Underwater vehicle with integrated surface cleaning and inspection
阅读说明:本技术 具有集成表面清洁和检查的水下载具 (Underwater vehicle with integrated surface cleaning and inspection ) 是由 A.埃默 F.阿布德拉蒂夫 于 2018-07-05 设计创作,主要内容包括:公开了适于附接到远程操作载具的机器人臂的集成探头和探头系统。所述探头和探头系统用于在水下表面处执行清洁操作以及阴极保护(CP)电压测量和超声波测试(UT)厚度测量两者。阴极保护测量系统包括从所述探头向外延伸的一个或多个导电支腿。这些支腿被布置在清洁工具和超声波传感器周围。当所述集成探头接触所述水下表面时,至少一个支腿接触所述表面,从而在所述探头与所述水下表面之间提供进行有效的清洁和UT检查所需要的距离。可清洁所述水下表面,并且可在单个操作期间使用单个集成探头执行CP和UT测量,而不必重新定位所述探头。(An integrated probe and probe system adapted for attachment to a robotic arm of a teleoperational carrier is disclosed. The probe and probe system are used to perform cleaning operations at an underwater surface as well as both Cathodic Protection (CP) voltage measurements and Ultrasonic Test (UT) thickness measurements. The cathodic protection measurement system includes one or more conductive legs extending outwardly from the probe. The legs are disposed about the cleaning tool and the ultrasonic sensor. When the integrated probe contacts the underwater surface, at least one leg contacts the surface, thereby providing the distance between the probe and the underwater surface needed for effective cleaning and UT inspection. The underwater surface can be cleaned and CP and UT measurements can be performed using a single integrated probe during a single operation without having to reposition the probe.)
1. An integrated probe adapted to perform cleaning, cathodic protection voltage reading, and ultrasonic test thickness measurement at an underwater surface substantially simultaneously, the integrated probe comprising:
a housing having a front surface and a rear surface;
a cleaning jet tool having an aperture 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 disposed around the transducer crystal, and a coupling agent disposed within a gap between the flexible membrane and the transducer crystal; and
a cathodic inspection tool having one or more legs, each leg having a conductive tip and a subsea housing containing a reference electrode, each leg extending longitudinally away from the housing and disposed about the cleaning jet tool and ultrasonic probe,
wherein the one or more legs are passively adjustable in response to a force applied when the one or more legs contact the underwater surface, and
wherein the one or more legs extend a distance away from the housing such that with the conductive tip of the one or more legs in contact with the underwater surface, the cleaning jet tool and the ultrasonic probe are at a distance for effective cleaning and ultrasonic measurement, respectively.
2. The integrated probe of claim 1, wherein the aperture of the cleaning jet tool is located at a central location of the housing.
3. The integrated probe of claim 1, wherein the ultrasonic probe extends around the aperture of the cleaning jet tool.
4. The integrated probe of claim 1, wherein the one or more legs provide a degree of flexibility that bends to orient the cleaning jet tool and ultrasonic probe toward the underwater surface for cleaning and inspection with the one or more legs in contact with the underwater surface.
5. The integrated probe of claim 1, wherein the conductive tip is made of stainless steel.
6. The integrated probe of claim 1, wherein the one or more legs are arranged around the ultrasound probe in two pairs of diametrically opposed legs.
7. The integrated probe of claim 1, wherein at least one degree of freedom is provided by one or more joints coupling the housing to an external carrier.
8. A system for performing cleaning, cathodic protection voltage reading, and ultrasonic test thickness measurement at an underwater surface substantially simultaneously, the system 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 measurements coupled to the distal end of the robotic support arm, wherein the integrated probe comprises:
a housing having a front surface and a rear surface;
a cleaning jet tool having an aperture 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 disposed around the transducer crystal, and a coupling agent disposed within a gap between the flexible membrane and the transducer crystal; and
a cathodic inspection tool having one or more legs, each leg having a conductive tip and a subsea housing containing a reference electrode, each leg extending longitudinally away from the housing and disposed about the cleaning jet tool and ultrasonic probe,
wherein the one or more legs are passively adjustable in response to a force applied when the one or more legs contact the underwater surface, and
wherein the one or more legs extend a distance away from the housing such that with the conductive tip of the one or more legs in contact with the underwater surface, the cleaning jet tool and the ultrasonic probe are at a distance for effective cleaning and ultrasonic measurement, respectively.
9. The integrated probe of claim 8, wherein the aperture of the cleaning jet tool is located at a central location of the housing.
10. The integrated probe of claim 8, wherein the ultrasonic probe extends around the aperture of the cleaning jet tool.
11. The integrated probe of claim 8, wherein the one or more legs provide a degree of flexibility that bends to orient the cleaning jet tool and ultrasonic probe toward the underwater surface for cleaning and inspection with the one or more legs in contact with the underwater surface.
