METHOD FOR CONDUCTING REMOTE INSPECTION OF STRUCTURES IN SUBMARINE LOCATIONS AND OFFSHORE DATA PROCESSING SYSTEM

Abstract

A method for conducting remote underwater inspection comprises processing mission data from a UUV at an offshore location to produce a low-resolution output and a high-resolution output, automatically and in real time. The high-resolution output is stored at the offshore location, while the low-resolution output is transmitted wirelessly over a low-bandwidth communication link, also automatically and in real time, to be reviewed by skilled personnel at one or more locations onshore or nearshore. Selected portions of the high-resolution output can be transmitted over the communication link to skilled personnel on demand. The data outputs can be transmitted over the communication link at a resolution automatically adjusted according to the measured bandwidth available on that link.

Description

1 / 25 Descriptive Report of the Invention Patent for a METHOD FOR CONDUCTING REMOTE INSPECTION OF STRUCTURES IN SUBMARINE LOCATIONS AND OFFSHORE DATA PROCESSING SYSTEM.

[001] The present invention relates to methods and systems for performing underwater tasks, such as real-time remote inspection of underwater locations.

[002] The subsea oil and gas industry requires that inspections or surveys be carried out frequently at subsea locations, for example, on subsea structures such as pipelines.

[003] When carrying out subsea inspections, especially beyond diver depth, inspection is typically performed remotely using an unmanned underwater vehicle, such as an ROV (remotely operated vehicle) as an inspection platform. An operator is located offshore at a surface location, for example, aboard an ROV support vessel, or at a surface installation such as a production platform. The operator may be an individual, known in the art as the Subject Matter Expert (SME), or it may be a team comprising such SMEs, or another person, including ROV pilots.

[004] The data acquired by the ROV is transmitted to the operator by signals transmitted wirelessly through the water, or along a tie rod that connects the ROV to the vessel or surface installation. Similarly, control signals are returned from the operator to the ROV, either wirelessly or along the tie rod.

[005] The operator views video monitors that display video signals and other data, usually in real time, and acts on this data accordingly. For example, as the ROV traverses a subsea structure, the operator can locate an anomaly, such as a possible defect in the structure at a Petition 870200114719, dated 10 / 09 / 2020, p. 4 / 41 2 / 25 video feed from cameras to the ROV. In response, the operator can then command the ROV to retain the station relative to the structure to investigate this anomaly in detail and possibly correct it as well.

[006] An ROV is just one example of a submersible vehicle that can be used for underwater inspection. Another example of an underwater inspection platform is an AUV (autonomous underwater vehicle). An AUV has the ability to follow an underwater route and perform certain underwater tasks, such as inspection, without being tethered to a surface vessel or facility, and without necessarily requiring real-time control from a surface-based operator. However, an AUV can also transmit data to an operator, either wirelessly or via a wired data connection provided in a dock or garage on the underwater AUV.

[007] More generally, a subsea inspection platform can be any UUV (unmanned underwater vehicle), or structure, for subsea use that carries inspection equipment, such as cameras, sensors, sonars, etc.

[008] Subsea tasks, such as remote inspections, may have to be performed in deep water, hundreds of kilometers from the nearest land and, consequently, on the horizon. This presents challenges in how to transmit data related to the subsea task from an offshore vessel or surface installation to a land station in the absence of a proprietary data transmission network. There are also challenges in how to interpret and act on this data in a timely manner.

[009] Even if land is nearby, potentially allowing line-of-sight communication from ship to land, there may be no data transmission infrastructure in undeveloped land areas. Consequently, only satellite transmission of Petition 870200114719, dated 10 / 09 / 2020, page 5 / 41 3 / 25 data may be available, which means that the bandwidth available for data transmission is too low to handle the high rate at which data is transmitted from the inspection point.

[0010] Several communication systems using one or more satellites are described in US 8588129, US 5793813 and US 2016 / 006500.

[0011] The low bandwidth available for long-distance data transmission makes it necessary to locate an offshore SME because the data transmission rate is too low for real-time remote inspection with sufficient resolution. Consequently, outputs have to be analyzed offshore because onshore analysis would only be possible after a substantial and impractical delay.

[0012] In this regard, recent improvements in inspection techniques generate data outputs or data streams that can be extremely voluminous. Low-bandwidth communication media, such as satellite transmission systems, cannot transfer such data streams on the ground in real time, or with an acceptable delay. For example, 3D imaging techniques involving high-definition 3D cameras require bandwidth that is even greater than is achievable by standard ROV rigging. Such imagery is absolutely untransferable by real-time satellite transmission.

[0013] Another example is image mosaic, where one image A 3D model is constructed from the acquisition of 2D or 3D images or sonar signals. Here again, no real-time transfer of processed data can be considered, even if real-time image mosaicking is now possible. For example, KR 101180260 describes image mosaicking of seabed images and transfer from a submersible vehicle to a surface vessel. US 2016 / 063768 describes a system and method for vehicles Petition 870200114719, dated 10 / 09 / 2020, page 6 / 41 4 / 25 remotely operated with superimposed 3D images; however, no transmission of the images generated at a land-based location is discussed.

