Modularized underwater pipeline detection equipment

Abstract

Architecture and techniques disclosed herein are used to significantly improve the operation of an unmanned underwater vehicle (UUV). For example, UUVs may have modular interfaces that may be configured to interchangeably connect different types of sensors to facilitate different UUV applications to interchangeably connect different types of clamping devices that may be configured for different types or sizes of subsea pipelines. The UUV may also include a mother ship interface that may be used to exchange information and supply fluid to the clamping device. The UUV may include a PID controller that may be used to autonomously navigate to a target location of the subsea pipeline and to autonomously couple to the subsea pipeline via the gripping device.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefits of U.S. Provisional Patent Application No. 63 / 587,150, filed on October 1, 2023, entitled "Modular Underwater Pipeline Inspection Robot Based on Universal Wheels," the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure generally relates to a modular underwater pipeline inspection device, and more particularly to a modular unmanned underwater vehicle that can autonomously navigate to a target location of an underwater pipeline and securely connect thereto. Background Art

[0004] Remotely Operated Vehicles (ROVs) have long been a key tool in the development of subsea assets such as subsea oil fields. These ROVs can meet tasks such as inspection, repair and maintenance (IRM) of seabed infrastructure (including infrastructure used for oil and gas production), as well as deep-sea resource exploration for scientific research purposes. Recently, the use of ROVs has increased in a variety of commercial activities, each of which requires cost-effective operations such as underwater construction. The ROV operation market is considered to be quite conservative and has evolved with the changing technology requirements, with the aim of reducing the operating costs of ROVs and mother vessels (such as surface vessels that launch ROVs).

[0005] The advent of underwater robotics technology dates back to the 1980s, when ROVs emerged as integrated tools for underwater observation, surveying, maintenance, salvage, and other seabed scientific and technological applications. The definition and concept of ROVs are mainly elaborated by the United Nations Remotely Operated Vehicles Research Committee Guidelines (1984) and the United States National Research Council's Submersible Vehicles and National Requirements (1996). These entities facilitate the provision of professional infrastructure for underwater exploration robots and ROV companies and operators, with a focus on ensuring safe underwater working conditions, especially when these vehicles operate in hazardous marine environments.

[0006] The importance of ROVs and autonomous underwater vehicles (AUVs) has increased significantly, especially in the field of deep sea exploration. Their applications span all areas of the marine environment, involving the vast sea area of ​​the country, which accounts for about 70% of the total land area. The rich marine resources and resource exploration potential (especially in the South China Sea) have led to an increasing demand for ROV technology. From traditional shallow waters to deeper waters, ROVs have played an important role in underwater exploration and resource extraction activities.

[0007] For example, the 2017 exploration of the Blue Whale 1 by the China National Petroleum Corporation Aerospace Group marked a high-profile venture to drill for gas hydrates in the South China Sea. This activity heralded a global shift toward deep-sea exploration and joint mining efforts in China's eastern deep-sea territories, driving the rapid development of ROVs.

[0008] Pipeline crawling robots are mainly used in industrial production, cable testing, chemical industry and other fields due to their advantages of walking outside the pipeline. Pipeline robots are mainly divided into three types according to the way they hold the pipeline: bionic, mechanical holding, and gravity self-locking. According to the movement method, such as Figure 1 The mechanical holding robots shown in the figure can be divided into four subcategories, namely wheeled, tracked, pedal-operated and parallel mechanism types. Summary of the invention

[0009] The present disclosure provides an unmanned underwater vehicle, a device and a method.

[0010] According to a first aspect, an unmanned underwater vehicle (UUV) is provided, comprising: a sensor configured to determine conditions related to an underwater pipeline; and a modular interface structure connected to the underwater pipeline and comprising a first interface for the sensor and a second interface for the underwater pipeline, wherein the first interface comprises a set of sensor interfaces configured to support the addition of at least one sensor from a customizable sensor group including sensors, and wherein the second interface is configured to interchangeably connect a clamping device from a set of different clamping devices, the clamping device comprising a robotic arm that is convenient for attachment to the underwater pipeline, and the length of the robotic arm is selected according to the size or type of the underwater pipeline.

[0011] According to a second aspect, a device is provided, comprising: an unmanned underwater vehicle (UUV), comprising a sensing device, the sensing device being configured to determine conditions related to an underwater conduit; and a pneumatic clamping device, being configured to be connected to the underwater conduit, the pneumatic clamping device comprising a compressed air interface, the compressed air interface being configured to connect to an air pipe from a surface vessel, and providing compressed air to the pneumatic clamping device via the air pipe, so as to facilitate attaching the UUV to the underwater conduit, or detaching the UUV from the underwater conduit.

[0012] According to a third aspect, a method is provided, comprising: connecting a first end of an air pipe through a device comprising at least one processor, a second end of the air pipe being connected to a mother ship, wherein the first end is connected at a clamp interface, the interface is engaged with a clamp, and the clamp comprises at least one of a pneumatic clamp or a hydraulic clamp; navigating to a target position of an underwater conduit through the device via a proportional-integral-derived controller; and in response to reaching the target position, the device is connected to the underwater conduit using the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Many aspects, embodiments, objects and advantages of the present embodiments will become apparent from consideration of the following detailed description, taken in conjunction with the accompanying drawings, wherein like reference numerals refer to like parts, and wherein:

[0014] Figure 1 A graphical depiction of an example UUV indicative of a modular underwater pipeline inspection apparatus according to certain embodiments of the present disclosure is shown;

[0015] Figure 2A is a top down perspective view of a UUV illustrated via a side-by-side depiction of a schematic rendering of the UUV and an associated graphical depiction of the UUV, in accordance with certain embodiments of the present disclosure.

[0016] Figure 2B is a side perspective view of a UUV illustrated via a side-by-side depiction of a schematic rendering of the UUV and an associated graphical depiction of the UUV, in accordance with certain embodiments of the present disclosure.

[0017] Figure 2C is a front perspective view of a UUV shown via a side-by-side depiction of a schematic rendering of the UUV and an associated graphical depiction of the UUV, in accordance with certain embodiments of the present disclosure.

[0018] Figure 3 A graphical depiction of an example UUV indicating a modular underwater pipeline inspection device attached to an underwater pipeline is shown according to certain embodiments of the present disclosure;

[0019] Figure 4 shows an example graphical depiction of an example caster wheel assembly located on a UUV according to certain embodiments of the present disclosure;

[0020] Figure 5 An example idealized schematic diagram of an example driving wheel of an example caster assembly according to certain embodiments of the present disclosure is shown;

[0021] Figure 6 An example idealized schematic diagram of an example passive wheel of an example universal wheel assembly according to certain embodiments of the present disclosure is shown;

[0022] Figure 7Depicted is an example schematic block diagram showing an example UUV with interfaces for custom sensors and gripping devices, and interfaces for connecting fluid tubes to a mother vessel, in accordance with certain embodiments of the present disclosure.