12. The integrated probe of claim 8, wherein the conductive tip is made of stainless steel.
13. The integrated probe of claim 8, wherein the one or more legs are arranged around the ultrasound probe in two pairs of diametrically opposed legs.
14. The integrated probe of claim 8, wherein at least one degree of freedom is provided by one or more joints coupling the housing to an external carrier.
15. A method of performing cleaning operations, cathodic protection voltage readings, and ultrasonic test thickness measurements on an underwater surface with an integrated probe having a cleaning jet tool, an ultrasonic probe, and at least one leg having a conductive tip, the method comprising:
positioning a teleoperated vehicle having at least one robotic arm in proximity to the underwater surface, wherein the integrated probe is disposed at a free end of the robotic arm and the integrated probe is coupled to an arm end effector;
contacting the underwater surface with the integrated probe such that the at least one leg with the conductive tip is in contact with the underwater surface, wherein the length of the at least one leg positions the cleaning jet tool and ultrasonic probe at a desired distance from the underwater surface for effective cleaning and measurement;
cleaning the underwater surface by causing high pressure fluid to exit the cleaning jet tool and impinge on the underwater surface;
measuring a voltage at the underwater surface by the at least one leg; and
measuring the thickness of the underwater surface with the ultrasonic probe.
16. The method of claim 15, wherein the steps of cleaning, measuring voltage, and measuring thickness are all performed without repositioning the remotely operated vehicle.
17. The method of claim 15, wherein the steps of cleaning, measuring voltage, and measuring thickness are all performed during a single contacting step.
Technical Field
The present patent application relates generally to cleaning, testing, measuring mechanisms, and more particularly to a probe system for cleaning and ultrasonically measuring thickness and performing cathodic protection voltage readings in an underwater environment.
Background
Performing cleaning and inspection of underwater surfaces is often a difficult and time consuming process that may require multiple separate robotic vehicles and/or robotic vehicles (including multiple separate robotic arms and probes). Typically, a cleaning tool is first brought into contact with an underwater surface to be inspected to clean the surface so that inspection can be performed on the surface. The cleaning tool must then be removed from the surface that has been cleaned and a separate robot/probe must be positioned and brought into contact with the just-cleaned area to perform the inspection process. If multiple inspections are required, a separate robot/probe must be brought into contact with the cleaning area. Removing and repositioning individual probes/robots can be time consuming, difficult and expensive.
Although some inspection robots include cleaning and inspection tools, they are often located at different locations along the carrier. Thus, the carrier must first clean a certain area of the surface and then move relative to the surface to position the sensor relative to the area. This requires controlled movement of the robot to ensure proper alignment and also delays the process as the robot must move between cleaning and inspection operations. Furthermore, these systems typically require a separate structure providing a stand between the robot and the ground. These separate structures add complexity, weight, and cost to the system.
The present invention provides a solution to one or more of these and other problems.
Drawings
The drawings illustrate exemplary embodiments and are not intended to limit the invention. In the drawings, like reference numerals are intended to refer to like or corresponding parts.
FIG. 1 illustrates an isometric view of an integrated cleaning, CP, and UT probe system, according to at least one embodiment of the present application; and is
FIG. 2 shows a side view of the integrated cleaning, CP and UT probe system of FIG. 1 mounted on an underwater robotic vehicle.
Detailed Description
The present invention will now be described with reference to the accompanying drawings, which form a part hereof, and which show by way of illustration example embodiments and/or examples of the invention. It is to be understood that other embodiments may be utilized and structural changes may be made without departing from the spirit of the present invention. The disclosed subject matter can be embodied as, among other things, method devices, components, or systems.
Further, it has been recognized that terms may have meanings suggested or implied in addition to the meanings explicitly stated in the context. Likewise, the phrase "in one embodiment" as used herein does not necessarily refer to the same embodiment, and the phrase "in another embodiment" as used herein does not necessarily refer to a different embodiment. For example, it is contemplated that claimed subject matter may be based on a combination of example embodiments or a combination of portions of example embodiments.
In accordance with the present application, embodiments are provided that relate to an integrated probe and an integrated probe system for inspection and cleaning. The integrated probe may include a cleaning tool, and may further include a sensor for measuring a Cathodic Protection (CP) voltage and measuring a surface thickness using Ultrasonic Testing (UT), wherein a delay between performing a cleaning operation and taking each measurement is minimized. In this manner, the cleaning operation and the CP and UT measurements may be performed in rapid succession or substantially simultaneously. For example, the cleaning operation and CP and UT measurements may be performed during a single touchdown to a particular underwater surface (or "inspection surface"), such as an underwater pipe or pile foundation, or the floor of the moored hull.
