Underwater vehicle for navigating relative to structure

Abstract

The present disclosure relates to an underwater vehicle (10) for navigating relative to a structure 11 submerged in a body of water. The aircraft (10) includes a body (12) defining an edge region (14), one or more drive mechanisms (16), and a plurality of imaging modules (18) carried by the body (12) to face away from the edge region (14). The plurality of imaging modules (18) are configured to operate simultaneously to allow imaging at least partially around at least two of the front (20), the opposite sides (22, 24), the top (34) and the bottom (35) of the body (12). The vehicle (10) also includes a controller (26) communicatively coupled with the imaging module (18) and the drive mechanism (16) and configured to control operation of the drive mechanism (16) to navigate the vehicle (10) about the structure based on images captured by the imaging module (18).

Description

Technical Field

[0001] The present disclosure generally relates to an underwater vehicle configured to position and navigate relative to a structure submerged in a body of water, and more particularly to such a vehicle configured to interact with an underwater structure (especially to remove fouling from the hull of a vessel). Background Art

[0002] Various remotely operable or autonomous vehicles configured for underwater navigation are known. Generally, vehicle navigation is enabled by operating drive mechanisms such as propellers or thrusters, and vehicle navigation is directed by processing acoustic sensor signals such as those obtained from a sonar system. When navigating through open water, this mode of navigation is generally acceptable, where there are few obstacles that the vehicle might collide with, and thus larger tolerances for position accuracy, actuation speed, and responsiveness can be accepted. However, when operating such a system in the vicinity of a fixed or generally immovable structure (such as in a port containing a ship), or when navigating relative to a dynamic structure (such as a ship moored in a mooring area and moving with the water current), the position accuracy provided by an acoustics-based navigation system may be insufficient to avoid collisions and is generally insufficient to enable the vehicle to interact with the structure.

[0003] Some underwater vehicles are equipped with optical imaging systems, typically used to inspect underwater structures and / or marine life. Past attempts to navigate solely based on images obtained from such optical systems (or in combination with acoustic signals) have had limited success. The low levels of light available in the underwater environment, the possibility of turbulence in the water, the turbidity of the water, and / or the generally fewer visual features presented in the images have led to unreliable solutions that have not been commercially adopted.

[0004] Structures submerged in a body of water (such as lakes, rivers, or oceans) develop fouling over time. Fouling is due to the accumulation of living organisms (biofouling) or non-living matter adhering to the surface of the structure. If left unattended, fouling degrades the surface, leading to irreversible damage and potentially mechanical failure of the structure.

[0005] Hull fouling of vessels is a significant problem as degradation of the hull surface increases the friction between the hull and the water. This increases the fuel consumed by the vessel during transit, the frequency of hull maintenance, and the likelihood of mechanical failures of the hull. Appropriate hull fouling management involves, additionally or alternatively, regular removal of fouling (hull cleaning) and application of an antifouling coating to the hull. Fouling removal typically requires removal of the vessel from the water and the use of lifting equipment such as a crane or dry dock to allow access for manual removal of fouling using tools and / or a pressure water cleaner. Alternatively, the vessel hull is cleaned by a person diving underwater to manually clean the hull. Both methods are time-consuming, potentially dangerous, subject to environmental regulations, and expensive, especially in cases where the vessel needs to be removed from the water.

[0006] A variety of automated or semi-automated systems for cleaning vessel hulls are known and are typically used for cleaning commercial vessels. Most such systems are based on a cleaning device that "crawls" over the hull to remove fouling, where the device is pressed against the hull (usually by a suction device or similar mechanism) or retained on the hull by magnetic wheels and uses brushes and / or a pressurized water jet to remove fouling. However, such systems have generally proven unreliable due to the potential for losing contact with the vessel and the need for guidance to re-establish contact with the hull, and some systems even require divers to manually reposition the device on the hull, which is inefficient. Crawling-type systems are also unable to traverse or access certain geometries, such as compound curved surfaces, which means the utility of such systems may be limited. Additionally, the complexity, size, and cost of many known systems mean that they are generally impractical and / or cost-prohibitive for use by private vessel owners.

[0007] Any discussion of the documents, acts, materials, devices, or articles, etc. included in this specification shall not be taken as an admission that any or all of these constitute a part of the prior art base or were common general knowledge in the relevant field of this disclosure prior to the priority date of each of the appended claims. Summary of the Invention

[0008] Disclosed is an underwater vehicle for navigating relative to a structure submerged in a body of water. The vehicle includes: a body having an operating front, a rear, opposing sides, a top, and a bottom, and defining an edge region forming the boundaries of the front, rear, and opposing sides; one or more drive mechanisms carried by the body; a plurality of imaging modules carried by the body and facing away from the edge region; and a controller communicatively coupled to the plurality of imaging modules and the one or more drive mechanisms. The plurality of imaging modules are configured to operate simultaneously to allow imaging at least partially around at least two of the front, opposing sides, top, and bottom of the body. The controller is configured to control the operation of the one or more drive mechanisms to navigate the vehicle around the structure based on images captured by the plurality of imaging modules. Navigation can be based on feature recognition in the images, such as by a controller executing one or more image analysis algorithms. The controller can further be configured to control the operation of the one or more drive mechanisms based on the output of one or more other sensors carried by or associated with the vehicle and operable to sense the local environment of the vehicle or parameters of the vehicle.

[0009] The controller can be configured to determine at least one of the position and orientation of the vehicle relative to the structure based on images captured by the plurality of imaging modules, and control the operation of the one or more drive mechanisms to navigate the vehicle around the structure based on at least one of the position and orientation of the vehicle relative to the structure.

[0010] The imaging modules can be arranged by the body such that a first imaging module faces away from the front, and a pair of second imaging modules face away from each of the opposing side portions.

[0011] The body can define a conceptual plane, and at least some of the imaging modules are configured to face the plane laterally at a defined angle to allow imaging around the operating top or bottom of the body on one side of the conceptual plane.

[0012] Each of the first imaging module and the second imaging modules can be arranged to face at a defined angle to allow imaging at least partially simultaneously around the front, opposing sides, and top. The defined angle of the first imaging module can be different from the defined angle of the second imaging module.

[0013] At least one of the imaging modules can be arranged to face the conceptual plane vertically to image around the top of the body.

[0014] The controller can be configured to control the operation of the one or more drive mechanisms to position the conceptual plane relative to the structure based on images captured by the imaging modules, the imaging modules being arranged at a defined angle relative to the conceptual plane.

[0015] The body can carry an interaction module for interacting with the structure, and at least one of the imaging modules can be configured to face at a defined angle to allow imaging adjacent to the interaction module, and the controller can be configured to control the operation of one or more drive mechanisms to position the interaction module relative to the structure based on images captured by at least some of the imaging modules.

[0016] The elongated structure can define a first end and an opposite second end, and the interaction module is adjustably mounted to the body to allow positioning of the second end to extend through the edge region, thereby allowing interaction with the structure. In such embodiments, the interaction module can be mounted to the body to allow placement of the interaction module relative to the body in a linear direction and rotation of the interaction module about at least one axis.

[0017] The interaction module can be configured for cleaning the structure, and the interaction module can include at least one rotatable brush at the second end. The interaction module is removably mounted on the body to allow replacement with an interaction module of an alternative configuration, such as one configured for inspection, testing, maintenance, or other operations on the structure.

[0018] The body can carry a pair of spaced-apart interaction modules from each other, and at least one of the imaging modules can be disposed between the interaction modules to face the plane vertically. At least one imaging module can include a pair of stereo cameras.

[0019] At least one of the imaging modules can be mounted to the body by an adjustment mechanism operable to adjust the defined angle.

[0020] Each of the imaging modules is operable to define a field of view, and the fields of view of at least two of the imaging modules can overlap. At least two of the imaging modules can be arranged such that the fields of view overlap to allow simultaneous imaging at at least two of the front, opposite sides, top, and bottom of the body.

[0021] At least one of the imaging modules can include a pair of stereo cameras. The pair of stereo cameras can be arranged to be tilted towards each other.

[0022] At least one of the imaging modules can be covered by a hemispherical lens, typically forming a housing on at least one module. At least one of the imaging modules can be covered by other specific lenses (such as wet lenses) having geometries configured for underwater imaging.

[0023] The vehicle can also include a plurality of range sensors carried by the body and spaced apart from each other, each range sensor being operable to determine the distance of an object relative to the body, and the controller being communicatively coupled to the range sensors and configured to control the operation of one or more drive mechanisms based on the distance data received from the range sensors.