[0023] Figure 8 An example method by which a target location of an underwater tube may be navigated to via a PID controller according to certain embodiments of the present disclosure is shown;

[0024] Fig. 9 An example method that may provide additional aspects or related elements for navigating to a target location of an underwater tube via a PID controller according to certain embodiments of the present disclosure is shown; and

[0025] Fig.10 An example block diagram of a computer operable to perform certain embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0026] Overview

[0027] ROV technology has undergone a tremendous evolution, with initial designs primarily focused on observation capabilities. However, as the demands of the underwater oil and gas sector continue to expand, work-class ROVs have become indispensable. These machines have played a key role in scientific surveys, underwater oil and gas drilling, pipeline inspection, and maintenance of marine engineering projects, especially in the South China Sea, where gas hydrate exploration has been successful. ROVs and unmanned underwater vehicles (UUVs), including autonomous underwater exploration robots, have been widely used in various fields of the marine environment. For example, in 2017, the China National Petroleum Corporation Aerospace Corporation successfully conducted exploratory drilling and trial mining of methane hydrates in a discharge pipeline located in the South China Sea using the "Blue Whale 1" Aerospace Deep Sea Oil and Gas Drilling Joint Natural Gas Exploration Platform for the first time.

[0028] Despite these advances, several challenges remain in the field of underwater robotics. One of the major issues is that most ROVs do not have a steady-state adjustment system, requiring manual intervention to secure them to the pipeline, which escalates operational costs and associated risks. Due to the lack of a stable anchoring mechanism, existing drones can easily detach from the pipeline due to strong currents, limiting inspections to a small portion of the forward path. This manual intervention of attachment or reattachment increases the cost and risk factors associated with underwater operations.

[0029] In addition, due to material, communication and other technical limitations, many small ROVs have a depth limit of about 100 meters, which restricts their ability to operate in deeper waters. In addition, the monopoly of the market and related technologies of underwater pipeline inspection robots by certain countries such as Germany, Japan and the United States also poses challenges to the promotion of the technology, making it too expensive and limiting its widespread adoption.

[0030] Furthermore, robots are easily affected by ocean currents. Previously produced robots lacked a fixed structure and were therefore easily affected by ocean currents and wind and waves during inspections, causing them to become detached from the pipeline.

[0031] More broadly, as the ROV operating market is traditional and somewhat conservative, there is a need to significantly reduce operating costs, especially those related to mother vessel fees and personnel costs, to promote widespread deployment and advancement of ROV technology. Despite these obstacles, the continued maturation of unmanned aerial vehicle technology around the world suggests a promising path to address some of the identified challenges facing ROV technology.

[0032] With the recent rapid expansion of the offshore oil industry, there is an urgent need for advanced monitoring and maintenance systems to ensure operational safety and ecological protection. The marine environment is complex and characterized by significant changes in seabed topography, which poses a huge threat to subsea pipelines. A major challenge is the inevitable deformation of the seabed caused by ocean currents, tides and eddies, which leads to the formation of suspended spans along the subsea pipelines. These phenomena can cause the pipeline section to lose support, affecting its structural integrity during the operational phase and potentially endangering the marine ecological environment.

[0033] In certain embodiments, the disclosed subject matter is intended to overcome the above-mentioned problems and challenges associated with UUVs and underwater pipeline inspection. For example, the disclosed UUV can have a modular design so that a set of customizable sensors or other equipment can be attached to the UUV to facilitate a variety of different applications and / or uses. Likewise, the UUV can include a modular clamping interface to facilitate attachment or coupling to various types or sizes of underwater pipes or underwater conduits and to facilitate the addition of other equipment, such as pipeline maintenance equipment.

[0034] For example, the UUV may be equipped with a crawling mechanism, a navigation device, a gripping assembly, and a robust hydraulic or pneumatic system to ensure that the UUV remains stable underwater and to achieve a secure fit against the pipe wall during the pipe crossing or "crawling" operation. The hydraulic or pneumatic system may be connected to a mother ship via a fluid line or conduit supply, and the mother ship supplies fluid, such as hydraulic fluid or compressed air, to the gripping assembly. The fluid line may also serve as a communication line for data transmission between the UUV and the mother ship, for example, via a housing, Ethernet, or fiber optic cable.

[0035] In addition, the UUV may include a set of thrusters to facilitate omnidirectional movement underwater. By utilizing a proportional-integral-derivative (PID) controller, etc., the UUV may autonomously navigate to a target location of an underwater pipeline and may autonomously attach to the underwater pipeline at the target location, and navigation may be accurately achieved via the PID controller despite potential underwater currents or other environmental factors that may affect navigation. This may reduce or eliminate the need for manual attachment to an underwater pipeline.

[0036] Once attached to an underwater pipeline (e.g., via a hydraulic or pneumatic clamp), the underwater pipeline can be traversed and detected by utilizing a customizable sensor set. In certain embodiments, the underwater pipeline can be traversed via a universal wheel along the length of the pipeline or by rotating around the pipeline.

[0037] Thus, the disclosed UUV can overcome many challenges faced by existing UUVs. For example, the disclosed UUV can engage with an underwater pipeline more securely (e.g., via hydraulic or pneumatic clamps), allowing the UUV to remain connected to the underwater pipeline in the face of strong sea or ocean currents, wind, or pipeline corrosion / erosion. Compared to existing UUVs, the disclosed UUV can navigate around the entire circumference of an underwater pipeline (e.g., via universal wheels) and can traverse longer lengths, potentially at greater depths.

[0038] In addition, existing UUVs cannot accurately sneak near the pipeline, may not be able to identify and measure the distance to the pipeline, and cannot detect pipelines of different diameters. As described above, the disclosed UUV can alleviate these difficulties. In this regard, the disclosed UUV can combine multiple features and design improvements, including: using a mechanical arm to clamp onto the pipeline, using PID steady-state regulation, deploying a universal wheel-based mobile platform to achieve 360° rotation around the pipeline, integrating GPS positioning, using stereoscopic visual recognition, and using a modular design that facilitates changing the length of the mechanical arm and adding other structures to achieve different functions, which will be further described below.

[0039] Example System

[0040] The disclosed subject matter is now described with reference to the accompanying drawings, wherein the same reference numerals are used to refer to the same elements throughout the text. In the following description, for the purpose of illustration, many specific details are set forth to provide a thorough understanding of the disclosed subject matter. However, it is apparent that the disclosed subject matter can be implemented without these specific details. In other examples, known structures and devices are shown in block diagram form to facilitate the description of the disclosed subject matter.