[0014] US 2013 / 187787 A1 describes systems and methods for transmitting data from an underwater station that include releasable storage devices that can surface with data. GB 2452951 A describes a detection system comprising multiple remote sensing units that are wirelessly connected to a control station.

[0015] Traditionally, therefore, where underwater inspections are carried out by surface-based vehicles or submarines located offshore, the inspection data is processed and reviewed by an SME located close to the data acquisition point, i.e., on a ship or surface facility above the inspection location.

[0016] This approach has several problems. It is considerably more costly to locate offshore SMEs than onshore, and exposes them to safety risks that are inherent in offshore operation. Furthermore, an offshore SME may not have the required skills to detect or analyze all the flaws that may be revealed by an inspection. Also, there may be doubt as to the correct analysis and approach, or an offshore SME may not have the authority to autonomously decide on a plan of action.

[0017] Consequently, an offshore SME will routinely send data ashore for double verification by competent land-based personnel. However, the low bandwidth available for long-distance data transmission will cause a delay between the inspection operation and the making and execution of consequential decisions. Such a delay is likely to require the ROV to dive again to perform additional inspections or corrective operations. Petition 870200114719, dated 10 / 09 / 2020, page 7 / 41 5 / 25 that takes time and money.

[0018] In some prior art systems involving offshore-to-shore data transmission, the data stream is inherently compact enough to be transferred onshore in real time. Such prior art is of merely fundamental relevance to the present invention. For example, EP 2919182 describes a system for risk control of marine mooring systems, in which data is transferred onshore to an administrative server that processes the data for comparison with standards and guidance for triggering an alarm.

[0019] US 8560096 describes a remote offshore monitoring system comprising on-site data processing and storage, and a remote administrative system.

[0020] EP 0737321 uses multiple satellites in parallel to achieve real-time monitoring of iceberg positions and marine traffic, and transfer of information related to potential collisions.

[0021] US 7009550 relates to an oil spill identification system comprising sensor units that collect and transmit data to a ground-based control station for analysis, although the data transfer methods used require the two entities to be in close physical proximity.

[0022] US 9074468 describes a method of providing real-time streaming of drilling data transmission services using self-aligning satellites, wherein the data output can be provided at a low level as fixed-format ASCII data, or at a high level (e.g., as a customizable self-defining data stream). Naturally, ASCII data is not relevant for image processing.

[0023] Against this precedent, the invention lies in a method Petition 870200114719, dated 10 / 09 / 2020, page 8 / 41 6 / 25 of conducting remote underwater inspection. The method comprises: receiving mission data acquired by an underwater inspection platform; processing the mission data at an offshore location automatically and substantially in real time during the mission to produce a low-resolution image data output and a high-resolution output; storing the high-resolution output at the offshore location; and transmitting the low-resolution output wirelessly via a communication link between the offshore location and a land-based location, or location near the coast, automatically and substantially in real time during the mission. The low-resolution output may also be stored at the offshore location before its transmission via the communication link to the land-based location, or location near the coast.

[0024] Preferably, the method comprises: measuring the available bandwidth of the communication link; and transmitting the low-resolution output over the communication link from the offshore location to the onshore location, or location near the coast, at a resolution automatically adjusted according to the available bandwidth of the communication link. For example, mission data can be processed to produce the low-resolution output at a resolution adjusted according to the available bandwidth of the communication link. Another approach is to retrieve the low-resolution output from storage at the offshore location at a transfer rate adjusted according to the available bandwidth of the communication link.

[0025] The method may comprise, in response to a command received at the offshore location: retrieving a selected portion of the high-resolution output from storage at the offshore location; and transmitting this selected portion of the high-resolution output through Petition 870200114719, dated 10 / 09 / 2020, page 9 / 41 7 / 25 of the communication link for the land-based location, or location near the coast. Again, the selected portion of the high-resolution output can be transmitted over the communication link at a resolution or transfer rate automatically adjusted according to the available measured bandwidth of the communication link.

[0026] Raw inspection data derived from mission data may also be stored at the offshore location. In this case, the method may comprise, in response to a command received at the offshore location: retrieving a selected portion of the raw inspection data from storage at the offshore location; and transmitting this selected portion of the raw inspection data via the communication link to the onshore location, or location near the coast.

[0027] While transmitting the selected portion of the high-resolution output, or raw inspection data, over the communication link, transmission of the low-resolution output over the communication link may be automatically interrupted. Alternatively, the resolution or transfer rate at which the low-resolution output is transmitted over the communication link may be reduced.

[0028] The command may be issued by an operator located at the land location, or location near the coast, or in data communication with that location via a land-based communication network, and is transmitted through the communication link to the offshore location. In some cases, the command may be issued by one of a team of such operators, similarly located. However, the command may instead be issued by an operator located at the offshore location.

[0029] The selected portion of the high-resolution output, or of Petition 870200114719, dated 10 / 09 / 2020, page 10 / 41 8 / 25 raw inspection data is properly defined in the command with reference to geographic or temporal parameters.