[0024] The ranging sensors can be arranged around the body, away from the edge regions, and allow distances to be measured relative to the front, opposite sides, and / or top of the body.

[0025] The body can carry at least one interaction module for interacting with a structure, and further includes a plurality of ranging sensors carried by the body and spaced from each other. Each ranging sensor is operable to determine the distance of an object relative to the body, and a controller is communicatively coupled to the ranging sensors and is configured to control the operation of one or more drive mechanisms to position the interaction module relative to the structure based on at least one of the images captured by the imaging module and the distance data received from the ranging sensors, and is further configured to operate at least one interaction module. In such embodiments, a pair of interaction modules can be spaced from each other, each interaction module including at least one rotatable brush, and the controller is configured to control the operation of each interaction module to rotate at least one brush based on at least one of the images captured by the imaging module and the distance data received from the ranging sensors.

[0026] The vehicle can include a plurality of light emitters carried by the body and spaced from the imaging module. Each light emitter is operable to illuminate the field of view of at least one imaging module, and a controller is communicatively coupled to the light emitters and is configured to control the operation of the light emitters.

[0027] At least some of the light emitters can be configured as elongated light bars operable to illuminate along a linear length, wherein at least one light bar is arranged to extend between opposite sides of the body to illuminate around the top of the body, and a pair of light bars are spaced from each other to extend along and illuminate around opposite sides of the body.

[0028] At least some of the light emitters can be configured as spotlights operable to emit narrow beams, wherein at least one spotlight is arranged to illuminate around the top of the body, and at least one spotlight is arranged to illuminate around the front of the body.

[0029] The controller can be configured to control the operation of the light emitters based on the images captured by the plurality of imaging modules.

[0030] The vehicle may include a plurality of ranging sensors carried by the body and spaced apart from each other, each ranging sensor operable to determine the distance of an object relative to the body, and a plurality of light emitters carried by the body and spaced from the imaging module, each light emitter operable to illuminate the field of view of at least one imaging module, and a controller communicatively coupled to the ranging sensors and the light emitters and further configured to control the operation of one or more drive mechanisms based on distance data received from the ranging sensors and configured to control the operation of the light emitters based on one or more of: images captured by the plurality of imaging modules; distance data received from the ranging sensors; and an estimated position and / or orientation of the vehicle relative to the structure.

[0031] The controller may be configured to control the operation of the light emitters to adjust one or more of the brightness, color temperature, and flash frequency of the illumination.

[0032] The controller may include a processor, or more than one processor, which may be hermetically contained within the body. The controller may be configured to achieve autonomous navigation relative to the structure.

[0033] The vehicle may include a base station mounted outside the water body and a tether connecting the body to the base station. The base station may be mounted at a fixed position relative to the water or may be carried by a structure floating on the water. The tether may be configured to provide a mechanical and / or electrical connection between the body and the base station. The tether may be associated with a drive mechanism operable to adjust the effective length of the tether, such as by winding the tether around a spool, to deploy the vehicle into the water or remove it from the water. The tether may be configured to supply power to one or more batteries carried on the vehicle and / or to transmit data between the vehicle and a server (such as located at the base station) and / or data between the vehicle and a server accessible via the Internet.

[0034] An underwater vehicle configured to clean a structure immersed in a water body is also disclosed. The vehicle includes: a body defining an edge region; an elongate cleaning module operable to clean the structure, the cleaning module defining a first end and an opposite second end, the cleaning module being adjustably mounted to the body to allow for at least one of placing the cleaning module relative to the body in a linear direction and rotating the cleaning module about at least one axis to position the second end to extend through the edge region and into the structure.

[0035] The cleaning module may define a longitudinal axis between the ends and include a first brush disposed at the second end and rotatable about the longitudinal axis. The cleaning module may further include a second brush rotatable about the longitudinal axis and axially spaced from the first brush, the first brush and the second brush being rotatable independently of each other.

[0036] The body may define a notional plane extending across the edge region, with the cleaning module carried by the body at one side of the plane, so as to be at the operative top or bottom of the body.

[0037] Another cleaning module can be carried by the body at one side of the plane and spaced from the cleaning module, the other cleaning module defining an axis and having at least one brush rotatably mounted about the axis. The other cleaning module can have a pair of brushes rotatably mounted about the axis and configured to rotate independently of each other.

[0038] Throughout this specification, the word "comprise" or variations such as "comprises" or "comprising" will be understood to imply the inclusion of stated elements, integers or steps, or groups of elements, integers or steps, but not the exclusion of any other elements, integers or steps, or groups of elements, integers or steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Embodiments will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0040] Figure 1 shows a front view of an underwater vehicle for navigating relative to a structure submerged in a body of water;

[0041] Figure 2 Shows Figure 1 A top view of the craft is shown;

[0042] Figure 3 Shows Figure 1 and 2 A front view of the craft is shown;

[0043] Figure 4 Shown by Figures 1 to 3 A schematic front view of an imaging module carried by the aircraft is shown;

[0044] Figure 5 Shows Figure 4 A schematic side view of the imaging module shown;

[0045] Figure 6A and 6B Shows Figures 1 to 3 A perspective view of a vehicle configured to interact with an underwater structure is shown;

[0046] Figure 7A and 7B A top perspective diagram and a top view diagram are shown respectively, which show the Figures 1 to 3 The field of view defined by the imaging module carried by the vehicle is shown;

[0047] Figure 8A and8B Top perspective and top views are shown respectively, which show the field of view defined by the imaging module carried by the Figures 1 to 3 craft shown, where the imaging module is arranged such that the fields of view are in an overlapping configuration;

[0048] Figure 9A and 9B shows the Figures 1 to 3 top view of the craft shown, which shows the field of view of the imaging module, where each module is covered by a planar port ( Figure 9A ) or a hemispherical port ( Figure 9B );

[0049] Figure 10 is the Figures 1 to 3 perspective view of the craft shown, which shows the position of the ranging sensor; and

[0050] Figure 11 is the Figures 1 to 3 perspective view of the craft shown, which shows the position of the light emitter. DETAILED DESCRIPTION

[0051] The applicant's International Patent Application Publication No. WO 2021 / 026589 describes a system for cleaning a structure disposed in a body of water, the system including a craft operable to move in the water, a tether connectable between the craft and a fixed location, and a deployment mechanism fixable relative to the structure and operable to move the craft into or out of the water, the entire content of which is incorporated herein by reference.

[0052] In the drawings, reference numeral 10 designates an underwater craft 10 for navigating relative to a structure 11 ( Figure 7A ) submerged in a body of water. The craft 10 includes a body 12 having an operable front portion 20, a rear portion 25, opposite sides (22, 24), a top 34 and a bottom 35, and defining an edge region 14 forming the boundaries of the front portion 20, the rear portion 25 and the opposite sides (22, 24). One or more drive mechanisms 16 are carried by the body 12. The craft 10 also includes a plurality of imaging modules 18 carried by the body 12 and facing away from the edge region 14. The plurality of imaging modules 18 are configured to operate simultaneously to allow at least partial imaging of at least two of the front portion 20, the opposite sides (22, 24), the top 34 and the bottom 35 of the body 12. The craft 10 also includes a controller 26 communicatively coupled to the plurality of imaging modules 18 and the one or more drive mechanisms 16, the controller 26 being configured to control the operation of the one or more drive mechanisms 16 to navigate the craft 10 around the structure based on images captured by the plurality of imaging modules 18.

[0053] The vehicle 10 is configured to allow for precise positioning and navigation relative to a structure defined by or associated with a vessel submerged in a body of water. In some embodiments, the vehicle 10 may also be operable to clean the vessel and associated structures, such as the hull (not shown), keel (not shown), propeller (not shown), anchor chain (not shown), etc. Typically, the vehicle 10 is secured to the vessel (such as by a tether (not shown)) to allow for the transfer of power from a power source to the vehicle 10 and, for example, to retract the vehicle 10 towards the vessel and lift the vehicle out of the water if power is lost or the vehicle is not in use. In some embodiments, the vehicle 10 is secured to a portion of a dock, such as a jetty (not shown), and is operable to navigate relative to a vessel in the port and / or jetty. Similarly, the vehicle 10 may be secured to a static structure, such as an oil rig platform (not shown), and the vehicle is operable to navigate relative to the platform to, for example, allow for inspection and / or maintenance.