[0041] Figure 1-Figure 6Various views of an example UUV 100 are depicted and are intended to be provided for reference only. Figure 1 , according to certain embodiments of the present disclosure, a graphical depiction of an example UUV 100 indicating a modular underwater pipeline detection device is shown. As shown, the UUV 100 may include one or more sensors 102 configured to determine the underwater pipeline (e.g., Figure 3 The sensor 102 may be any suitable sensor that measures a physical quantity or receives input of a physical phenomenon. The illustrated example of the sensor 102 is a camera device suitable for obtaining stereoscopic vision, but many other sensors 102 may be used, such as infrared cameras, microphones, pressure sensors, temperature sensors, sonar sensors, conductivity sensors, magnetometers, acoustic Doppler current profiler devices, pH sensors, turbidity sensors, electrochemical sensors, laser or lidar scanners, radiation detectors, strain gauges, fiber optic sensors, gas detectors, oxidation detectors, organic material detectors, resource / leak detectors, fluorescence sensors, hydrophone arrays, etc.

[0042] The UUV 100 may also include a modular interface structure 110. The modular interface structure 110 may be coupled to the UUV 100 (or be a part of the UUV 100) and may represent a dedicated frame or housing of the UUV 100 configured to support modular attachment of various devices or interfaces. For example, the modular interface structure 110 may include a first interface 112 for a sensor interface of the UUV 112 and a second interface 114 for engaging with the underwater pipe 302.

[0043] The first interface 112 may include a set of sensor interfaces configured to support the addition of at least one set of customizable sensors 102. The second interface 114 may be configured to interchangeably connect a gripping device 116 from a set of different gripping devices. The gripping device 116 may include a mechanical arm 118 that facilitates attachment to the underwater pipe 302. The length 118L of the mechanical arm 118 may be selected based on the size or type of the underwater pipe 302.

[0044] The UUV 100 may also include one or more thrusters 120. The thrusters 120 may be configured to provide thrust to the UUV 100 to facilitate navigation or propulsion in the water. The thrusters 120 may be configured to provide thrust in both vertical and horizontal directions, for example based on the orientation of the hull or blades. As shown, the thrusters 120 may be used to navigate the UUV 110 to a target location of the underwater pipe 302, thereby alleviating or eliminating the need to manually place the UUV 100.

[0045] Figure 2Ais a top perspective view of a UUV 100 illustrated via a side-by-side depiction 200A of a schematic rendering of the UUV 100 and an associated graphical depiction of the UUV 100 , in accordance with certain embodiments of the present disclosure.

[0046] Figure 2B is a side perspective view of a UUV 100 illustrated via a side-by-side depiction 200B of a schematic rendering of the UUV 100 and an associated graphical depiction of the UUV 100 , in accordance with certain embodiments of the present disclosure.

[0047] Figure 2C is a front perspective view of a UUV 100 illustrated via a side-by-side depiction 200C of a schematic rendering of the UUV 100 and an associated graphical depiction of the UUV 100 , in accordance with certain embodiments of the present disclosure.

[0048] Figure 3 A graphical depiction 300 of an example UUV 100 indicating a modular underwater pipeline inspection apparatus in which the UUV 100 is attached to an underwater pipeline 302 is shown, in accordance with certain embodiments of the present disclosure.

[0049] As shown, once attached to the underwater pipeline 302, the UUV 100 can securely navigate and detect any suitable portion of the underwater pipeline 302. For example, as shown by the rotation direction 304, the UUV 100 can be securely rotated around the underwater pipeline 302. In some embodiments, the rotation direction 304 can extend a full 360 degrees around the underwater pipeline 302. In addition, the UUV 100 can also securely traverse the length of the underwater pipeline 302 as shown by the axial direction 306.

[0050] In some embodiments, both the rotational direction 304 and the axial direction 306 can be achieved by a universal wheel assembly or device, which will be combined with Figure 4-Figure 6 Further details.

[0051] For example, Figure 4 An example graphical depiction 400 of an example universal wheel assembly 402 located on a UUV 100 is shown in accordance with certain embodiments of the present disclosure. As described above, the thruster 120 can be used to navigate the UUV 100 omnidirectionally through the water to a target location of the underwater pipeline 302. At the target location, the gripping device 116 can be engaged to securely couple the UUV 100 to the underwater pipeline 302. Once coupled to the underwater pipeline 302, the universal wheel assembly 402 can be used to traverse the underwater pipeline 302, an example of which will be described below in conjunction with Figure 5 and Figure 6 Further details.

[0052] Figure 5An example idealized schematic diagram of an example capstan 500 of an example caster assembly 402 is shown in accordance with certain embodiments of the present disclosure.

[0053] Figure 6 An idealized schematic diagram of an example passive wheel 600 of an example caster assembly 402 is shown in accordance with certain embodiments of the present disclosure.

[0054] The driving wheel 500 and the passive wheel 600 can jointly facilitate the underwater pipeline 302 to rotate axially and move laterally. Such a design can enable the UUV100 to move along or around the underwater pipeline 302 efficiently and stably. The combination of the driving wheel 500 and the passive wheel 600 can provide enhanced driving force and flexibility. For example, the passive wheel 600 may include a roller 602. In some embodiments, the roller 602 may be a rubber-coated element. The roller 602 may be arranged at an angle to the main wheel axis. The roller 602 may allow for lateral movement and positioning fine-tuning without active steering input. In this way, it is convenient to navigate smoothly along the curved or straight portion of the underwater pipeline 302. During detection or other operations, the roller 602 can further maintain the stability and fit of the UUV100 to the underwater pipeline 302, thereby utilizing passive power to enhance the maneuverability of the UUV100 and reduce energy consumption.

[0055] Reference Figure 7 , depicting a schematic block diagram 700 showing an example UUV 700 according to certain embodiments of the present disclosure. UUV 700 may include all or part of the elements associated with UUV 100, as well as other elements associated with UUV 100 that have not been described in detail. For example, in certain embodiments, UUV 700 may include a processor 702, which may be configured specifically for use with the UUV. The device 700 may also include a memory 704 storing executable instructions, which, when executed by the processor 702, may facilitate the execution of operations. The device 700 may also include a navigation device 706, which may be configured to provide outputs suitable for navigation and related control, particularly in underwater navigation where ocean currents and other environmental factors may affect navigation. For example, the navigation device 706 may be or may use a PID controller.

[0056] The processor 702 may be a hardware processor having known structural elements associated with a processing unit or circuit, and various operations of the processor 702 are represented by functional elements shown in the figures herein, which may require dedicated instructions, such as instructions stored in the memory 704 and / or the navigation device 706. Together with these dedicated instructions, the processor 702 and / or the navigation device 706 may be a dedicated device. More examples of the memory 704 and the processor 702 may be referred to Fig.10It is understood that UUV700 or computer 1002 may represent a server device or a client device and may be used to implement Figure 7 One or more systems, devices, or components shown and described in connection with other figures disclosed herein.