[0030] Preferably, control signals are transmitted via the communication link from the land-based location, or location near the coast, to the offshore location to control operation of, or to define subsequent operation of, the subsea inspection platform. Conversely, process quality data / reports, or processing system parameters related to mission data processing, can be transmitted via the communication link from the offshore location to the land-based location, or location near the coast.

[0031] Mission data may, for example, comprise a 3D sonar signal, or a video signal. Processing of mission data may include image mosaicking.

[0032] The inventive concept involves an offshore data processing system for processing mission data acquired during underwater inspection. The system comprises: an onboard controller; a software engine configured to process mission data automatically and substantially in real time during the mission to produce a low-resolution image data output, and a high-resolution image data output; an onboard memory for storing the high-resolution output; and a wireless communication link for transmitting the low-resolution output to a land-based location, or a location near the coast, automatically and substantially in real time during the mission.

[0033] The system may also include a subsea inspection platform for acquiring mission data. It is possible that the software engine and memory may be implemented on board the subsea inspection platform, and / or on board a supervisory vessel. Petition 870200114719, dated 10 / 09 / 2020, page 11 / 41 9 / 25 surface or platform.

[0034] The invention system preferably further comprises a bandwidth sensor for measuring the available bandwidth on the communication link. In this case, the controller is responsive to the bandwidth sensor to automatically adjust the resolution of the low-resolution output according to the available bandwidth. The controller can, for example, act on the software engine to process the low-resolution output according to the available bandwidth. Where memory also stores the low-resolution output, the controller can act on the memory to retrieve the low-resolution output from storage at a transfer rate according to the available bandwidth.

[0035] The controller is properly responsive to external commands to retrieve a selected portion of the high-resolution output from memory, and to transmit this selected portion of the high-resolution output through the communication link.

[0036] Memory can also store raw data derived from mission data, in which case the controller is responsive to external commands to retrieve a selected portion of the raw data from memory, and to transmit this selected portion of the raw data through the communication link.

[0037] The inventive concept extends to a marine communication system comprising the offshore data processing system of the invention situated at an offshore location, and one or more area specialists situated at an onshore location, or location near the coast. The one or more area specialists receive the low-resolution output, via the communication link, substantially in real time, and selectively receive a portion of the high-resolution output, or raw data, in response to a command transmitted to the offshore location via the communication link. Petition 870200114719, dated 10 / 09 / 2020, page 12 / 41 10 / 25. The communication link properly comprises a satellite link.

[0038] In a preferred embodiment, the invention provides a method for performing remote inspection of underwater structures, which method comprises: to acquire inspection data from an unmanned underwater vehicle, or other underwater inspection platform; Processing offshore inspection data to produce high-definition output; Processing offshore inspection data to produce a low-definition output whose definition is adjusted to meet a measured offshore-to-shore system transmission rate; Store offshore the low- and high-definition outputs and, preferably, also raw inspection data; and transmit the low-definition output to a station on land; in which the processing and transfer of low-definition data are done automatically and in real time.

[0039] The high-definition output stored offshore can then be transmitted onshore on demand, for example, in response to a request or command issued by the shore station.

[0040] The invention can therefore be summarized as a method for carrying out remote underwater inspection comprising processing mission data, for example, from an unmanned underwater vehicle, at an offshore location to produce a low-resolution output, and a high-resolution output, automatically and in real time.

[0041] The high-resolution output is stored at the offshore location, while the low-resolution output is transmitted without Petition 870200114719, dated 10 / 09 / 2020, page 13 / 41 11 / 25 wire through a low-bandwidth communication link, also automatically and in real time, to be retrieved by SMEs at one or more land-based locations, or locations near the coast. Selected portions of the high-resolution output can be transmitted over the communication link to SMEs on demand. Data outputs can be transmitted over the communication link at a resolution automatically adjusted according to the measured bandwidth to be available on this link.

[0042] The basis of the invention, therefore, is to use an intelligent method of data transfer where limited-bandwidth communication links can be used to enable rapid access to data, such as image data, related to offshore inspections. SMEs can then perform interpretation or analysis of this data at remote locations from where the inspection was carried out, most conveniently on land, or near the coast.

[0043] Using automated methods, 2D or 3D images are generated by processing sensor data at an offshore location. Sensor data may, for example, comprise camera images, side-scan sonar data, or multibeam sonar data. Data acquisition and processing may occur aboard a surface vessel or platform at the offshore location, or aboard a dedicated subsea inspection platform, such as an ROV.

[0044] Both high-resolution and low-resolution processed image data outputs are created by the data processing software according to the invention. The low-resolution image output, at least, can be defined by the bandwidth available on the limited-bandwidth communication links (e.g., satellite) between the offshore location and the location in Petition 870200114719, dated 10 / 09 / 2020, page 14 / 41 12 / 25 land, or location near the coast. All raw and processed image data is initially stored at the offshore location.