[0054] Reference Figures 1 to 3 , the imaging module 18 is shown to be arranged by the body 12 such that the first imaging module 18a faces away from the front portion 20, and a pair of second imaging modules 18b face away from each of the opposite sides (22, 24). In this embodiment 10, the first imaging module 18a and the pair of second imaging modules 18b are mounted on the body 12 to allow for simultaneous imaging around the opposite sides (22, 24) of the body 12.

[0055] It should be understood that the arrangement of the imaging module 18 around the body 12 shown is exemplary, and the vehicle 10 may alternatively be configured to have more or fewer imaging modules 18. It should also be understood that the module 18 may alternatively be arranged by the body 12 to at least partially face away from the edge region 14 and allow for simultaneous imaging around at least two of the front portion 20, opposite sides (22, 24), top 34, and bottom 35 of the body 12.

[0056] For example, in some embodiments (not shown), the first imaging module 18a is omitted, and each of the pair of second imaging modules 18b is configured to have a wide enough field of view (FOV) to image around one of the opposite sides (22, 24) and at least partially around the front portion 20 of the body 12. In some embodiments, each of the second imaging modules 18b defines an FOV of approximately 180 degrees. In such a configuration, the pair of second imaging modules 18b is operable to image at least partially around the front portion 20 and simultaneously image each of the opposite sides (22, 24) of the body 12.

[0057] In a further embodiment (not shown), the body 12 carries an annular array of imaging modules 18, where each module 18 is arranged to face radially outward from the edge region 14. For example, some embodiments may include eighteen or thirty-six evenly spaced imaging modules 18 in the annular array to allow imaging all around the edge region 14 simultaneously. In other embodiments, some of the modules 18 in the annular array are directed away from the edge region 14 and partially towards the top 34 of the body 12 to allow imaging around the top 34, and other modules 18 in the array are directed away from the edge region 15 and partially towards the bottom 35 of the body 12 to allow imaging around the bottom 35.

[0058] In the illustrated embodiment 10, a third imaging module 18c is carried by the body 12 and is configured to operate simultaneously with the first imaging module 18a and the pair of second imaging modules 18b to allow imaging of the front 20, sides (22, 24), and top 34 of the body 12 simultaneously. It should be understood that in other embodiments, the third imaging module 18c may be omitted (where imaging above the vehicle 10 is not required) or arranged or otherwise directed away from the bottom 35 of the body 12 (where imaging below the vehicle 10 is required).

[0059] Each of the plurality of imaging modules 18 includes at least one optical camera 17, and at least one of the imaging modules 18 may be configured to include a stereo camera pair (19, 21), such as the first imaging module 18a and the third imaging module 18c, to help resolve the depth of an object in the field of view of at least one of the imaging modules 18. The third imaging module 18c includes a third camera 23 for imaging the surface of a structure from a short distance, e.g., to allow visual inspection to identify dirt on the structure and monitor the progress of dirt removal when cleaning the structure. Typically each camera 17 is configured to record images using a conventional visible light-based RGB sensor and may additionally or alternatively include an infrared or other light-based sensor. The third camera 23 is typically configured to capture high-resolution images or video to allow detailed inspection of a structure (such as a hull or seabed) and / or allow photogrammetric reconstruction. It should be understood that in some embodiments (not shown), the third imaging module 18c may be arranged to face away from the bottom 35 to image below the vehicle 10.

[0060] The body 12 defines a conceptual (virtual) plane 40 between the front 20 and the opposite sides (22, 24), and at least some of the imaging modules 18 are configured to face laterally towards the plane 40 at a defined angle. This arrangement of the modules 18 allows the operating modules 18 to image at one side 42 of the conceptual plane 40 (above or below the vehicle 10). Best shown in Figure 4 and5 In, and further discussed below, in the illustrated Example 10, some of the imaging modules 18a, 18b are arranged at defined angles to image operatively above the vehicle 10, i.e., adjacent the top 34 of the body 12. The conceptual plane 40 can be defined by at least three points of the body 12, such as defined at the top 36. Figure 4 and 5 The spaced relationship of the plurality of imaging modules 18 is shown without showing the body 12 to more clearly show the defined angles of the plurality of imaging modules 18 in conjunction with the plane 40.

[0061] Reference Figure 4 , which is a front view schematic of the imaging module 18, is shown by the defined angles at which each of the second imaging modules 18b faces relative to the plane 40 through the lines of sight 44, 46 of each of the second imaging modules 18b, which intersect the plane 40 at defined angles, the angle identified as "A". The defined angle can be any suitable angle greater than 0 and less than 90 degrees, typically between 30 and 75 degrees, to provide a balance of imaging away from the edge region 14 and above the body 12. It will be appreciated that the defined angles for each of the pair of second imaging modules 18b can be the same or different from each other. As shown by the line of sight 48 of the third imaging module 18c, the third imaging module 18c is arranged to face the plane 40 vertically, and it will be appreciated that further imaging modules 18 can be included that also face the plane 40 vertically.

[0062] Reference Figure 5 , which is a side view schematic of the imaging module 18, is shown by the defined angle at which the first imaging module 18a faces relative to the plane 40 through the line of sight 50 of the first imaging module 18a, which intersects the plane 40 at a defined angle, the angle identified as "B". The defined angle can be any suitable angle greater than 0 and less than 90 degrees, typically between 10 and 60 degrees, to provide a balance of imaging away from the edge region 14 and above the body 12. In this embodiment, the defined angle B at which the first imaging module 18a faces is less than the defined angle A at which the pair of second imaging modules 18b faces, such that compared to the pair of second imaging modules 18b, it covers less space adjacent the top 34 of the body 12 in its field of view. It will be appreciated that none of the plurality of imaging modules 18 can face at an angle intersecting the plane 40, i.e., all of the plurality of imaging modules 18 can be directly oriented away from the edge region 14 in a direction parallel to the plane 40. In such an embodiment, some or all of the plurality of imaging modules 18 can optionally have a wide enough field of view to at least partially image the space adjacent the top 34 of the body 12.

[0063] In the illustrated Example 10, each of the plurality of imaging modules 18 is fixedly mounted on the body 12 such that the defined angle is fixed. In some embodiments (not shown), at least one of the imaging modules 18 is mounted on the body 12 by an adjustment mechanism (not shown) operable to adjust the defined angle, e.g., by having a lockable ball and socket mount, or a gimbal type mount operable to rotate the imaging module 18 about at least one axis. It should be understood that the controller 26 may be communicatively coupled to the adjustment mechanism to allow selective orientation of the imaging module 18 relative to the conceptual plane 40.

[0064] The illustrated vehicle 10 includes an interaction module 52 configured to interact with a structure. The top 36 of the body 12 carries the interaction module 52, which is configured as a cleaning module configured to clean the structure. The module 52 defines an elongate structure 54 that defines a first end 56 and an opposite second end 58, and a longitudinal axis 55 between the ends 56, 58. The interaction module 52 includes at least one rotatable brush for cleaning the structure, and in the illustrated embodiment, the first end 56 has a first brush 60 rotatably mounted about the axis 55, and the second end 58 has a second brush 62 rotatably mounted about the axis 55 and axially spaced from the first brush 60. The first brush 60 and the second brush 62 are generally rotatable independently of each other via the controller 26. The brushes 60, 62 are each mounted on a main shaft (not shown) of the elongate structure 54, and each brush may include bristles or resilient flexible teeth (not shown). The interaction module 52 includes two additional brushes 63 rotatably mounted about the axis 55 and axially positioned along the main shaft between the outer brushes 60, 62. The brushes 63 are generally configured to rotate with the adjacent outer brushes 60, 62.

[0065] It will be appreciated that the interaction module 52 may be configured for alternative interaction with the structure, such as gripping, cutting, drilling, probing / measuring (using sensors) or imaging (such as using a 3D scanner). Additionally, the interaction module 52 may be configured to clean the structure by polishing, scraping, abrading, buffing, etc. (such as alternatively by configuring the surface texture or bristles of the brushes 60, 62, 63). It will also be appreciated that the number of brushes may vary in other embodiments, e.g., the interaction module 52 may include one, two, three, four or more than four brushes. Generally, the interaction module 52 is releasably engaged with the body 12 to facilitate removal and replacement with another alternative interaction module 52, such as to allow provision of different functions and interactions.