[0057] In some embodiments, the UUV 700 may include a modular interface structure 708 (e.g., Figure 1 As shown, the modular interface structure 708 can be coupled to the UUV 700 and can provide a plurality of different configurable and / or customizable interfaces for use by the UUV 700, such as customizing the UUV 700 for a variety of different uses or applications.

[0058] For example, the modular interface structure 708 may include a first interface 708A (e.g., the first interface 112). The first interface 708A may include any suitable combination of customizable sensors 710 (e.g., sensors 102). The modular interface structure 708 may also include a second interface 708B (e.g., the second interface 114). The second interface 708B may be configured to interchangeably connect a customizable pipe clamp 712 (e.g., the clamping device 116) from a set of different customizable pipe clamps 712. The customizable pipe clamp 712 may include a mechanical arm (e.g., the mechanical arm 118) whose length (e.g., the length 118L) is selected according to the size or type of a specified underwater pipe (e.g., the underwater pipeline 302). In some embodiments, the second interface 708B may include an interface for other equipment (OE) 714 (such as maintenance equipment, etc.), which will be further described below.

[0059] In some embodiments, the customizable pipe clamp 712 may be a hydraulic clamp 712A. In some embodiments, the customizable pipe clamp 712 may be a pneumatic clamp 712B or other suitable type of clamp. Regardless, it will be appreciated that the customizable pipe clamp 712 may be more securely attached to the underwater pipe than other similar UUVs, thereby ensuring that the UUV 700 remains attached to the underwater pipe in the face of forces common in offshore or marine environments that may cause other UUVs to lose contact with the underwater pipe (e.g., strong currents, wind, waves, etc.).

[0060] In this regard, the modular interface structure 708 may also include a mother ship interface 708C. The mother ship interface 708C may be configured to connect a fluid pipe 714. For example, the fluid pipe 714 may extend from a mother ship (e.g., a surface vessel) to the UUV 700. Depending on the implementation, the fluid pipe 714 may include a hydraulic fluid 714A, compressed air 714B, or other suitable fluids. In an implementation of the hydraulic clamp 712A, the fluid pipe 714 may include a hydraulic fluid 714A; or in an implementation using a pneumatic clamp 712B, the fluid pipe 714 may include compressed air 714B.

[0061] Regardless, the contents of the fluid tube 714 can be introduced into the customizable tube fixture 712 via the mother ship interface 708C and / or the modular interface structure 708. In some embodiments, the fluid tube 714 can also include a communication cable, such as Ethernet, optical fiber, or other suitable communication medium. In some embodiments, the fluid medium can be located in a separate chamber or conduit relative to the communication medium.

[0062] As shown at reference numeral 716, in some embodiments, the UUV 700 (e.g., via the communication medium of the fluid tube 714 and / or the mother ship interface 708C) can receive Global Positioning Satellite (GPS) location data. It is understood that GPS signals are generally unable to penetrate seawater. Therefore, when navigating underwater, the UUV is generally unable to use GPS navigation, and therefore, other UUVs generally require manual deployment of the UUV at the target location and manual connection of the UUV to the underwater tube.

[0063] Therefore, the received GPS position data can indicate the position of the mother ship and / or the surface vessel, and the UUV 700 can be properly navigated to the target position of the underwater pipe using this information. For example, a PID controller can be used to perform steady-state regulation of the navigation process, even in the face of strong currents or winds. Similarly, in some embodiments, similar techniques can be used to accurately identify and measure the travel distance of the UUV and / or the distance to a specific part of the underwater pipe, which can provide accurate and reliable technical support for subsequent detection, maintenance, and monitoring.

[0064] As shown at reference numeral 718, the UUV 700 can thus autonomously navigate to the target location of the underwater tube. In this context, "autonomously" is intended to mean that the UUV 700 is navigated via a propeller (e.g., propeller 120) rather than being manually placed. "Autonomously" does not necessarily mean without manual control, as in some embodiments, remote control signals can be received to provide guidance.

[0065] After successfully autonomously navigating to the target location, the UUV 700 may autonomously clamp to the underwater pipe at 720. In other words, the UUV 700 may navigate to and clamp to the underwater pipe without relying on the presence of a diver or the like, but may perform these activities autonomously.

[0066] At reference numeral 722, after successfully attaching to the underwater pipe, the UUV 700 can crawl and inspect the underwater pipe. As previously described, this may involve rotating around the circumference of the underwater pipe (e.g., in the rotational direction 304) or traversing the length of the underwater pipe (e.g., in the axial direction 306). Detection can rely on all or part of the customizable sensors 710. For example, video data can be received from a stereo vision sensor or sensor array. In response to analysis of the video data, it can be determined that a maintenance operation 726 is recommended or otherwise indicated to be performed on certain portions of the underwater pipe.

[0067] At reference numeral 724, in some embodiments, the UUV 700 can perform a maintenance operation 726 on the underwater pipe. For example, the maintenance operation 726 can involve further monitoring or inspecting a portion of the underwater pipe, cleaning a portion of the underwater pipe, cutting or grinding a portion of the underwater pipe, etc. The maintenance operation 726 can also be performed using other equipment 714.

[0068] For a specific illustration of certain aspects of the UUV700, consider the following example scenario. Assume that at a surface control center (e.g., on a mother ship or in communication with a mother ship), a designated controller (e.g., a game controller such as a Sony Playstation2 controller) can assist in remote upper computer operations, while serial Ethernet technology can be used to seamlessly forward acquired data to the UUV's main control board via a network line (e.g., deployed through the mother ship interface 708C). Internally, the UUV700 can be powered by a rugged STM32 microcontroller as the core control chip, coordinating 10 three-phase brushless motors with 6 degrees of freedom, significantly enhancing the UUV's operability and operating efficiency. This sophisticated design can improve the safety of the offshore oil industry by ensuring reliable underwater pipeline detection, reducing operational hazards, and contributing to marine ecological protection.

[0069] The clamping system (e.g., customizable pipe clamp 712) can enhance stability by firmly attaching the UUV700 to the pipeline using a hydraulic or pneumatic manipulator, effectively counteracting the force exerted by seawater flowing at a speed of 10 knots or faster. This design can ensure stable operation at a depth of 200 meters or more below sea level, providing a solid solution for performing underwater missions in challenging marine environments. Despite strong underwater currents, this enhanced clamping system enables the UUV700 to maintain its position and operational efficiency, ensuring accurate and reliable data collection or inspection tasks along the seabed pipeline, thereby significantly broadening the robot's operating range in various underwater conditions while ensuring the safety and integrity of marine infrastructure.