[0045] The invention system automatically transfers all low-resolution image data to a land-based or near-shore station via limited-bandwidth communication links using standard data transfer protocols. This provides SMEs located at the near-shore or land-based station with near real-time access to these low-resolution images. The land-based or near-shore station can also be connected via land-based internet links to allow remote access or display of the image data by SMEs in multiple internet-accessible locations.

[0046] Land-based, near-shore, or offshore SMEs can issue commands to the offshore system that will allow selected high-resolution processed images, or indeed raw data, to be sent onshore based on defined temporal parameters and / or geographic location. The system can control data waiting or transfer according to assigned priorities.

[0047] SMEs can use the available image data to identify anomalies and routine features within the inspection data. They can use the data as a basis for defining requirements for additional inspections and for planning additional missions that may need to be carried out remotely underwater.

[0048] In order that the invention may be more readily understood, reference will now be made, by way of example, to the accompanying drawings in which:

[0049] Figure 1 is a schematic diagram of a satellite-based system for offshore data processing and for Petition 870200114719, dated 10 / 09 / 2020, page 15 / 41 13 / 25 data communication for offshore-to-shore purposes, according to the invention;

[0050] Figure 2a is a diagram of an offshore data processing and storage system, representing offshore data flow and access in the system of Figure 1;

[0051] Figure 2b is a diagram of an onshore data processing and storage system, representing onshore data flow and access in the system of Figure 1;

[0052] Figure 2c is an extension of the diagram shown in Figure 2b, illustrating how the land-based data processing and storage system can support distributed data delivery and decision-making; and

[0053] Figure 3 is a simplified diagram of the system shown in sketch form in Figure 1 and in detail in Figures 2a to 2c.

[0054] Figure 1 of the drawings shows a satellite-based system 10 for offshore data processing and for data communication between offshore and onshore locations. In this example, system 10 provides two-way low-bandwidth data transmission via a satellite 12 between an ROV support vessel 14 at the offshore location and a station 16 at the onshore location.

[0055] ROV 14 support vessel floats on the surface 18 of the sea, and supports an ROV 20, shown here performing a mission involving inspection of a subsea structure 22 on the seabed 24. As is well understood, ROV 20 can be equipped with cameras and sensors such as sonar sensors for this purpose, which equipment generates a stream of inspection data as the mission progresses.

[0056] A 26-hook provides two-way high-bandwidth data communication between ROV 20 and the ship. Petition 870200114719, dated 10 / 09 / 2020, page 16 / 41 14 / 25 ROV 14 support during the mission. Specifically, tie rod 26 carries control data from the ROV 14 support vessel to ROV 20. Conversely, tie rod 26 carries a mission data stream, including inspection data, from ROV 20 to the ROV 14 support vessel.

[0057] The ROV 14 support vessel hosts an offshore data storage and processing system 28 that receives, stores, and processes mission data already selected for transmission from the ROV 14 support vessel to the land station 16 via satellite 12. The offshore system 28 is also responsive to control inputs received by the ROV 14 support vessel from the land station 16 via satellite 12.

[0058] Similarly, the land-based station 16 hosts a land-based data storage and processing system 30 that stores and processes data received via satellite 12 from the ROV support vessel 14, as shown. The land-based system 30 also produces control outputs that serve as the aforementioned control inputs for the offshore system 28.

[0059] One or more Subject Matter Experts (SMEs) 32 are located at the land station 16 to interact with the land system 30. Typically, such SMEs 32 will: review quality reports and outputs from the offshore system 28; identify a need for, and initiate data requests from the offshore system 28; define coverage, for example, by identifying limits for additional research requests; and adjust processing system parameters for use by the offshore system 28.

[0060] As will be explained below with reference to Figure 2c, ground station 16 may represent more than one land location. Using the Internet or other high-bandwidth communication links, data distribution and decision-making. Petition 870200114719, dated 10 / 09 / 2020, page 17 / 41 15 / 25 can be distributed through a group of separately located SMEs 32. Such SMEs 32 can, in principle, be located anywhere in the world that is served by suitable communication links.

[0061] Optionally, however, one or more other SMEs 32 may be located on board the ROV 14 support vessel to interact with the offshore system 28. Typically, such SMEs 32 will: review the quality reports and outputs of the offshore system 28; define coverage, for example, by identifying limits for additional research requests; and adjust the processing system parameters for use by the offshore system 28.

[0062] In principle, the invention allows SMEs 32 to be located only on land. Alternatively, the invention allows fewer SMEs 32 or less qualified and experienced SMEs 32 to be located offshore than would otherwise be required. Both of the latter possibilities are enabled by real-time input support from highly capable land-based SMEs 32.

[0063] Returning to Figure 2a, this shows the offshore data storage and processing system 28 in detail. The system 28 comprises local data storage 34 which is divided into a project data storage space 36 and a shared folder space 38.