[0066] Best shown in Figure 6A and 6B, optionally, the interaction module 52 is adjustably mounted to the body 12 to allow rotation about an axis adjacent the first (pivot) end 56 to allow rotation of the second (free) end 58 to extend through the edge region 14 of the body 12 to allow interaction with the structure. In the illustrated embodiment 10, the interaction module 52 includes a bracket 64 that is mounted via a hinge 66 to a motor (not shown) contained in the body 12, the hinge allowing the interaction module 52 to rotate and extend through the edge region 14. This extended or "elongated" configuration of the interaction module 52 allows the interaction module 52 (particularly the free end 58) to interact with a target portion of the submerged structure (by pressing the interaction module 52 into the target portion), or with a portion of a structure located above the waterline. The extended configuration of the interaction module 52 can be useful for gaining full access to a target portion that includes concave or other complex geometries, structures, or accessing or entering a recess that is smaller than the edge region 14 through an aperture.

[0067] It should be understood that in other embodiments (not shown), the interaction module 52 is mounted to allow sliding relative to the body 12 in one or more linear directions, and / or rotation about two or more axes relative to the body 12. In some embodiments (not shown), the module 52 is mounted to the body 12 by a mechanism configured to rotate about an axis that is disposed generally centrally through the front portion of the body 12 and then linearly displace the module 62 away from the edge region 14. Such embodiments can be useful for limiting the forces applied through the pivot during use.

[0068] At least one of the imaging modules 18 (the first module 18a in the illustrated embodiment) is configured to face at a defined angle to allow imaging adjacent the interaction module 52. The first imaging module 18a is mounted to the body 12 at an operatively lower position compared to the second imaging module 18b and the third imaging module 18c to include at least a majority of the interaction module 52, as well as the front portion 20 and optionally the top 34 within its field of view of the edge region 14. In this way, the interaction module 52 can be monitored by the first imaging module 18a in both its aligned ( Figures 1 to 3 ) and extended (Figure 6) configurations.

[0069] In the illustrated Example 10, the top 36 of the body 12 carries a pair of spaced-apart interaction modules 52, 68. One of the interaction modules 68 has the same features as the other interaction module 52 and is carried close to the rear 34 of the body 12 by being fixedly mounted on the body 12, and the other interaction module 52 is carried close to the front 28 of the body 12. At least one of the imaging modules 18 is disposed between the interaction modules 52, 68 to vertically face a plane 40, which in this example is the third imaging module 18c. The imaging module 18c is operable to include both of the interaction modules 52, 68 and the structure within its field of view to image one or both of the interaction modules 52, 68 interacting with the structure.

[0070] Reference Figures 1 to 3 to FIGS. 5 and 6, the drive mechanism 16 includes ducts that house eight thrusters 72, 74 that are rotatable by an electric motor (not shown). The ducts are arranged such that operation of the thrusters 72, 74 enables the vehicle 10 to freely move in three-dimensional space through the water in a swimming-like motion. Four of the ducts position some of the thrusters 72 around the edge of the body 12 to allow the body 12 to rotate about the yaw axis A ( Figure 3 ), and translate the body 12 in the forward, reverse, and lateral directions. The other four ducts position the other thrusters 74 to allow the body to rotate about the pitch axis B and the roll axis C ( Figure 2 ), and translate the body along axis A to adjust depth. The arrangement and operation of the thrusters 72, 74 allow the vehicle 10 to propel unrestrictedly through the water and can enhance precise control of the position and / or orientation of the vehicle relative to the structure and / or enhance entry into complex geometries.

[0071] The controller 26 is connected to the drive mechanism 16 to effect translation and / or rotation of the body 12 to navigate the vehicle 10 relative to the structure. In some embodiments, the controller 26 is configured to estimate or determine at least one of the position and orientation of the vehicle 10, or determine the pose of the vehicle 10 relative to the structure based on images captured by the plurality of imaging modules 18, and control the operation of one or more drive mechanisms 16 to navigate the vehicle 10 around the structure based on the determined position and / or orientation of the vehicle 10. In the illustrated embodiment, the controller 26 includes one or more processors (not shown) that may be hermetically contained within the body 12 and are operable to determine the position and orientation of the vehicle 10 relative to the structure and thus operate the thrusters 72, 74. In other embodiments (not shown), the vehicle 10 includes only a single drive mechanism (e.g., a thruster rotatably mounted on the body 12 about two axes) that is operable by the controller 26 to navigate the vehicle 10 in the water.

[0072] Best shown in Figure 6B , the body 12 defines or carries a sealed container 27 that houses the controller 26 and other electronic components. The body 12 may also carry a series of sensors, which are either inside or outside the container 27 and are communicatively coupled to the controller 26, including ultrasonic sensors, barometers, Hall effect sensors, temperature sensors, force and / or current sensors operatively connected to the interaction modules 52, 68 and / or the tether, and an inertial measurement unit (IMU), which may be connected to one or more of the plurality of imaging modules 18 to enable the plurality of imaging modules 18 to provide visual inertial odometry for navigating the vehicle 10. In the illustrated embodiment, and best shown in Figure 10 the body 12 also carries a series of range sensors 69, which are arranged at the front portion 20 of the body 12 and / or at each corner and are communicatively coupled to the controller 26. As described in more detail below, reference Figure 10 , the range sensors 69 are operable to allow determination of any one of the distance between the body 12 and a submerged structure, the orientation of the body relative to the structure 12, and the angular offset of a plane. The controller 26 is configured to communicate with any one of these sensors to allow receipt of multimodal perception information.

[0073] The position and orientation of the vehicle 10 are generally estimated or determined by the controller 26 through calculations based on the outputs from the plurality of imaging modules 18. This may also include combining data received from one or more sensors carried on the vehicle 10, and / or tracking the inputs and outputs of the drive mechanism 16, and referencing a point in space corresponding to the starting point of the vehicle 10. In some embodiments, the controller 26 is not configured to determine the position, orientation or attitude of the vehicle 10 relative to the structure 11 or other reference frame. Instead, the controller 26 is configured to control the drive mechanism 16 to move the vehicle 10 such that the features of the structure remain within a predetermined pixel size range, as captured by the plurality of imaging modules 18. This embodiment of the controller 26 may employ feature detection from the images captured by the plurality of imaging modules 18.

[0074] The controller 26 can be configured to control the operation of one or more drive mechanisms 16 to position the conceptual plane 40 relative to the structure based on an image captured by the imaging module 18, the imaging module being arranged to face the conceptual plane 40 at a defined lateral angle. For example, in the illustrated embodiment 10, the conceptual plane 40 is parallel to the top 36 of the body 12, which means that operating the drive mechanism 16 in this way allows the top 36 and thus the interaction modules 56, 68 to be pressed against the immersion structure. In an embodiment where at least one of the imaging modules 18 (e.g., the first imaging module 18a) is configured to face at a defined angle to allow imaging adjacent to the interaction module 52, the controller 26 can be configured to control the operation of one or more drive mechanisms 16 to position the interaction module 52 relative to the structure based on an image captured by the imaging module 18, the imaging module being arranged to face at a defined angle.

[0075] It will be appreciated that the vehicle 10 can be an unmanned underwater vehicle and the controller 26 is configured to achieve autonomous positioning and navigation of the vehicle 10 relative to the structure 11. It will also be appreciated that the vehicle 10 can be a semi-autonomous vehicle that allows a user to override the controller 26 and manually remotely control the vehicle 10, such as to navigate through obstacles. In other embodiments, the controller 26 may not be entirely carried by the vehicle 10. For example, the controller 26 can be in a master / slave configuration and include a master controller (not shown) remote from the body 12, and a secondary controller that is hermetically contained within the body 12 and configured to transmit images captured by the plurality of imaging modules 18 to the master controller. The master controller can be configured to transmit commands to the secondary controller to control the operation of one or more drive mechanisms 16 to navigate the vehicle 10 around the structure based on the images received from the secondary controller.

[0076] The controller 26 is operable to determine the fouling or other condition of the structure. This can involve evaluating data collected by sensors (such as force sensors associated with the interaction modules 52, 68) disposed in or on the vehicle 10, and / or images captured by the plurality of imaging modules 18. In response to determining a fouling condition, the controller 26 can be configured to adjust the cycle period of the vehicle 20 such that the vehicle 10 cleans the structure frequently enough to prevent fouling from occurring. The controller 26 can also include a cycle period timer that defines a time period equal to the cycle period minus the duration of the previously executed cleaning schedule (or a default value at first operation). When the timer times out, this causes the controller 26 to repeat the cleaning schedule by restarting the schedule.