[0070] By integrating the omnidirectional wheeled platform with the video subsystem, the inspection system can expand coverage, achieve large rotations at maximum angles, and increase the inspection range by 50%. Combined with universal wheel technology, it facilitates all-round movement, including forward movement, lateral displacement, diagonal crossing, and zero-radius rotation, enhancing space utilization and operational efficiency. The UUV700 uses the agility and flexibility provided by universal wheels to expertly navigate and adapt to complex underwater environments, ensuring thorough inspections of pipeline infrastructure. The video subsystem can further enrich the inspection process by providing real-time visual feedback to help accurately collect and analyze data. This fusion of omnidirectional mobility and visual monitoring significantly improves the capabilities and efficiency of underwater pipeline inspection activities.

[0071] For example, the propulsion system can use four horizontal thrusters 120 for directional adjustment and two vertical thrusters 120 for adjusting the rotation speed to establish an omnidirectional propulsion mode. This setup can be consistent with the path planning strategy and provide precise control and maneuverability as the UUV700 navigates through a predetermined route. By carefully adjusting the thrust generated by each propeller, the UUV700 can readily adapt to different underwater conditions and the geometry of pipeline infrastructure. This skilled propulsion system works in tandem with intelligent path planning to ensure accurate positioning and adherence to the outlined inspection path, significantly improving the reliability and effectiveness of the inspection process and paving the way for more accurate data collection and analysis during underwater pipeline inspection operations.

[0072] The use of modular concepts can expand or enrich the applicability of the UUV700. This modular design can promote versatility, diversified specifications, small batch capabilities and complexity. By interchanging the modules on the robotic arm, a series of dedicated tasks can be skillfully performed, thereby expanding the operating range of the UUV700 to meet diverse underwater pipeline inspection and maintenance needs. For example, the Smartrak pipeline inspection module enables careful monitoring and data collection, the underwater pipeline light brush module provides a means for cleaning and preparing the pipeline surface, and the rope saw pipeline cutting module facilitates precise and efficient underwater pipe cutting tasks. This modular approach highlights the essence of modularity, which is to enhance the diversity of functions and be ready to respond to various tasks at any time, thereby demonstrating a high degree of adaptability to complex underwater operation challenges.

[0073] The UUV700 is potentially based on a universal wheel system, and can adopt a semi-enclosed structure, using a clamping mechanism to firmly clamp the underwater pipeline. The UUV700 can achieve circumferential and axial movement of the pipeline through active universal wheels and passive omnidirectional wheel systems. Through 10 underwater motors as the power source of 6 degrees of freedom underwater, and the use of sensors combined with automatic control systems for automated operation, the UUV700 completes specific tasks through the well-coordinated interaction of various mechanisms and systems (including hardware and software). The power supply can be supplied by two sets of 4S model aircraft lithium batteries, and the air source is provided by the surface vessel. Signal cables and air pipes can establish a connection between the surface vessel and the pipeline detection UUV700.

[0074] The communication system includes a remote control handle, a receiver, a main control chip, a serial Ethernet module, and an Ethernet cable. The signal from the Sony PS2 controller is transmitted to the paired receiver, which is connected to the microcontroller and forwards the key values ​​of the controller buttons to the main control board. The main control board at the sea surface robot control center transmits the data collected by the receiver to the serial Ethernet module through the TXD and RXD pins of the serial port. Finally, through the Ethernet cable, the signal from the controller is transmitted to the UUV700 main control chip to further utilize the transmitted data and establish a solid and reliable communication channel for efficient underwater detection operations.

[0075] Example Method

[0076] Figure 8 and Fig. 9Various methods according to the disclosed subject matter are shown. Although these methods are shown and described as a series of behaviors for the sake of simplicity of explanation, it should be understood that the disclosed subject matter is not limited by the order of behaviors, because some behaviors may occur in different orders and / or occur simultaneously with other behaviors shown and described herein. For example, it will be understood and appreciated by those skilled in the art that a method may also be alternatively represented as a series of interrelated states or events, such as a state diagram. In addition, not all the behaviors shown are necessary according to the disclosed subject matter implementation method. In addition, it should be further understood that the disclosed method can be stored on a manufactured article hereinafter and throughout this specification so that these methods can be transported and transmitted to a computer.

[0077] Reference Figure 8 , depicting an exemplary method 800. According to certain embodiments of the present disclosure, method 800 may navigate to a target location of an underwater tube via a PID controller. Although method 800 describes a complete method, in certain embodiments, method 800 may include one or more elements of method 900, as shown in embedded label A.

[0078] At reference numeral 802, a device including at least one processor can be connected to a first end of an air tube, a second end of which is coupled to a mother ship. In some embodiments, the first end can be connected at a clamp interface, which is coupled to a clamp, the clamp including at least one of a pneumatic clamp or a hydraulic clamp.

[0079] At reference numeral 804, the device can navigate to the target position of the underwater tube via a proportional-integral-derived controller. In some embodiments, this can be based on GPS position data associated with a mother ship or suitable surface vessel.

[0080] At reference numeral 806, in response to reaching the target position, the device can be coupled to the underwater pipe using a clamp. In some embodiments, the clamp can be activated by a remote control signal or an onboard sensor to identify the correct position and / or alignment. A hydraulic or pneumatic clamp can provide a secure connection in the face of significant environmental factors that may cause the device to fall off the underwater pipe. Method 800 can terminate or continue with embedding tag A, which will be combined with Fig. 9 Further details.

[0081] Now turn to reference Fig. 9 , depicting an exemplary method 900. The method 900 may provide additional aspects or related elements for navigating to a target location of an underwater tube via a PID controller according to certain embodiments of the present disclosure.

[0082] At reference numeral 902, the apparatus introduced at reference numeral 802 includes at least one processor operable to operate a pipeline crossing apparatus to traverse along a length of an underwater pipe or around a circumference of an underwater pipe. In certain embodiments, the pipeline crossing apparatus may include a universal wheel apparatus or device.

[0083] At reference numeral 904, the device may activate a sensor device configured to determine the status of the underwater tube. In some embodiments, the sensor device may include a camera or related array, which may, for example, provide stereoscopic vision. The sensor device may include other suitable sensors.

[0084] At reference numeral 906, in response to determining that the condition of the underwater pipe is capable of being improved according to the defined improvement criteria, a maintenance device is operated by the device, the maintenance device being configured to improve the condition of the underwater pipe according to the defined improvement criteria. For example, this may include further monitoring, cleaning, grinding, grinding, cutting, etc.

[0085] Example operating environment

[0086] In order to provide additional background information for the various embodiments described herein, Fig.10 The following discussion is intended to provide a brief, general description of a suitable computing environment 1000 in which various embodiments of the embodiments described herein may be implemented. Although the embodiments have been described in the general context of computer-executable instructions that may be executed on one or more computers, those skilled in the art will recognize that the embodiments may also be implemented in conjunction with other program modules and / or as a combination of hardware and software.

[0087] Generally speaking, program modules include routines, programs, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In addition, those skilled in the art will understand that the various methods can be implemented by other computer system configurations, including single-processor or multi-processor computer systems, microcomputers, mainframe computers, Internet of Things (IoT) devices, distributed computing systems, as well as personal computers, handheld computing devices, microprocessor-based or programmable consumer electronics, etc., each of which can be operatively connected to one or more related devices.

