Modular underwater pipeline inspection device
AssigneeThe Hong Kong University of Science and Technology
InventorsHuibo Zhang, Fumin Zhang
Life of this patent
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Abstract
Architectures and techniques are for significantly improving operation of unmanned underwater vehicles (UUVs). For example, a UUV can have modular interfaces that can be configured to interchangeably connect different types of sensors to facilitate different UUV applications, to interchangeably connect different types of clamping devices that can be configured for different types or sizes of underwater pipe, and can comprise a mother ship interface that can be used to exchange information and supply a fluid for the clamping device. The UUV can comprise a PID controller that can be used for autonomous navigation to a target location of the underwater pipe and autonomous coupling, via the clamping device, to the underwater pipe.
Claims20
An unmanned underwater vehicle (UUV), comprising:
- a sensor configured to determine a condition relating to an underwater pipeline;
- and
- a modular interface structure coupled to the UUV and comprising a first interface for the UUV and a second interface for the underwater pipeline,
- wherein the first interface comprises a group of sensor interfaces configured to support addition of at least one of a customizable set of sensors comprising the sensor, and
- wherein the second interface is configured to interchangeably receive a clamping apparatus of a group of different clamping apparatuses comprising mechanical arms that contact the underwater pipeline and facilitate a physical attachment of the UUV to the underwater pipeline that counters a force exerted by water flowing around the underwater pipeline, the mechanical arms having a length selected according to a size or type of the underwater pipeline.
A device, comprising:
- an unmanned underwater vehicle (UUV) comprising sensing equipment configured to determine a condition relating to an underwater conduit;
- and
- a pneumatic clamp device configured to couple to the underwater conduit, the pneumatic clamp device comprising mechanical arms and a compressed air interface configured to receive an air tube from a surface vessel and to provide, via the air tube, compressed air to the pneumatic clamp device to facilitate attaching the UUV to, or detaching the UUV from, the underwater conduit via the mechanical arms that counteract a force exerted by water flowing around the underwater conduit.
A method, comprising:
- receiving, by a device comprising at least one processor, a first end of an air tube that is coupled to a mother ship at a second end, wherein the first end is received at a clamp interface that interfaces to a clamp comprising at least one of a pneumatic clamp or a hydraulic clamp;
- navigating, by the device, underwater to a target location of an underwater pipe via a proportional-integral-derivative controller based on global positioning satellite (GPS) position data associated with the mother ship and a travel distance of the device, wherein the navigating comprises utilizing at least two horizontal thrusters and at least two vertical thrusters;
- and
- in response to arrival at the target location, utilizing, by the device, the clamp to couple to the underwater pipe via a set of mechanical arms configured to counteract a force exerted by water that flows around the underwater pipe.
Dependencies are inferred from the claim text.