[0064] Shared folder space 38 provides data transmitted to and from the corresponding ground data storage and processing system 30 of ground station 16. Thus, shared folder space 38 contains an internal data folder 40 for input data received from ground station 16, and an external data folder 42 for output data to be sent to ground station 16 via satellite 12. Petition 870200114719, dated 10 / 09 / 2020, page 18 / 41 16 / 25

[0065] The internal data folder 40 can, for example, receive control data from the ground station 16 pertaining to processing parameters, such as resolution or geographic or temporal parameters. The control data can also prescribe limits for defining additional survey requirements and other inspection coverage.

[0066] Data related to the processing system parameters 44 and defined coverage 46 are transferred from the internal data folder 40 to be maintained in the project data storage space 36. If an SME 32 is stationed offshore aboard the ROV support vessel 14 shown in Figure 1, this SME 32 can modify the processing system parameter data 44 and defined coverage data 46.

[0067] External data folder 42 contains core output data comprising processed low-resolution data outputs, providing full coverage of the mission objective to ground station 16. Such low-resolution data outputs may be transmitted continuously in real time, via satellite 12 to ground system 30 from ground station 16 during a mission. Core output data may also comprise high-resolution data outputs and / or raw unprocessed data outputs that provide partial coverage of the mission objective. Such high-resolution data outputs are transmitted via satellite 12 to ground system 30 selectively, on demand.

[0068] Once the data outputs have been processed, the external data folder 42 may also contain process quality data / reports related to the processing involved in producing both high- and low-resolution data outputs. The external data folder 42 may also contain other output data such as processing system parameters. Petition 870200114719, dated 10 / 09 / 2020, page 19 / 41 17 / 25 or defined coverage, as used in offshore processing.

[0069] A controller 48 responds to commands received from the land station 16, as they may be issued by the SMEs 32 at the land station 16, to control the offshore data storage and processing system 28. If an SME 32 is stationed offshore aboard the ROV support vessel 14 shown in Figure 1, this SME 32 may also issue commands to controller 48.

[0070] For example, controller 48 can receive requests from SMEs 32 for specific sections of high-resolution data outputs and / or raw, unprocessed data outputs, defined with reference to geographic and / or temporal parameters. Such parameters can be expressed as one or more particular locations of the ROV 20 or points in time during the mission. In this way, controller 48 controls data transfers between the project data storage space 36 and the shared folder space 38 of the local data storage 34. Controller 48 can, for example, receive commands and provide feedback to an SME, 32 via a graphical dashboard interface.

[0071] Controller 48 also triggers data processing and data archiving in response to trigger signals received from ground station 16. Controller 48 can also send messages or status signals to ground station 16.

[0072] During the mission carried out by ROV 20 shown in Figure 1, mission data 50, including inspection data, are received from ROV 20 and stored in the project data storage space 36 as raw, unprocessed data 52. This raw data 52 provides full coverage of images, sonar scans, or other inspection results produced by Petition 870200114719, dated 10 / 09 / 2020, page 20 / 41 18 / 25 mission.

[0073] As noted above, controller 48 can be commanded to select appropriate portions of the raw data 52 and to output those portions to the offshore station16, via the external data folder 42.

[0074] The raw data 52 are also provided to an automatic quality determination and data processing engine 54. This engine 54 is controlled by the controller 48 and takes additional control inputs from the processing system parameter data 44 and defined coverage data 46 maintained in the project data storage space 36.

[0075] Engine 54 processes the raw data 52 according to its various control inputs, for example, by large area mosaic generation. Engine 54 thus produces a low-resolution output 56 and a high-resolution output 58, both of which are also stored in the project data storage space 36. The processed low-resolution output and high-resolution output 56, 58 provide substantially full coverage of the inspection results produced by the mission, at their respective resolutions.

[0076] Engine 54 also produces process quality report data 60, which is also stored in the project data storage space 36 to be admitted to the offshore station 16, via the external data folder 42.

[0077] If an SME 32 is stationed offshore aboard the ROV 14 support vessel shown in Figure 1, this SME 32 can have local data access on 62 for processed high-resolution output 58 and related process quality report data / data 60.

[0078] Returning to Figure 2b, this shows the storage system Petition 870200114719, dated 10 / 09 / 2020, page 21 / 41 19 / 25 Land-based data storage and processing 30 in detail. Similar to the offshore system 28 of the ROV support vessel 14, the land-based system 30 comprises local data storage 64 which is divided into a project data storage space 66 and a shared folder space 68.

[0079] Shared folder space 68 provides data transmitted to and from the corresponding offshore system 28. Thus, shared folder space 68 contains an external data folder 70 for output data to be sent to the offshore system 28 via satellite 12, and an internal data folder 72 for input data received from the offshore system 28 via satellite 12.

[0080] The external data folder 70 may, for example, contain control data for transfer to the offshore system 28, this data belonging to processing parameters such as resolution or geographical or temporal parameters. The control data may also prescribe limits for defining coverage and any additional search requirements. The processing system parameter data 44 and the defined coverage data 46 are stored in the project data storage space 66, ready for transfer to the external data folder 70.