[0088] The illustrated embodiments of the embodiments described herein can also be implemented in distributed computing environments where certain tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

[0089] Computing devices typically include various media, which may include computer-readable storage media, machine-readable storage media, and / or communication media, and the two terms are used differently in this article as follows. Computer-readable storage media or machine-readable storage media can be any available storage media that can be accessed by a computer, including volatile media and non-volatile media, removable media and non-removable media. By way of example and not limitation, computer-readable storage media or machine-readable storage media can be implemented in conjunction with any method or technology to store information such as computer-readable instructions or machine-readable instructions, program modules, structured data or unstructured data.

[0090] Computer readable storage media may include, but are not limited to, random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other storage technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD), Blu-ray Disc (BD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, solid state drives or other solid state storage devices, or other tangible and / or non-transitory media that can be used to store the desired information. In this regard, the terms "tangible" or "non-transitory" as applied to storage, memory or computer readable media herein should be understood to exclude only the transmission of temporary signals themselves from the modifier, and do not disclaim the right to all standard storage, memory or computer readable media that not only transmit temporary signals themselves.

[0091] One or more local or remote computing devices may access the computer-readable storage medium, for example, via access requests, queries, or other data retrieval protocols, and perform various operations on the information stored by the medium.

[0092] Communication media typically embodies computer readable instructions, data structures, program modules, or other structured or unstructured data in a data signal, such as a modulated data signal, for example, a carrier wave or other transport mechanism, and includes any information delivery or transport media. The term "modulated data signal" or "signal" refers to a signal that has one or more characteristics set or changed so as to encode information in one or more signals. By way of example and not limitation, communication media includes wired media, such as a wired network or direct wired connection, and wireless media, such as acoustic, radio frequency, infrared and other wireless media.

[0093] Reference again Fig.10 , an example environment 1000 for implementing various embodiments of various aspects described herein includes a computer 1002, which includes a processing unit 1004, a system memory 1006, and a system bus 1008. The system bus 1008 couples system components (including but not limited to the system memory 1006) to the processing unit 1004. The processing unit 1004 can be any of a variety of commercially available processors. Dual microprocessors and other multi-processor architectures can also be used as the processing unit 1004.

[0094] The system bus 1008 may be any of several types of bus structures, and it may use any of a variety of commercially available bus architectures, further interconnecting a memory bus (with or without a memory controller), a peripheral bus, and a local bus. The system memory 1006 includes a ROM 1010 and a RAM 1012. The Basic Input / Output System (BIOS) may be stored in a non-volatile memory such as a ROM, an Erasable Programmable Read Only Memory (EPROM), or an Electrically Erasable Programmable Read Only Memory (EEPROM), wherein the BIOS contains basic routines that help transfer information between elements within the computer 1002, such as during startup. The RAM 1012 may also include a high-speed RAM, such as a static RAM for caching data.

[0095] The computer 1002 also includes an internal hard disk drive (HDD) 1014 (e.g., EIDE, SATA), one or more external storage devices 1016 (e.g., magnetic floppy disk drive (FDD) 1016, memory stick or flash drive reader, memory card reader, etc.), and an optical drive 1020 (e.g., can read or write from a CD-ROM, DVD, BD, etc.). Although the internal HDD 1014 is shown to be located in the computer 1002, the internal hard disk 1014 can also be configured in a suitable chassis (not shown) for external use. In addition, although not shown in the environment 1000, a solid state drive (SSD) can be used as a supplement or replacement for the HDD 1014. The HDD 1014, the external storage device 1016, and the optical drive 1020 can be connected to the system bus 1008 via a HDD interface 1024, an external storage interface 1026, and an optical drive interface 1028, respectively. The interface 1024 for external drive implementation may include at least one or both of Universal Serial Bus (USB) and Institute of Electrical and Electronics Engineers (IEEE) 1094 interface technologies. Other external drive connection technologies are also within the contemplation scope of the embodiments described herein.

[0096] The drives and their associated computer-readable storage media provide non-volatile storage of data, data structures, computer-executable instructions, etc. For the computer 1002, the drives and storage media accommodate the storage of data in any suitable digital format. Although the above description of computer-readable storage media refers to various types of storage devices, it should be understood by those skilled in the art that other types of computer-readable storage media, whether existing or developed in the future, may also be used in this example operating environment, and any such storage media may contain computer-executable instructions for performing the methods described herein.

[0097] Many program modules may be stored in the drives and RAM 1012, including an operating system 1030, one or more application programs 1032, other program modules 1034, and program data 1036. All or portions of the operating system, application programs, modules, and / or data may also be cached in RAM 1012. The systems and methods described herein may be implemented using various commercially available operating systems or combinations of operating systems.

[0098] Computer 1002 may optionally include emulation technology. For example, a hypervisor (not shown) or other intermediary may emulate the hardware environment of operating system 1030, and the emulated hardware may optionally be different from the hardware in the operating system. Fig.10 . In such an embodiment, the operating system 1030 may include one of the multiple virtual machines (VM) hosted by the computer 1002. In addition, the operating system 1030 may provide a runtime environment, such as a Java runtime environment or a .NET framework, for the application 1032. The runtime environment is a consistent execution environment that allows the application 1032 to run on any operating system that includes a runtime environment. Similarly, the operating system 1030 may support containers, and the application 1032 may take the form of a container, which is a lightweight, independent, executable software package that includes, for example, code, runtime, system tools, system libraries, and settings for the application.

[0099] In addition, the computer 1002 may also be implemented with a security module, such as a Trusted Processing Module (TPM). For example, with a TPM, the boot component hashes the next timely boot component and waits for the result to match the security value before loading the next boot component. This process may be performed at any layer in the code execution stack of the computer 1002, for example, at the application execution layer or at the operating system (OS) kernel layer, thereby achieving security at any layer of code execution.

[0100] A user may enter commands and information into the computer 1002 through one or more wired / wireless input devices, such as a keyboard 1038, a touch screen 1040, and a pointing device such as a mouse 1042. Other input devices (not shown) may include a microphone, an infrared (IR) remote control, a radio frequency (RF) remote control or other remote control, a joystick, a virtual reality controller and / or a virtual reality headset, a game pad, a stylus, an image input device such as a camera, a gesture sensor input device, a visual movement sensor input device, an emotion or facial detection device, a biometric input device (e.g., a fingerprint or iris scanner), etc. These input devices and other input devices are typically connected to the processing unit 1004 through an input device interface 1044, which may be coupled to the system bus 1008, but may also be connected through other interfaces, such as a parallel port, an IEEE 1394 serial port, a game port, a USB port, an infrared port, a Interfaces, etc.