[0077] In other embodiments, the processing may be performed by a remote server and transmitted to the controller 26 via a wide area network or a local area network. In a further embodiment, the controller 26 includes at least one first processor carried by the vehicle 10 and at least one processor located above the water to allow processing by a combination of on-board and off-board (remote) processors. In this way, the processing of images from the plurality of imaging modules 18 is not fully implemented on-board the vehicle 10, which can limit the computing power that needs to be provided by the vehicle 10 itself. This can reduce the energy cost and weight of the vehicle 10, thereby improving electrical and kinematic efficiency. Generally, the image processing is performed by a processor of the controller 26 that is carried on-board the vehicle 10 to limit latency, which can improve navigation accuracy and / or responsiveness.

[0078] In other embodiments, instead of being carried by the body 12, the controller 26 is located above the water, such as within a base station (not shown) like a hangar, which is installed outside the water and configured to accommodate the vehicle 10 when not in use. The base station may be fixedly mounted relative to the water to a structure such as a dock or other structure adjacent to the water, or to a structure floating on the water (such as a boat or a pontoon). In such embodiments, a mooring cable (not shown) may be provided that connects the body 12 to the base station. The mooring cable is configured to provide a mechanical connection and may also provide an electrical connection between the body 12 and the base station. The mooring cable allows the drive mechanism to adjust the effective length of the mooring cable to, for example, cause the vehicle to be withdrawn from the water for storage or maintenance. The mooring cable generally connects the vehicle 10 to a power source and may be configured to transmit data between the vehicle and the base station or a remote server (such as via Internet access). In some embodiments, the vehicle 10 is battery-powered and does not require such a mooring cable for mechanical or electrical connection to the base station.

[0079] The controller 26 may be communicatively coupled to a deployment mechanism (not shown) via a wired or wireless connection, the deployment mechanism being configured to deploy the vehicle 10 from the base station, such as by unwinding a mooring cable connected to the vehicle 10 from a winch, or by lowering a platform supporting the vehicle 10 into the water. The controller 26 may be configured to cause the operation of the vehicle 10 and the deployment mechanism according to a predetermined cleaning schedule, which may be modified by the user or generated by the controller 26 based on the geometry of the structure submerged in the water. The deployment mechanism is operable to deploy and retrieve the vehicle 10 from the water by adjusting the effective length of the mooring cable. The deployment mechanism may also be operable to reduce slack in the mooring cable while the vehicle 10 moves in the water around the structure.

[0080] In other embodiments, the controller 26 may be operatively connected to a communication module (typically a wireless cellular network module) to allow communication with a remote server via the Internet. Communicating with the remote server may allow, for example, uploading data captured by the vehicle 10 to enable monitoring of the vehicle 10 and / or analysis of the data, downloading software updates, operating instructions, etc., and enabling remote control of the vehicle 10 by a user, for example, to effect maintenance or troubleshoot errors. Based on information from the remote server, the controller 26 may be configured to determine environmental conditions (such as local water turbulence conditions, prevailing currents, wave height) and adjust the cycle period such that the vehicle 10 is deployed at an appropriate time to avoid damage to the vehicle 10 and the structure.

[0081] The body 12 is sized to be small-scale and lightweight enough to be portable. A handle (not shown) may be defined at one side of the body 12 to assist in the manual transportation of the vehicle 10 when out of the water. Lighting elements 90 (such as Figure 11 shown and discussed in more detail below) may also be fixed to the body 12. For example, one or more first lighting elements may be arranged to illuminate adjacent to the front portion 20 of the body 12, and one or more second lighting elements 90 may be arranged to illuminate adjacent to the top 34 of the body 12. It should be understood that in other embodiments (not shown), further lighting elements may be carried by the body 12 to illuminate around the side portions 22, 24 and / or the bottom 35 of the body 12, for example, to enhance the quality of the images captured by the imaging module 18, thereby enhancing the control accuracy of the vehicle 10.

[0082] The fields of view 76, 78, 80, 82 defined by the plurality of imaging modules 18 may be configured in a variety of different ways. These are discussed below in conjunction with Figures 7A to 9B which.

[0083] Figure 7A and 7B respectively show a perspective schematic view and a top view schematic view of a first configuration of the fields of view 76, 78, 80, 82 of the plurality of imaging modules 18, where each field of view is shown as a frustum extending away from the vehicle 10. In these figures, the vehicle 10 is located approximately 500 mm from a structure 11 submerged in water, the structure 11 representing a doubly curved portion of the hull of a ship, and the intersection points of each field of view 76, 78, 80, 82 are shown.

[0084] Best shown in Figure 7AIn [description], the magnetic fields of the fields of view 76, 78, 80, 82 of the plurality of imaging modules 18 are directed to allow simultaneous imaging of the spaces adjacent to the front portion 20, the opposite sides (22, 24), and the top 34 of the subject 12. The imaging modules 18 are arranged and configured such that the fields of view 76, 78, 80, 82 do not overlap in this configuration, which means that the controller 26 attaches the fields of view 76, 78, 80, 82 together to form a combined field of view.

[0085] Figure 8A and 8B respectively show a perspective schematic view and a top view schematic view of a second configuration of the fields of view 76, 78, 80 of the plurality of imaging modules 18, where each field of view is shown as a frustum of a cone extending away from the vehicle 10. In these figures, the vehicle 10 is located approximately 500 mm from the structure 11 submerged in water, the structure 11 represents a doubly curved portion of the hull of a ship, and the intersections of each field of view 76, 78, 80, 82 with the hull are shown. Figure 8A and 8B The field of view 82 of the third imaging module 18c is not shown.

[0086] Best shown in Figure 8A In [description], the magnetic fields of the fields of view 76, 78, 80, 82 of the plurality of imaging modules 18 are directed to allow simultaneous imaging of the spaces adjacent to the front portion 20, the opposite sides (22, 24), and the top 34 of the subject 12. The imaging modules 18 are arranged and configured such that the fields of view 76, 78, 80 are directed to overlap. This also relates to the stereo camera pairs 19, 21 in the first imaging module 18a, which are arranged to be inclined towards each other such that the fields of view 76a, 76b of each of the stereo cameras 19, 21 overlap. In other embodiments, only one of the stereo cameras 19, 21 can be inclined towards the other camera 19, 21 to overlap their fields of view 76a, 76b. To enhance the degree of overlap, the second imaging module 18b is arranged to be slightly directed towards the front portion 20 of the edge region 14.

[0087] In this configuration, imaging around at least the front portion 20 and the opposite sides 22, 24 of the body 12 requires the controller 26 to register and / or align, and / or stitch together two or more of the fields of view 76, 78, 80 to form a combined field of view. As required in the first configuration, stitching together the fields of view 76, 78, 80 is computationally more intensive than the additional fields of view 76, 78, 80, 82. However, stitching together can allow for the formation of a continuous or seamless combined field of view, which can enhance imaging around the front portion 20 and the opposite sides 22, 24 of the body 12. This combined field of view from the overlapping fields of view 76, 78, 80 can also allow an object to be imaged simultaneously by more than one of the plurality of imaging modules 18, which can assist in resolving the depth of the object from the vehicle 10, or otherwise enhance the accuracy of positioning the vehicle 10 relative to the object.

[0088] It will be appreciated that the imaging modules 18 can be configured such that only some (not all) of the fields of view 76, 78, 80 overlap. For example, in some configurations, only two of the fields of view 76, 78, 80 overlap, and in other configurations, the field of view 82 of the third imaging module 18c overlaps with one or more of the other fields of view 76, 78, 80. It will also be appreciated that in an embodiment of the vehicle 10 in which the imaging modules 18 are mounted to the body 12 by an adjustment mechanism, the adjustment mechanism is operable to adjust the defined angles faced by the plurality of imaging modules 18, thereby changing the configuration of one or more of the fields of view 76, 78, 80, 82 to change the plurality of imaging modules 18 between the first (spaced) configuration and the second (overlapping) configuration.

[0089] In some embodiments, each imaging module 18 is covered by a flat (planar) port, and in other embodiments, at least one of the imaging modules 18 is covered by a hemispherical port 84. In either arrangement, the port is typically formed of a transparent material to act as a lens, thereby affecting the images captured by the imaging module 18. Each port typically forms a housing on the associated imaging module 18.