[0081] Internal data folder 72 receives core output data from the offshore system 28. The core output data comprises a processed low-resolution data output 56, providing full coverage of the mission objective. As noted earlier, the core output data may also comprise a high-resolution data output 58 and / or a raw unprocessed data output 52 that provide partial coverage of the mission objective, which originate from the system Petition 870200114719, dated 10 / 09 / 2020, page 22 / 41 20 / 25 offshore, 28 for the onshore station, 16 selectively, on demand.

[0082] Low-resolution data output 56, high-resolution data output 58, and raw unprocessed data output 52, are transferred from the internal data folder 72 to be maintained in the project data storage space 66.

[0083] The internal data folder 72 can also contain: data / process quality report data 60 related to processing performed by determining the quality and data processing engine 54 of the offshore system 28 in production in low-resolution data output and high-resolution data output 56, 58; and other output data, such as processing system parameter data 44, or defined coverage data 46, as used in processing by the offshore system 28.

[0084] Process quality report data 60, Processing system parameter data 44, and defined coverage data 46 are transferred from the internal data folder 72 to be maintained in the project data storage space 66.

[0085] A controller 74 responds to commands received from SMEs 32 at the land station 16.

[0086] Controller 74 can receive commands and provide feedback to an SME 32 via a graphical panel interface.

[0087] Controller 74 controls data transfers between the project data storage space 66 and the shared folder space 68 of the local data storage 64. In particular, controller 74 transfers the processing system parameter data 44 and the defined coverage data 46 in the external data folder 72 for transmission, via satellite 12, to the offshore system 28.

[0088] In addition to the ground system control 30, the control Petition 870200114719, dated 10 / 09 / 2020, page 23 / 41 Controller 74 controls offshore system 28 by issuing requests to the offshore system controller 48. Such requests may be for specific sections of high-resolution data outputs 58, and / or raw unprocessed data outputs 52, defined with reference to geographic and / or temporal parameters. Controller 74 and controller 48 also send and receive trigger signals and status messages or signals to and from each other.

[0089] As noted above, data distribution and decision-making can be distributed across a group of separately located SMEs 32. For this proposal, the ground system 30 comprises a web server 76 that communicates with one or more web access modules 78, via a communication network, such as the Internet 80, as shown in Figure 2c. The web access module 78 also communicates via the Internet 80 with the controller 74.

[0090] The web access module 78 shown in Figure 2c in turn communicates with remote viewers 82, which can use tablets 84, smartphones 86, or other web access devices, to interact with the ground system 30, via the web server 76. The web access module 78 also communicates with one or more remote SMEs 32, which can use a computer 88 as a web access device to interact with the ground system 30, via the web server 76.

[0091] In this way, remote viewers 82 and remote SMEs can send commands and requests, via the web access module 78 to the controller 74, and from there to the controller 48 of the offshore system 28. By sending the data, via the web access module 78 and the web server 76, remote viewers 82 and remote SMEs 32 can also update the parameter data of the processing system 44 and the defined coverage data 46 Petition 870200114719, dated 10 / 09 / 2020, page 24 / 41 22 / 25 maintained in the project data storage space 66 of the ground system 30.

[0092] By way of summary, Figure 3 simplifies system 10 which is shown in sketch form in Figure 1 and in detail in Figures 2a, 2b and 2c. Similar numerals are used for similar parts. To simplify the presentation, some of the previously mentioned preferred, but optional, data flows are omitted from Figure 3, such as process quality data / reports, processing system parameters, defined coverage, trigger signals, and status messages.

[0093] Thus, Figure 3 shows an offshore system 28 interacting with a land-based system 30 via a low-bandwidth communication link 90, for example, via satellite 12 of Figure 1. The land-based system 30, in turn, interacts with at least one SME 32 or other operator. Specifically, the SME 32 receives information 92 from the land-based system 30 and responds with control inputs 94 to the land-based system 30. These control inputs 94 may, for example, be requests for specific sections of high-resolution data outputs 58, and / or raw unprocessed data outputs 52, defined with reference to geographic and / or temporal parameters. The land-based system 30, in turn, transmits corresponding control inputs 96 to the offshore system 28 via satellite 12 of Figure 1.

[0094] Figure 3 shows that mission data 50 from ROV 20 are received in the local data storage 34 of the offshore system 28 as raw data 52. In addition to being stored in the local data storage 34, the raw data 52 are processed in the automatic quality determination and data processing engine 54, to produce a low-resolution output 56 and a high-resolution output 58. These outputs 56, 58 can Petition 870200114719, dated 10 / 09 / 2020, page 25 / 41 23 / 25 will also be stored in the local data storage 34 before subsequent transmission to the ground system 30, via satellite 12 in Figure 1.

[0095] The low-resolution output 56 is transmitted to the onshore system 30 substantially continuously and in real time at a rate adapted to suit the available bandwidth of the satellite connection. For this proposal, the controller 48 of the offshore system 28 acting on the motor 54 receives control input from a bandwidth sensor 98 that detects and monitors the bandwidth available for data transfer, via the communication link 90. ​​The controller 48 instructs the motor 54 to adjust or adapt the data output rate of the low-resolution output 56 accordingly.