[0101] A monitor 1046 or other type of display device may also be connected to the system bus 1008 via an interface, such as a video adapter 1048. In addition to the monitor 1046, computers typically include other peripheral output devices (not shown), such as speakers, printers, and the like.

[0102] The computer 1002 can operate in a network environment, establishing logical connections with one or more remote computers (such as remote computer 1050) via wired and / or wireless communications. The remote computer 1050 can be a workstation, server computer, router, personal computer, portable computer, microprocessor-based entertainment device, peer device or other common network node, and typically includes many or all of the elements described with respect to the computer 1002, although only a memory / storage device 1052 is shown for simplicity. The depicted logical connections include wired / wireless connections to a local area network (LAN) 1054 and / or a larger network (e.g., a wide area network (WAN) 1056). Such LAN and WAN network environments are common in offices and companies, facilitating enterprise-wide computer networks, such as intranets, all of which can be connected to a global communication network, such as the Internet.

[0103] When used in a LAN network environment, the computer 1002 can be connected to the local network 1054 through a wired and / or wireless communication network interface or adapter 1058. The adapter 1058 can facilitate wired or wireless communication with the LAN 1054, and the LAN 1054 can also include a wireless access point (AP) disposed thereon for communicating with the adapter 1058 in a wireless mode.

[0104] When used in a WAN networking environment, the computer 1002 may include a modem 1060 or may be connected to a communication server on the WAN 1056 via other means to establish communications on the WAN 1056, such as through the Internet. The modem 1060 may be an internal or external device, and may be a wired or wireless device, and may be connected to the system bus 1008 via the input device interface 1044. In a network environment, program modules depicted relative to the computer 1002 or portions thereof may be stored in a remote memory / storage device 1052. It will be appreciated that the network connections shown are only examples, and other means of establishing a communications connection between computers may also be used.

[0105] When used in a LAN or WAN network environment, the computer 1002 can access a cloud storage system or other network-based storage system to supplement or replace the external storage device 1016 described above. In general, the connection between the computer 1002 and the cloud storage system can be established through the LAN 1054 or WAN 1056 (e.g., through the adapter 1058 or modem 1060, respectively). After the computer 1002 is connected to the relevant cloud storage system, the external storage interface 1026 can manage the storage provided by the cloud storage system with the help of the adapter 1058 and / or the modem 1060, just like managing other types of external storage. For example, the external storage interface 1026 can be configured to provide access to cloud storage sources as if these storage sources were physically connected to the computer 1002.

[0106] The computer 1002 may be operable to communicate with any wireless device or entity configured for wireless communication, such as printers, scanners, desktop and / or portable computers, portable data assistants, communication satellites, any device or location associated with a wirelessly detectable tag (e.g., a telephone kiosk, newsstand, store shelf, etc.), and telephones. This may include Wireless Fidelity (Wi-Fi) and Wireless technology. Therefore, the communication can be a predefined structure of a traditional network or just an ad hoc communication between at least two devices.

[0107] Wi-Fi, or Wireless Fidelity, allows people to connect to the Internet from their couch at home, their bed in a hotel room, or their conference room at work without the need for wires. Wi-Fi is a wireless technology, similar to that used in cell phones, that enables such devices (e.g., computers) to send and receive data indoors or outdoors anywhere within range of a base station. Wi-Fi networks use radio technology called IEEE1102.11 (a, b, g, n, etc.) to provide a robust, reliable, and fast wireless connection. Wi-Fi networks can be used to connect computers to each other, to the Internet, and to wired networks (using IEEE802.3 or Ethernet). Wi-Fi networks operate on the unlicensed 5GHz radio band with data rates of 54Mbps (802.11a), and / or on the 2.4GHz radio band with data rates of 11Mbps (802.11b), 54Mbps (802.11g), or up to 600Mbps (802.11n). For example, or using a product that includes two frequency bands (dual-band), the network can provide real-world performance similar to the basic "10BaseT" wired Ethernet networks used in many offices.

[0108] As used in this specification, the term "processor" can refer to substantially any computing processing unit or device, including but not limited to: a single-core processor; a single-core processor with software multi-threaded execution capability; a multi-core processor; a multi-core processor with software multi-threaded execution capability; a multi-core processor with hardware multi-threading technology; a parallel platform; and a parallel platform with distributed shared memory on a single machine or multiple machines. In addition, a processor can also refer to an integrated circuit, a state machine, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a digital signal processor (Digital Signal Processor, DSP), a programmable gate array (Programmable Gate Array, PGA) (including a field programmable gate array (Field Programmable Gate Array, FPGA)), a programmable logic controller (Programmable Logic Controller, PLC), a complex programmable logic device (Complex Programmable Logic Device, CPLD), discrete gates or transistor logic, discrete hardware components or any combination thereof, designed to perform the functions described herein. The processor can utilize nanoscale architectures, such as but not limited to transistors, switches and gates based on molecules and quantum dots, to optimize space usage or enhance the performance of user devices. The processor can also be implemented as a combination of computing processing units. One or more processors may be used to support a virtualized computing environment. A virtualized computing environment may support one or more virtual machines representing a computer, server, or other computing device. In such a virtualized virtual machine, components such as processors and storage devices may be virtualized or logically represented. In one aspect, when a processor executes instructions to perform an "operation," this may include the processor directly performing the operation and / or facilitating, directing, or coordinating another device or component to perform the operation.

[0109] In this specification, terms such as "data storage", "data storage", "database", "cache", and substantially any other information storage component related to the operation and function of the component refer to a "memory component" or an entity embodied in a "memory" or a component that includes a memory. It is understood that the memory component or computer-readable storage medium described herein can be a volatile memory or a non-volatile memory, and can also include volatile memory and non-volatile memory. By way of illustration and not limitation, non-volatile memory can include ROM, programmable ROM (ProgrammableROM, PROM), EPROM, EEPROM, or flash memory. Volatile memory can include RAM as an external cache memory. By way of illustration and not limitation, RAM has many forms, such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct Rambus RAM (DRRAM). In addition, the memory components of the systems or methods disclosed herein are intended to include, but are not limited to, including these and any other suitable types of memory.

[0110] In a distributed computing environment, the illustrated aspects of the present disclosure may be implemented where certain tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

[0111] The above systems and processes may be embodied in hardware, such as a single integrated circuit (IC) chip, multiple integrated circuits, an application specific integrated circuit (ASIC), etc. In addition, the order in which some or all of the process modules appear in each process should not be considered restrictive. Instead, it should be understood that certain process blocks may be executed in various orders, not all of the orders explicitly described herein.