In one aspect, as shown in fig. 2, an integrated
In addition, the integrated probe system herein provides the following advantages: implementation is possible with small light-weight grade ROVs (e.g., electric ROVs), general grade ROVs, inspection grade ROVs, and observation grade ROVs having only a single robotic arm. A smaller-grade ROV may be required if the inspection surface has accessibility issues (e.g., shallow water sites), or if there are power supply limitations.
In one or more embodiments, the
The sensor housing 110 is located at a distal end of the robotic arm 120. An ultrasonic ring probe 122 is housed within the sensor housing 110 and is disposed below an outer flexible membrane 124. In one or more embodiments, the ultrasound probe 122 may include a plurality of piezoceramic crystals arranged in a ring. The ultrasound probe 122 may be selected to transmit and receive ultrasound waves of various specific frequencies. For example, the ultrasonic sensor may operate at a frequency of 2.0MHz, 2.25MHz, 3.5MHz, 5.0MHz, or 7.5 MHz. To facilitate ultrasonic transmission, a thin film of film coupling agent is located within a gap between, for example, the ultrasonic probe 122 and the flexible film 124 of the sensor housing 110. The membrane coupling agent may comprise a viscous liquid, gel or paste for minimizing the amount of air in the gap between the sensor and the membrane. For example, the film coupling agent may be propylene glycol, glycerin, silicone oil, or various commercially available gels.
The CP probe functionality of integrated
In one or more embodiments, the tips 134 of the legs 130 are shaped as cones with a circular or elliptical base. In other embodiments, the tips 134 of the legs 130 are pyramidal, rectangular prismatic, semicircular, sharp, flat, or have rounded heads. In this manner, the tip 134 is reconfigurable or interchangeable to achieve various contact configurations. For example, instead of a static stainless steel tip, tip 134 may be a movable metal roller, a wheeled tip, or a spherical caster. Such a configuration would reduce the impact on the ROV arm end effector when touchdown on the inspection surface (e.g., the steel surface of the tubular) and allow translational motion on the inspection surface when performing a scan rather than a spot check.
The cleaning function of the
During operation of the
In one or more embodiments, the conductive legs 130 must contact the inspection surface in order to make the CP voltage measurement. Accordingly, the
The decision of whether and how much the legs 130 extend beyond the sensor housing 120, and where to arrange the legs at the front face of the
In the particular embodiment shown in fig. 1 and 2, four hinged conductive legs 130 are disposed about the ultrasound probe 122. Fig. 1 shows a first pair of legs 130a, 130b diametrically opposite each other. The second pair of legs 130c, 130d are also diametrically opposed to each other. In this embodiment, the four legs 130a-130d are equally spaced 90 degrees around the ultrasound probe 122. This arrangement provides a maximum range for at least one leg to be able to contact the inspection surface in order to obtain a voltage reading. However, other conductive leg arrangements of four legs are contemplated, depending on the particular application, wherein the legs are not equally spaced.
In addition, the flexibility of the legs 130, in combination with the flexibility of the inner gimbal frame 110, allows the ultrasound probe 122 to be aligned on the inspection surface within a margin (e.g., the front surface of the housing 110 is substantially transverse to the target surface). This passive alignment of the ultrasonic probe 122 by the conductive legs 130 allows cleaning to be performed while CP voltage and UT measurements are performed without having to reposition the probe, or allows cleaning to be performed while CP voltage and UT measurements are performed in at least a single visit of the inspection surface, or without having to use different probes to provide different functions. In one or more embodiments, a proximity sensor is coupled with the ultrasonic probe 122 to assist in positioning at the inspection surface. For example, the proximity sensor may be an infrared or acoustic sensor located inside the sensor housing 120 at or near the flexible membrane of the ultrasonic probe 122.
It is worthy to note that the figures and examples above are not meant to limit the scope of the present application to a single embodiment, as other embodiments are possible by interchanging some or all of the elements described or illustrated. For example, the integrated probe system may be mounted on an articulating coupling mechanism that may provide additional degrees of freedom to the probe contact surface, as disclosed in U.S. provisional application No. 62/395,162 filed on 9, 15, 2016, which is hereby incorporated by reference in its entirety. Further, where certain elements of the present application can be partially or fully implemented using known components, only those portions of such known components that are necessary for an understanding of the present application are described, and detailed descriptions of other portions of such known components are omitted so as not to obscure the present application. In this specification, unless explicitly stated otherwise herein, an embodiment showing a singular component is not necessarily limited to other embodiments including a plurality of the same component, and vice versa. Moreover, applicants do not intend for any term in the specification or claims to be ascribed an uncommon or special meaning unless explicitly set forth as such. Further, this application is intended to cover present and future known equivalents to the known components referred to herein by way of illustration.
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