[0090] Figure 9A A top view schematic of the vehicle 10 is shown, which shows the fields of view 76, 78, 80, where the first imaging module 18a and the second imaging module 18b are covered by planar ports. Figure 9B A top view schematic of the vehicle 10 is shown, which shows the fields of view 76, 78, 80, where the first imaging module 18a and the second imaging module 18b are covered by hemispherical ports 84. As shown in these figures, the configuration of the ports can affect the extent (volume) of the fields of view 76, 78, 80, where compared with Figure 9A compared to the fields of view 76, 78, 80 in Figure 9BA larger volume is covered in the configuration. It should be understood that the field of view can be enlarged by alternative means, such as configuring each module 18 to include a specific lens.

[0091] Figure 10 Shows the positioning of a plurality of ranging sensors 69 spaced throughout the body 12 to allow measurement of distances to a plurality of supplemental points spaced from the body 12. The controller 26 is communicatively coupled to each of the ranging sensors 69 and is generally configured to control the operation of the drive mechanism 16 (thrusters 72, 74 in this embodiment) (based on the distance data received from the ranging sensors 69) to, for example, navigate the vehicle 10 relative to the structure 11. The controller 26 is generally configured to control the drive mechanism 16 based on the distance data in combination with an analysis of the images captured by the imaging module 18, but it should be understood that, for example, depending on the local environmental conditions, the controller 26 can select between these sources or select both of these sources to guide the navigation of the vehicle 10.

[0092] In the illustrated embodiment 10, the body 12 carries a first array of ranging sensors 69 that are disposed at each corner between the front portion 20 and the side portions 22, 24 of the body 12 and between the rear portion 25 and the side portions 22, 24 around the edge region 14. The first array of ranging sensors 69 can be oriented at a lateral angle relative to the conceptual plane 40, such as Figure 10 as shown, where these ranging sensors 69 are partially oriented towards the top 34 of the body 12. Operating these ranging sensors 69 allows measurement of distances relative to the front portion 20, the opposite sides (22, 24), and the top 34 of the body. The body 12 also carries a second array of ranging sensors 69 that are spaced throughout the top 34 of the body 12, in this embodiment between the interaction modules 52 carrying the brushes 60, 62, and directly away from the top 34. Operating these ranging sensors 69 allows measurement of distances relative to the top 34 of the body. It should be understood that the illustrated arrangement of the ranging sensors 69 on the body 12 is exemplary, and other arrangements are possible and may be useful, and the body 12 can carry more or fewer sensors 69. The ranging sensors 69 are generally configured as infrared time-of-flight sensors, but it should be understood that other ranging or distance sensors may be suitable.

[0093] The arrangement of the ranging sensors 69 in the first array can effectively position the ranging sensors 69 at the extent of the body 12 and outside of the interaction module 52 to have an unobstructed line of sight to adjacent objects, such as the hull 11 of a vessel, as Figure 8A and 8BAs shown, the ranging sensors 69 of the first array are operated to measure the distance to a neighboring object. When the vehicle 10 is driven adjacent to a structure 11, such as to clean the structure 11 with brushes 60, 62, the ranging sensors 69 of the first array can measure the relative distances to the surface or edge of the structure 11 at the front and rear of the vehicle 10, and can also detect the absence of the structure 11 (such as due to traveling through an edge). The distance data generated by these measurements is processed by the controller 26 to achieve control adjustment of the drive mechanism 16 and / or control adjustment of the interaction module 52, such as by rotating the brushes 60, 62 to improve the effectiveness and / or efficiency of the cleaning structure.

[0094] The arrangement of the ranging sensors 69 in the second array can effectively position the ranging sensors 69 inside the interaction module 52 to measure the relative distance to the surface of the structure 11 adjacent to or in contact with the module 52, such as when operating the brushes 60, 62 that press against the structure 11 during a cleaning operation. As Figure 10 shown, the sensors 69 can be positioned in a grid at the four corners of the top 34 of the body 12. The distance data generated by these sensors 69 allows the controller to monitor the spacing between the vehicle 10 and the structure 11.

[0095] The ranging sensors 69 can be arranged and operable such that the distance data derived from one or both of the arrays allows the controller 26 to determine or estimate the geometry of a neighboring object, such as the structure 11, for example, to identify the boundaries and / or shape of the structure 11. For example, operating the sensors 69 in the second array can allow determination or estimation of the profile of the surface adjacent to the top 34 of the vehicle 10, and thereby control the control operations of the drive mechanism 16 and / or the interaction module 52 to optimize the force applied to the surface by the interaction module 52. In some embodiments, the second array can include more sensors 69 to enhance the resolution of the surface geometry estimation achievable by the controller 26.

[0096] The controller 26 can be configured to combine (or fuse) the distance data generated by the sensors 69 in the second array with the distance data generated by the sensors 69 in the first array, and can be combined with other sensor data (such as the force data generated by the force sensors associated with the brushes 60, 62) to further enhance the accuracy and / or efficiency of controlling the drive mechanism 116 and / or the interaction module 52. This can enhance the navigation accuracy around the structure 11 to, for example, achieve cleaning or other tasks performed using the interaction module 52. It should be understood that the data obtained from other sensors can be combined / fused by the controller 26 with the distance data to optimize the control of the drive mechanism 116 and / or the interaction module 52. For example, this may involve obtaining and combining current and / or rotational speed measurements from sensors associated with the thrusters 72, 74, current and / or rotational speed measurements from sensors associated with the brushes 60, 62 (or the motors driving the brushes 60, 62), and an inertial measurement unit (IMU) associated with the interaction module 52.

[0097] Figure 11 The positioning of a plurality of light emitters 90 is shown, the light emitters being spaced throughout the body 12 and originating from and being associated with the imaging module 18. Each light emitter 90 is operable to illuminate the field of view of at least one of the imaging modules 18. Generally, each light emitter 90 is spaced from the imaging module 18 and can be tilted towards the field of view of one or more of the modules 18 to inhibit the emitted light from immediately illuminating in front of the module, such as to avoid illuminating particles or bubbles significantly positioned in the field of view. The controller 26 is communicatively coupled to each of the light emitters 90 and is configured to control the operation of the light emitters 90, such as to activate / deactivate one or more of the light emitters 90 and to adjust any of the brightness, color temperature, and flash frequency of the illumination caused by each light emitter 90. Generally, each light emitter 90 includes one or more light emitting diodes (LEDs), but it should be understood that other lighting mechanisms are suitable.

[0098] In the illustrated Example 10, some of the light emitters 90 are configured as elongated light bars 92, while other light emitters are configured as spotlights 94. The light bars 92 are operated to provide illumination along a linear length. In effect, this emits scattered light or a glow across a short distance, typically for illuminating objects less than 100 mm from the vehicle 10. In some cases, the light bars 92 can be operated to increase the emitted brightness, so as to illuminate objects about 200 mm (or greater than 200 mm for some applications) from the vehicle 10. The scattered light emitted by the light bars 92 can effectively minimize reflections from waterborne particles, debris, and / or bubbles, thereby enhancing the image quality captured by the imaging module 18, which can enhance close-range feature recognition (such as when moving around a structure 11) and the corresponding navigation control by the controller 26. The spotlights 94 are operated to illuminate a narrow beam across a longer distance, typically for illuminating objects greater than 50 mm from the vehicle 10, which can enhance long-range feature detection, such as when moving in open water or inspecting concave structures, recesses, or conduits, such as an arbalist or other complex relics.

[0099] The light bars 92 are arranged to extend across the body 12 to emit light in a distributed short-distance light beam across the field of view of some of the imaging modules 18. In the illustrated example, a pair of first light bars 921 are arranged to extend parallel to each other at the top 34 of the body 12 between the sides 22, 24 to illuminate around the top 34. The first light bars 921 are spaced towards the front 20 and the rear 25 of the body 12 such that the third imaging module 18c is inserted between the light bars 921 so as to operate the light bars 921 to illuminate an object within the field of view of the third imaging module 18c and close to the vehicle 10. These light bars 921 can also be positioned between and close to the interaction modules 52 to enhance illumination of the structure with which the modules 52 interact (such as the structure 11 cleaned by the brushes 60, 62).

[0100] A pair of second light bars 922 are arranged to extend parallel to each other along the sides 22, 24 of the body 12 and spaced from each other to illuminate the sides 22, 24. The second light bars 922 are mounted on the body 12, on the pontoon member 96 in this example, to be operatively below the second imaging module 18b such that the light bars 921 are operated to illuminate an object within the field of view of the second imaging module 18b and close to the vehicle 10. The second light bars 922 are operated to emit light across the field of view of the module 18b, which can optimize the image quality and thereby feature recognition by the controller 26.