[0112] As used in this application, the terms "component", "module", "system", "interface", "cluster", "server", "node", etc. are generally intended to refer to a computer-related entity, which can be hardware, a combination of hardware and software, software or software in execution, or an entity related to a running machine with one or more specific functions. For example, a component can be (but is not limited to) a process running on a processor, a processor, an object, an executable file, an execution thread, a computer-executable instruction, a program and / or a computer. As an illustration, both an application running on a controller and a controller can be a component. One or more components can be located in a process and / or an execution thread, and a component can be located on one computer and / or distributed between two or more computers. For another example, an interface can include input / output (I / O) components and associated processors, applications and / or application interface components.

[0113] In addition, various embodiments may be implemented as methods, apparatus, or articles of manufacture, using standard programming and / or engineering techniques to create software, firmware, hardware, or any combination thereof to control a computer to implement one or more aspects of the disclosed subject matter. Articles of manufacture may include a computer program accessible from any computer-readable device or computer-readable storage / communication medium. For example, computer-readable storage media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical disks (e.g., compact disks (CD), DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.). Of course, those skilled in the art will recognize that many modifications may be made to this configuration without departing from the scope or spirit of the various embodiments.

[0114] In addition, the word "example" or "exemplary" as used herein means serving as an example, instance or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as superior or advantageous over other aspects or designs. On the contrary, the use of the word "exemplary" is intended to demonstrate the concept in a concrete way. As used in this application, the term "or" is intended to refer to an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X uses A or B" is intended to refer to any natural inclusive arrangement. That is, if X uses A; X uses B; or X uses both A and B, then "X uses A or B" is valid in any of the above cases. In addition, the articles "a" and "an" used in this application and the appended claims should generally be understood to mean "one or more", unless otherwise specified or clear from the context to be in the singular form.

[0115] The foregoing includes examples of the present specification. Of course, for the purpose of describing the present specification, it is not possible to describe every conceivable combination of components or methods, but one of ordinary skill in the art will recognize that many further combinations and permutations of the present specification are possible. Therefore, the present specification is intended to embrace all changes, modifications and variations that fall within the spirit and scope of the appended claims. In addition, when the term "comprising" is used in the detailed description or claims, this term is intended to be inclusive in a manner similar to the term "including", as interpreted when "including" is used as a transition word in the claims.

Claims

1. An unmanned underwater vehicle (UUV), comprising: a sensor configured to determine a condition associated with the underwater pipeline; as well as A modular interface structure is connected to the underwater pipeline and includes a first interface for the sensor and a second interface for the underwater pipeline, wherein the first interface comprises a set of sensor interfaces, the set of sensor interfaces being configured to support adding at least one sensor of a customizable sensor set including the sensor, and The second interface is configured to interchangeably connect a clamping device from a group of different clamping devices, wherein the clamping device includes a mechanical arm that is convenient for attachment to the underwater pipeline, and the length of the mechanical arm is selected according to the size or type of the underwater pipeline.

2. The UUV according to claim 1, wherein: The clamping device includes at least one universal wheel assembly, which is convenient for rotational movement around the underwater pipeline and translational movement along the underwater pipeline.

3. The UUV according to claim 1, wherein: The clamping device is attached to the underwater pipe via a hydraulic clamping apparatus.

4. The UUV of claim 1, wherein: The clamping device is attached to the underwater pipe via a pneumatic clamping apparatus.

5. The UUV according to claim 4, wherein: The modular interface structure includes a mother ship interface, which is configured to connect to an air pipe from the mother ship and deliver compressed air to the pneumatic clamping device via the air pipe.

6. The UUV of claim 1, further comprising: at least one processor; as well as At least one memory storing executable instructions, the executable instructions, when executed by the at least one processor, facilitating the following operations: Receive GPS location data; as well as Autonomously navigating to a target location of the underwater pipeline is performed by controlling at least one thruster of the UUV according to a proportional-integral-derived control program that outputs thruster control signals based on input signals including the GPS position data.

7. The UUV of claim 6, wherein: The operations also include: Autonomously attaching to the underwater pipeline at the target location.

8. The UUV of claim 6, wherein: The operations also include: receiving video data from a stereo vision sensor in the sensor group; and In response to the analysis of the video data, a maintenance operation to be performed on the portion of the underwater pipeline is determined.

9. The UUV of claim 8, wherein: The maintenance operation includes at least one of: further monitoring or inspecting the portion of the underwater pipeline, cleaning the portion of the underwater pipeline, and cutting the portion of the underwater pipeline.

10. The UUV of claim 8, wherein: The operations also include: The maintenance operation is performed by the UUV.

11. A device comprising: An unmanned underwater vehicle (UUV) comprising a sensing device configured to determine a condition associated with an underwater conduit; as well as A pneumatic clamping device is configured to be connected to the underwater pipe, and the pneumatic clamping device includes a compressed air interface, which is configured to connect to an air pipe from a surface vessel and provide compressed air to the pneumatic clamping device via the air pipe to facilitate attaching the UUV to the underwater pipe or detaching the UUV from the underwater pipe.

12. The device according to claim 11 further includes a modular interface structure connected to the underwater pipe, and the modular interface structure is configured to provide a first interface for the UUV to engage with the sensing device and a second interface for the UUV to engage with the pneumatic clamping device.

13. The device according to claim 12, wherein: The first interface is configured to interface with different types of the sensing devices.

14. The apparatus according to claim 12, wherein: The pneumatic gripping device comprises a mechanical arm, the length of which is configured according to the size of the underwater pipe, and the second interface is configured to engage with different types of pneumatic gripping devices, the different types corresponding to different lengths.

15. The apparatus of claim 11, further comprising a conduit crossing apparatus, the conduit crossing apparatus comprising a universal wheel, the universal wheel being configured to facilitate traversal of a length of the underwater conduit and rotation around a circumference of the underwater conduit when the universal wheel is attached to the underwater conduit.

16. The apparatus of claim 11, further comprising a navigation device configured to autonomously navigate the UUV to a target location of the underwater conduit based on global satellite positioning input received by a proportional-integral-derived controller.

17. A method comprising: connecting a first end of an air tube through an apparatus including at least one processor, wherein a second end of the air tube is coupled to a mother vessel, and the first end is connected at a clamp interface, wherein the clamp interface engages a clamp, wherein the clamp includes at least one of a pneumatic clamp or a hydraulic clamp; navigating to a target position of the underwater conduit by the device via a proportional-integral-derived controller; and In response to reaching the target location, the device is coupled with the underwater conduit using the clamp.

18. The method according to claim 17, further comprising: The conduit crossing device including universal wheels is operated by the device to cross along the length of the underwater conduit or around the circumference of the underwater conduit.

19. The method according to claim 17, further comprising: A sensor device is activated by the device, the sensor device being configured to determine a status of the underwater conduit.

20. The method according to claim 19, further comprising: In response to determining that the condition of the underwater conduit is capable of being improved according to a defined improvement criterion, a maintenance device is operated by the device, wherein the maintenance device is configured to improve the condition of the underwater conduit according to the defined improvement criterion.

Images