[0096] It is not essential that the low-resolution output 56 be stored in the local data storage 34 before its subsequent transmission to the onshore system 30.By controlling motor 54, according to the available bandwidth of communication link 90, as determined by bandwidth sensor 98, it would be possible instead for the low-resolution output 56 to be transmitted directly from motor 54 through communication link 90 to the ground system 30.

[0097] Conversely, if the low-resolution output 56 is stored in the local data storage 34, it would be possible for the controller 48 to adjust or adapt the transfer rate at which the local data storage 34 retrieves and releases the low-resolution output 56 for transmission through the communication link 90. ​​This may involve some additional processing of the stored low-resolution output 56, which processing is capable of being performed by the motor 54. Again, such processing will be in accordance with the available bandwidth of the communication link 90, as determined by the bandwidth sensor 98. Petition 870200114719, dated 10 / 09 / 2020, page 26 / 41 24 / 25

[0098] Appropriate portions of the raw data 52 and / or the high-resolution output 58 can be transmitted to the ground system 30 on demand. The low-resolution output 56 can then be interrupted or reduced in resolution or transfer rate to maximize the bandwidth of the satellite link that is available to carry the raw data 52, and / or the high-resolution output 58.

[0099] It will also be possible to adjust the resolution or transfer rate of the high-resolution output 58 to suit the available bandwidth of the communication link 90, as determined by the bandwidth sensor 98. Again, this may involve some additional processing of the stored high-resolution output 58, which processing is apt to be performed by the engine 54.

[00100] Other variations are possible within the inventive concept. For example, at least some mission data processing or storage 50 may occur on board the ROV 20. Also, an ROV is merely one example of a subsea inspection platform that can be used for the proposed invention. Another example of a subsea inspection platform is an AUV, or other underwater vehicle, which is typically unmanned, or a floating structure that is suspended from or towed by a surface support vessel. Thus, a subsea inspection platform need not be self-propelled.

[00101] In principle, some locations at sea may be close enough to the coast to be connected by high-bandwidth data links to land-based communications networks, such as the internet. In this way, the invention may have benefits not only between offshore and land locations, but also between offshore and near-shore locations.

[00102] For the purposes of this descriptive report, the distinction between Petition 870200114719, dated 10 / 09 / 2020, page 27 / 41 The difference between offshore and nearshore locations is that the latter can be connected to land-based communication networks by sufficiently high-bandwidth data connections to avoid the data transmission problems attributed by the invention. In contrast, such data transmission problems are incurred in an offshore location that cannot be connected to land-based communication networks by sufficiently high-bandwidth data connections. This may be because such connections cannot be made over long distances, either over the horizon or to a mobile platform, such as a surface vessel.

[00103] In other words, a surface vessel or static platform in a location near the coast may be related as substantially equivalent to a land-based installation in a broad sense of the invention, if this location near the coast is close enough to land to be connected to a land-based communication network by a high-bandwidth data connection. Such a data connection may be effected by a wired connection to a fixed installation, for example, a fiber optic cable, or by a wireless line-of-sight connection to a fixed or mobile platform. Petition 870200114719, dated 10 / 09 / 2020, p. 28 / 41

Claims

1 / 7 CLAIMS 1. Method for conducting remote underwater inspection of underwater structures (22), the method comprising: receiving mission data acquired by an underwater inspection platform (20); the method characterized in that it comprises processing the mission data at an offshore location (14) automatically and substantially in real time during a mission to produce a low-resolution image data output (56) and a high-resolution image data output (58); storing the high-resolution output (58) at the offshore location (14); and transmitting the low-resolution output (56) wirelessly via a communication link (12) between the offshore location (14) and a land-based location (16) or nearshore location automatically and substantially in real time during the mission.

2. Method according to claim 1, characterized in that it comprises: measuring the available bandwidth of the communication link; and transmitting the low-resolution output (56) through the communication link (12) from the offshore location (14) to the land location or location near the coast at a resolution automatically adjusted according to the available bandwidth of the communication link (12).

3. Method according to claim 2, characterized in that the mission data is processed to produce the low-resolution output (56) at a resolution adjusted according to the available bandwidth of the communication link (12). Petition 870200114719, dated 10 / 09 / 2020, p. 29 / 41 2 / 7 4. Method according to claim 2 or 3, characterized in that the low-resolution output (56) is retrieved from storage (28) at the offshore location (14) at a transfer rate adjusted according to the available bandwidth of the communication link (12).

5. Method, according to any one of claims 1 to 3, characterized in that it comprises storing the low-resolution output (56) at the offshore location (14) before its transmission via the communication link (12) to the land-based location or location near the coast (16).

6. Method, according to any of the preceding claims, characterized in that it comprises, in response to a command received at the offshore location (14): retrieving a selected portion of the high-resolution output (58) from storage (28) at the offshore location (14); and transmitting that selected portion of the high-resolution output (58) via the communication link (26) to the land-based location or location near the coast (16).

7. Method according to claim 6, characterized in that it comprises transmitting the selected portion of the high-resolution output (58) through the communication link (12) at a resolution or transfer rate automatically adjusted according to the available measured bandwidth of the communication link (12).