[0101] The spotlight 94 is mounted on the body 12 to emit light in a focused medium- to long-range beam generally along the field of view of some of the imaging modules 18. In the illustrated embodiment, an array of first spotlights 941 is mounted across the top 34 of the body 12 to illuminate around the top 34. Operating these spotlights 941 emits a plurality of light beams directly away from the top 34 to illuminate an object within the field of view of the third imaging module 18c and away from the vehicle, e.g., as the vehicle 10 approaches, illuminating the structure 11 to press the brushes 60, 62 against the structure 11 for cleaning.

[0102] A pair of second spotlights 942 are mounted at the front 20 of the body 12, in this embodiment carried by the pontoon member 96, to illuminate an object within the field of view of the first imaging module 18a, e.g., away from the vehicle, e.g., illuminating the structure 11 as the vehicle 10 is moved toward the structure 11 at a distance.

[0103] The controller 26 is configured to operate any of the light emitters 92, including operating multiple light emitters 92 simultaneously, to illuminate around the vehicle 10. The controller 26 may be configured to operate the light emitters 92 based on one or more of the following: images captured by the plurality of imaging modules 18; distance data received from the range sensor 69; and the estimated position and / or orientation of the vehicle 10 relative to the structure 11.

[0104] In some embodiments, as the vehicle 10 moves in the water based on any of a series of factors, the controller 26 is configured to dynamically adjust the operation of the light emitters 92 (referred to as "active illumination"). The dynamic adjustment may be based on one or more of the following: the estimated or determined relative position and / or orientation of the vehicle 10 and the structure 11; the position of the vehicle 10 in the world; the ambient light of the vehicle 10's local environment; the local reflected light of the vehicle 10, such as light emitted by the light emitters 92 and reflected by the structure 11. Operating the light emitters 92 in this way can mitigate potential negative impacts on the quality of the images captured by the imaging modules 18, which are caused by the dynamic range variability of light when illuminating the structure 11 at close range underwater.

[0105] For example, in some embodiments, the controller 26 evaluates the distance data generated by the distance sensor 69 at a defined frequency and thereby adjusts the brightness output of the light emitters 92 to the structure 11 based on the measured proximity of the vehicle 10 or a part of the vehicle 10. This can effectively enhance the color and / or clarity of the images captured by the imaging modules 18 and / or suppress the creation of "hot spots" of light in the images, either of which can enhance feature detection in the images by the controller 26.

[0106] In other embodiments, the controller 26 evaluates the images captured by the imaging module 18 and thereby adjusts the brightness output of the light emitter 92 based on the quantity and quality of features detected in the images, such as by evaluating the shadows and highlights present in the images.

[0107] In further embodiments, the controller 26 evaluates the images captured by the imaging module 18 in combination with estimated positioning data / position data and / or operating condition data of the vehicle 10, compares the current data with historical data, and thereby adjusts the brightness output of the light emitter 92 based on the same or similar positioning / position previously visited, and / or based on the experience of the same or similar previous situations.

[0108] In use, the vehicle 10 can be deployed from and retrieved to a base station, such as a pod or hangar fixed outside the water (e.g., on a boat or dock). The vehicle 10 can be mechanically moored to the base station, such as for providing power to the vehicle 10. When the vehicle 10 is underwater, the imaging module 18 operates simultaneously to image the front portion 20 and the opposite sides 22, 24 of the body 12. The images are received and processed by the controller 26. Based on the processed images, and in some embodiments also based on additional sensing parameters, the controller 26 achieves control of the drive mechanism 16 to navigate the vehicle 10 relative to the structure 11, typically to avoid colliding with the body 12, the imaging module 18, and the drive mechanism with the structure.

[0109] The illustrated embodiment of the vehicle 10 is operable to interact with the structure 11, such as cleaning the structure 11. This involves the controller 26 achieving control of the drive mechanism 16 to navigate the vehicle 10 so as to position the interaction modules 52, 68 relative to the structure 11; and operating the interaction modules 52, 68 (which in this embodiment causes the cleaning of the structure 11).

[0110] In such a case, the navigation may include pressing one or more of the rotating brushes 60, 62 against the structure 11, and / or rotating the interaction module 52 into an extended configuration and pressing the free end 58 against a target portion of the structure 11, such as a concave area or an area above the waterline. When cleaning above the waterline, typically only the second outer brush 60 rotates to suppress the disturbance of the water body near the vehicle 10, which may otherwise have a negative impact on the image quality captured by the imaging module 18, such as by creating bubbles or turbulence, thereby interfering with the controller 26 in maintaining navigation accuracy.

[0111] Advantageously, imaging by multiple imaging modules 18 around at least two of the front 20, opposite sides 22, top 34, and bottom 35 of the body 12 can enhance the visual horizon around the vehicle 10, such as defining a wide horizon from one side 22 to the other side 24 of the edge region 14. The arrangement of the imaging modules 18 means that for an extended period of time, features are visible within the fields of view 76, 78, 80 of the imaging modules 18, and / or can be imaged multiple times and / or by different imaging modules 18 to enhance the perception of the environment around the vehicle 10. The wide visual horizon provided by the imaging modules 18 can increase the sensor time for obstacles that may enter the fields of view 76, 78, 80 of the multiple imaging modules 18, for example, a portion of a structure submerged in water (such as a propeller of the vehicle or marine life), which allows more time for the controller 26 to identify the obstacle and actuate the drive mechanism 16 to move the vehicle 10 away from the obstacle.

[0112] The multiple imaging modules 18 are arranged to capture images to provide accurate positioning of the vehicle 10, typically accurate to within 10 mm, to allow the vehicle 10 to navigate precisely relative to the structure. The positioning is achieved by processing images that define a combined field of view of multiple imaging modules operating simultaneously around two or more of the front 20, sides (22, 24), top 34, and bottom 35 of the body 12. The positioning may also involve combining data input from additional on-board sensors, the input being generated by any one of a series of additional sensors that may be carried by the vehicle 10, as described above.

[0113] If the vehicle 10 needs to navigate close to a structure 11 on one side of the body 12 (such as the top 36) to, for example, allow interaction with the structure 11, the multiple imaging modules 18 can be set up with at least some of them facing laterally to a conceptual plane 40 defined by the body 12 to image at least partially around the top 34 of the body 12, and the positioning can be further enhanced by using a stereo camera to resolve depth.

[0114] In the illustrated embodiment of the vehicle 10 configured to clean a structure, the vehicle 10 must be close to the structure of the interaction modules 52, 68 to press against the structure and operate to clean. In such a case, accurate positioning is beneficial for protecting the vehicle 10 and the structure from unintentional damage during the cleaning process and for improving the cleaning efficiency. The arrangement of the interaction module 52 relative to the body 12 can be adjusted between an alignment configuration and an extended configuration, which can enhance the protection of the vehicle 10 by allowing the vehicle 10 to clean the structure from a safe distance and allowing access to concave or hollow structures (such as internal pipes).

[0115] In embodiments where the imaging modules 18 are configured such that the fields of view 76, 78, 80 overlap, the horizon may be continuous and provided from one side 22 to the other side 24 and include the front portion 20 of the body 12. This allows for improved obstacle awareness to be achieved as the combined fields of view stitched together can eliminate blind spots and / or further enhance the sensing time to optimize the time available for the controller 26 to control the drive mechanism 16 to navigate the vehicle 10 away from obstacles or around structures.

[0116] Those skilled in the art will appreciate that numerous variations and / or modifications may be made to the above-described embodiments without departing from the broad general scope of the disclosure. Accordingly, the embodiments are to be considered in all respects as illustrative and not restrictive.

Claims

1. An underwater vehicle for navigating relative to a structure submerged in a body of water, the vehicle comprising: A body having an operable front, rear, opposing sides, top, and bottom, and defining an edge region bounding the front, the rear, and the opposing sides; One or more drive mechanisms carried by the body; A plurality of imaging modules carried by the body and directed away from the edge region, the plurality of imaging modules configured to operate simultaneously to permit imaging of at least two of the front, the opposing sides, the top, and the bottom of the body; And A controller communicatively coupled to the plurality of imaging modules and the one or more drive mechanisms, the controller configured to control the operation of the one or more drive mechanisms to navigate the vehicle around the structure based on images captured by the plurality of imaging modules.

