Autonomous Subsea Inspection Vehicle With Deployable Sensor Arms

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Solution Overview

Problem

Current subsea inspection methods using manned vehicles or ROVs are costly and inefficient due to high day rates and fuel consumption, necessitating the development of an autonomous solution for inspecting underwater structures.

Innovation Solution

An autonomous subsea vehicle equipped with movable inspection sensor probes, deployable semi-rigid arms, position sensors, and a controller for autonomous navigation and positioning, allowing it to track and inspect underwater objects like pipelines without a crew or vessel, using propulsion systems and various sensors for navigation and data collection.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a vessel with ROV is used for subsea inspection, then inspection capability is provided, but operational cost and fuel consumption increase significantly

Engineering Contradiction:

Improveinspection capabilityVSAvoidfuel consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The patent replaces the mechanical system of a large vessel sailing along the pipeline route with an autonomous underwater vehicle that navigates independently through the water column. The AUV uses underwater propulsion systems instead of surface vessel propulsion, eliminating the need for a ship, crew, and associated fuel consumption while maintaining inspection capability through integrated sensors and autonomous navigation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If a vessel with ROV is used for subsea inspection, then inspection capability is provided, but operational cost increases due to crew day rates

Engineering Contradiction:

Improveinspection capabilityVSAvoidoperational cost

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The autonomous underwater vehicle performs self-service by navigating, positioning, and conducting inspections independently without human intervention. The AUV uses autonomous navigation systems, onboard sensors, and self-contained propulsion to complete inspection tasks alone, eliminating the need for expensive crew day rates while maintaining reliable inspection capability.

Inventive Principle:

Principle #25Self-service

3Use of energy by moving object

If an autonomous underwater vehicle is used, then operational cost and fuel consumption are reduced, but navigation and positioning precision must be maintained

Engineering Contradiction:

Improvefuel consumptionVSAvoidpositioning precision

Core Design Contradiction:

Use of energy by moving objectVSMeasurement precision

Solution Approach 1:

The patent employs position sensors as intermediary devices that measure the distance to the pipeline and provide feedback to the controller. These sensors act as mediators between the AUV's propulsion system and the pipeline, enabling precise positioning and tracking without requiring expensive vessel-based equipment. The controller uses this positional information to adjust the AUV's position autonomously.

Inventive Principle:

Principle #24Intermediary (Mediator)

4Measurement precision

If deployable semi-rigid arms with position sensors are used, then positioning precision is improved, but device complexity increases

Engineering Contradiction:

Improvepositioning precisionVSAvoidvehicle complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent implements deployable semi-rigid arms that can dynamically adjust their position and configuration. These arms are movable rather than fixed, allowing the position sensors to be positioned optimally for measuring distance to the pipeline. The arms can be retracted or extended as needed, providing positioning precision while maintaining a compact form factor when not in use, thus managing device complexity through dynamic adaptability.

Inventive Principle:

Principle #15Dynamics

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables cost-effective and fuel-efficient autonomous inspection of underwater structures by reducing operational costs and eliminating the need for a ship and crew, while maintaining effective data collection and positioning capabilities.

Implementation Method 1

one or more position sensors (40) which are adapted to sense a position of inspection sensor probe (20) relative to body (10)

Methodology Applied

Scientific EffectReflection: Reflection

Implementation Method 2

Body (10) typically comprises one or more propulsion systems (11)

Methodology Applied

Scientific EffectFluid dynamics: Drag

Data Source

PatentUS11530018B2Subsea inspection vehicle

Publication Date: 2022.12.20 OCEANEERING INTERNATIONAL INC

AI summary

A subsea vehicle capable of supporting inspection of underwater objects while underway includes a body that provides a capability to allow the subsea vehicle to submerge underwater and follow or position near an object while maintaining an orientation to the object appropriate for inspection of, and safety requirements for, the object. The vehicle includes a set of deployable, semi-rigid arms to support the movement of inspection sensor probes near or lightly touching the inspection target with the probes. A controller helps tracks the intended inspection object using various sensor inputs along with a priori knowledge of the object to drive and position the subsea vehicle such that the appropriate orientation to the inspection target is maintained.