23 AND AT LEAST ONE PROCESS COVERED BY SUBCLASS C21D OR C22F OR CLASS C25 - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) - B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H) - E02B: HYDRAULIC ENGINEERING (ship-lifting E02C; dredging E02F) ## Abstract Integrated probes and probe systems suitable for attachment to a robotic arm of a remotely operated vehicle are disclosed. The probes and probe systems serve to perform cleaning operations and both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. The cathodic protection measurement system includes one or more electrically conductive legs that extend outwardly from the probe. These legs are arranged about a cleaning tool and an ultrasonic sensor. When the integrated probe contacts the underwater surface, at least one leg contacts the surface, thereby providing a desired distance between the probe and the underwater surface for efficient cleaning and UT inspection. The underwater surface can be cleaned and CP and UT measurements can all be performed using a single, integrated probed during a single operation, without having to reposition the probe. ## Claims ### Claim 1 An integrated probe suitable for performing cleaning, cathodic protection voltage readings, and ultrasonic testing thickness measurements at an underwater surface, comprising: 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. ### Claim 2 (depends on 1) The integrated probe according to claim 1, wherein the orifice of the cleaning jet tool is located at a central location of the housing. ### Claim 3 (depends on 1) The integrated probe according to claim 1, wherein the ultrasonic probe extends about the orifice of the cleaning jet tool. ### Claim 4 (depends on 1) The integrated probe of claim 1, wherein the one or more legs provide a degree of flexibility that flexes to orient the cleaning jet tool and ultrasonic probe toward the underwater surface to be cleaning and inspected in a condition in which the one or more legs are in contact with the underwater surface. ### Claim 5 (depends on 1) The integrated probe according to claim 1, wherein the electrically conductive tip is made of stainless steel. ### Claim 6 (depends on 1) The integrated probe according to claim 1, wherein the one or more legs are arranged about the ultrasonic probe as two pairs of diametrically opposed legs. ### Claim 7 (depends on 1) The integrated probe according to claim 1, further comprising one or more joints coupling the housing to an external carrier. ### Claim 8 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. ### Claim 9 (depends on 8) The system according to claim 8, wherein the orifice of the cleaning jet tool is located at a central location of the housing. ### Claim 10 (depends on 8) The system according to claim 8, wherein the ultrasonic probe extends about the orifice of the cleaning jet tool. ### Claim 11 (depends on 8) The system of claim 8, wherein the one or more legs provide a degree of flexibility that flexes to orient the cleaning jet tool and ultrasonic probe toward the underwater surface to be cleaning and inspected in a condition in which the one or more legs are in contact with the underwater surface. ### Claim 12 (depends on 8) The system according to claim 8, wherein the electrically conductive tip is made of stainless steel. ### Claim 13 (depends on 8) The system according to claim 8, wherein the one or more legs are arranged about the ultrasonic probe as two pairs of diametrically opposed legs. ### Claim 14 (depends on 8) The system according to claim 8, further comprising one or more joints coupling the housing to an external carrier.