2. The vehicle according to claim 1, wherein the controller is configured to estimate at least one of a position and an orientation of the vehicle relative to the structure based on the images captured by the plurality of imaging modules, and control the operation of the one or more drive mechanisms to navigate the vehicle around the structure based on at least one of the position and the orientation of the vehicle.

3. The vehicle according to claim 1 or 2, wherein the imaging modules are arranged by the body such that a first imaging module is directed away from the front, and a pair of second imaging modules are directed away from each of the opposing sides.

4. The vehicle according to claim 3, wherein the body defines a conceptual plane between the front and the opposing sides, and at least some of the imaging modules are configured to face the plane laterally at a defined angle to permit imaging around the top or the bottom of the body.

5. The vehicle according to claim 4, wherein each of the first imaging module and the second imaging modules is arranged to face at the defined angle to permit simultaneous imaging of at least two of the front, the opposing sides, and the top of the body.

6. The vehicle according to claim 5, wherein the defined angle of the first imaging module is different from the defined angle of the second imaging module.

7. The vehicle according to any one of claims 4 to 6, wherein at least one of the imaging modules is arranged to face the plane vertically to image around the top of the body.

8. The vehicle according to any one of claims 4 to 7, wherein the controller is configured to control the operation of the one or more drive mechanisms to position the conceptual plane relative to the structure based on the images captured by the imaging modules arranged to face at the defined angle.

9. The vehicle according to any one of claims 4 to 8, wherein the body carries an interaction module for interacting with the structure, and wherein at least one of the imaging modules is configured to face at the defined angle to allow imaging adjacent to the interaction module, and wherein the controller is configured to control the operation of the one or more drive mechanisms to position the interaction module relative to the structure based on the images captured by at least some of the imaging modules, and to operate the interaction module.

10. The vehicle according to claim 9, wherein the interaction module defines an elongate structure, the elongate structure defining a first end and an opposite second end, and the interaction module is adjustably mounted to the body to allow the second end to be positioned to extend through the edge region, thereby allowing interaction with the structure.

11. The vehicle according to claim 10, wherein the interaction module is mounted to the body to allow at least one of: moving the interaction module relative to the body in a linear direction, and rotating the interaction module about at least one axis.

12. The vehicle according to any one of claims 9 to 11, wherein the interaction module is configured for cleaning the structure, and wherein the interaction module includes at least one rotatable brush at the second end.

13. The vehicle according to any one of claims 9 to 12, wherein the body carries a pair of the interaction modules, the pair of interaction modules being spaced apart from each other on the top of the body, and at least one of the imaging modules is arranged between the interaction modules to face the plane vertically, thereby imaging around the top of the body.

14. The vehicle according to any one of claims 4 to 13, wherein at least one of the imaging modules is mounted to the body by an adjustment mechanism operable to adjust the defined angle.

15. The vehicle according to any one of the preceding claims, wherein each of the imaging modules is operable to define a field of view, and the imaging modules are arranged such that the fields of view of at least two of the imaging modules overlap.

16. The vehicle according to claim 15, wherein the at least two of the imaging modules are arranged such that the fields of view overlap to allow simultaneous imaging at at least two of the front, opposite sides, top and bottom of the edge region.

17. The vehicle according to any one of the preceding claims, wherein at least one of the imaging modules includes a stereo camera pair.

18. The vehicle according to claim 17, wherein the stereo camera pair is arranged to be angled towards each other such that the field of view defined by each of the cameras overlaps with the other fields of view.

19. The vehicle according to any one of the preceding claims, wherein at least one of the imaging modules is covered by a dome lens.

20. The aircraft according to any one of the preceding claims, further comprising a plurality of ranging sensors carried by the body and spaced apart from each other, each ranging sensor being operable to determine the distance of an object relative to the body, and wherein the controller is communicatively coupled to the ranging sensors and configured to control the operation of the one or more drive mechanisms based on distance data received from the ranging sensors.

21. The aircraft according to claim 20, wherein the ranging sensors are arranged around the body, away from the edge region, and permit measurement of distances relative to at least some of the front, the opposite sides, and the top of the body.

22. The aircraft according to claim 1, wherein the body carries at least one interaction module for interacting with the structure, and further comprises a plurality of ranging sensors carried by the body and spaced apart from each other, each ranging sensor being operable to determine the distance of an object relative to the body, and wherein the controller is communicatively coupled to the ranging sensors and configured to control the operation of the one or more drive mechanisms to position the interaction module relative to the structure based on at least one of the images captured by the imaging module and the distance data received from the ranging sensors, and further configured to operate the at least one interaction module.

23. The aircraft according to claim 22, comprising a pair of the interaction modules spaced apart from each other, each interaction module including at least one rotatable brush, and wherein the controller is configured to control the operation of each interaction module to rotate the at least one brush based on at least one of the images captured by the imaging module and the distance data received from the ranging sensors.

24. The aircraft according to any one of the preceding claims, further comprising a plurality of light emitters carried by the body and spaced apart from the imaging module, each light emitter being operable to illuminate the field of view of at least one imaging module, and wherein the controller is communicatively coupled to the light emitters and configured to control the operation of the light emitters.

25. The aircraft according to claim 24, wherein at least some of the light emitters are configured as elongated light strips operable to illuminate along a linear length, with at least one light strip arranged to extend between the opposite sides of the body to illuminate around the top of the body, and a pair of the light strips spaced apart from each other to extend along and illuminate around the opposite sides of the body.

26. The aircraft according to claim 24 or 25, wherein at least some of the light emitters are configured as spotlights operable to emit narrow beams, with at least one spotlight arranged to illuminate around the top of the body, and at least one spotlight arranged to illuminate around the front of the body.

27. The vehicle according to any one of claims 24 to 26, wherein the controller is configured to control the operation of the light emitter based on images captured by the plurality of imaging modules.

28. The vehicle according to claim 1, further comprising a plurality of ranging sensors carried by the body and spaced apart from each other, each ranging sensor operable to determine the distance of an object relative to the body, and a plurality of light emitters carried by the body and spaced apart from the imaging modules, each light emitter operable to illuminate the field of view of at least one imaging module, wherein the controller is communicatively coupled to the ranging sensors and the light emitters, and is further configured to control the operation of the one or more drive mechanisms based on distance data received from the ranging sensors, and is configured to control the operation of the light emitters based on one or more of: images captured by the plurality of imaging modules; distance data received from the ranging sensors; and an estimated position and / or orientation of the vehicle relative to the structure.

29. The vehicle according to claim 28, wherein the controller is configured to control the operation of the light emitters to adjust one or more of: the brightness, color temperature, and flash frequency of the illumination.

30. The vehicle according to any one of the preceding claims, wherein the controller includes a processor sealably contained within the body.

31. The vehicle according to any one of the preceding claims, wherein the controller is configured to achieve autonomous navigation relative to the structure.

32. The vehicle according to any one of the preceding claims, wherein the vehicle includes a base station mounted outside the water body and a tether connecting the body to the base station.

33. The vehicle according to claim 32, wherein the tether is configured to provide a mechanical connection and to convey power and data between the body and the base station.

34. An underwater vehicle configured to clean a structure immersed in a water body, the vehicle comprising: a body defining an edge region; and an elongate cleaning module operable to clean the structure, the cleaning module defining a first end and an opposite second end, the cleaning module adjustably mounted to the body to allow at least one of: moving the cleaning module linearly relative to the body; and rotating the cleaning module about at least one axis to position the second end to extend through the edge region and into the structure.

35. The vehicle according to claim 34, wherein the cleaning module defines a longitudinal axis between the ends and includes a first brush rotatably mounted about the longitudinal axis and arranged to axially extend from the second end.

36. The vehicle according to claim 35, wherein the cleaning module further includes a second brush rotatably mounted about the longitudinal axis and axially spaced from the first brush, the first brush and the second brush being rotatable independently of each other.

37. The vehicle according to any one of claims 34 to 36, wherein the body defines a conceptual plane extending across the edge region, and the cleaning module is carried by the body at one side of the plane, at an operable top or bottom of the body.

38. The vehicle according to claim 37, comprising an additional cleaning module, the additional cleaning module being carried by the body at the one side of the plane and spaced from the cleaning module, the additional cleaning module defining an axis and having at least one brush rotatably mounted about the axis.

39. The vehicle according to claim 38, wherein the additional cleaning module has a pair of brushes rotatably mounted about the axis and configured to rotate independently of each other.

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