8. Method, according to any of the preceding claims, characterized in that it further comprises storing at the offshore location (14) raw inspection data (52) derived from mission data.

9. Method according to claim 8, characterized in that it comprises, in response to a command received in Petition 870200114719, dated 10 / 09 / 2020, page 30 / 41 3 / 7 offshore location (14): retrieving a selected portion of the raw inspection data (52) from the storage (28) at the offshore location (14); and transmitting that selected portion of the raw inspection data (52) via the communication link to the land-based location or nearshore location (16).

10. Method, according to any one of claims 6, 7 or 9, characterized in that it comprises, while transmitting the selected portion of the high-resolution output (58), or of the raw inspection data (52) through the communication link (12), automatically interrupting a transmission of the low-resolution output (56) through the communication link (12), or reducing the resolution (56), or transfer rate at which the low-resolution output is transmitted through the communication link (12).

11. Method, according to any one of claims 6, 7, 9 or 10, characterized in that the command is issued by an operator located at the land location or location near the coast (16), or in data communication with that location, via a land communication network, and is transmitted through the communication link to the offshore location (14).

12. Method according to claim 11, characterized in that the command is issued by one of a team of operators located at the land location or location near the coast (16), or in data communication with that location, via a land communication network.

13. Method, according to any one of claims 6, 7, 9 or 10, characterized in that the command is issued by an operator located at the offshore location Petition 870200114719, dated 10 / 09 / 2020, page 31 / 41 4 / 7 (14).

14. Method, according to any one of claims 6, 7 or 9 to 13, characterized in that the selected portion of the high-resolution output (58), or of the raw inspection data (52), is defined in the command with reference to geographic or temporal parameters.

15. Method, according to any of the preceding claims, characterized in that it comprises transmitting control signals via the communication link (12) from the land-based location or location near the coast (16) to the offshore location (14) to control the operation of, or to set subsequent operation of, the subsea inspection platform (20).

16. Method, according to any of the preceding claims, characterized in that it comprises transmitting via the communication link (12) from the offshore location (14) to the onshore location or location near the coast (16), process quality data / reports, or processing system parameters related to mission data processing.

17. A method, according to any of the preceding claims, characterized in that the mission data comprises a 3D sonar signal.

18. A method, according to any of the preceding claims, characterized in that the mission data comprises a video signal.

19. A method, according to any of the preceding claims, characterized in that the processing of mission data includes image mosaicking.

20. Offshore data processing system (28) for processing mission data acquired during underwater inspection of underwater structures (22), the system comprising: an onboard controller (48); the system characterized in that it further comprises a software engine (54) configured to process mission data automatically and substantially in real time during a mission to produce a low-resolution image data output (56), and a high-resolution image data output (58); an onboard memory (36) for storing the high-resolution output (58); and a wireless communication link (12) for transmitting the low-resolution output (56) to a land-based location or near-shore location (16) automatically and substantially in real time during the mission.

21. System according to claim 20, characterized in that it further comprises a submarine inspection platform (20) for acquiring mission data.

22. System according to claim 21, characterized in that the software engine (54) and the memory (36) are implemented on board the underwater inspection platform (20).

23. System according to claim 20 or 21, characterized in that the software engine and memory are implemented on board a surface ship or platform (14).

24. System, according to any one of claims 20 to 23, characterized in that it further comprises a bandwidth sensor (98) for measuring the bandwidth available on the communication link (12), wherein the controller (48) is responsive to the bandwidth sensor (98) to adjust the resolution of the low-resolution output (56) automatically according to the available bandwidth.

25. System according to claim 24, characterized in that the controller (48) acts on the software engine (54) to process the low-resolution output (56) according to the available bandwidth.

26. System according to claim 24, characterized in that the memory (36) also stores the low-resolution output (56), and the controller (48) acts on the memory (36) to retrieve the low-resolution output (56) from storage at a transfer rate according to the available bandwidth.

27. System according to any one of claims 20 to 26, characterized in that the controller (48) is responsive to external command to retrieve a selected portion of the high-resolution output (58) from memory (36), and to transmit that selected portion of the high-resolution output (58) through the communication link (12).

28. System, according to any one of claims 20 to 27, characterized in that the memory (36) also stores raw data (52) derived from the mission data, and the controller (48) is responsive to external command to retrieve a selected portion of the raw data (52) from the memory (36), and to transmit that selected portion of the raw data (52) through the communication link (12).

29. Marine communication system characterized in that it comprises the offshore data processing system as defined in any one of claims 20 to 28 situated at an offshore location (14), and one or more area specialists situated at an onshore location or location near the coast (16), the one or each area specialist receiving the low resolution output (56), via the communication link (12) substantially in real time, and selectively receiving a portion of the high resolution output (58), or raw data (52), in response to a command transmitted to the offshore location (14) via the communication link (12).

30. System according to claim 29, characterized in that the communication link (12) comprises a satellite link. Petition 870200114719, dated 10 / 09 / 2020, pp. 35 / 41

Images