Underwater mobile inspection apparatus and underwater inspection equipment

Patent metadata

Field	Value
Publication number	US-9511831-B2
Application number	US-201214347353-A
Country	US
Kind code	B2
Filing date	Sep 13, 2012
Priority date	Sep 26, 2011
Publication date	Dec 6, 2016
Grant date	Dec 6, 2016

Abstract

An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.

First claim

The invention claimed is:

1. An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising,
the underwater mobile inspection apparatus comprising:
a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the inspection object;
a first movable arm provided on the cruising body;
an inspection tool unit for use in inspecting the inspection object, the inspection tool unit being provided on the first movable arm; and
a controller configured to, when the cruising body cruises along the inspection object in such a manner as not to come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship, wherein
the inspection tool unit includes an anti-corrosion inspection device, which includes an anti-corrosion potential measurement device, and
the anti-corrosion potential measurement device includes:
a potential measurement probe provided on the inspection tool unit; and
a remote electrode connected to a linear object reeled out from an electrode winch provided on the cruising body.

2. The underwater mobile inspection apparatus according to claim 1 , wherein
the cruising body includes an inspection object detector configured to obtain inspection object information containing a positional relationship between the cruising body and the inspection object and a shape of the inspection object, and
the controller controls the cruising body based on the inspection object information, such that the cruising body autonomously cruises along the inspection object in such a manner as not to come into contact with the inspection object.

3. The underwater mobile inspection apparatus according to claim 1 , comprising:
an inspection object detector included in the cruising body and configured to obtain inspection object information containing a positional relationship between the inspection tool unit and the inspection object and a shape of the inspection object;
a second movable arm provided on the inspection tool unit; and
an image-capturing camera for use in visually inspecting the inspection object, the image-capturing camera being provided on the second movable arm, wherein
the controller controls the second movable arm based on the inspection object information, such that a positional relationship of the image-capturing camera with the inspection object becomes a predetermined target positional relationship.

4. The underwater mobile inspection apparatus according to claim 1 , wherein the inspection tool unit includes a wall thickness inspection device.

5. The underwater mobile inspection apparatus according to claim 1 , wherein the first movable arm includes a parallel link mechanism.

6. The underwater mobile inspection apparatus according to claim 1 , wherein
the inspection tool unit is provided with a running part configured to allow the inspection tool unit to run on the inspection object, and
the controller operates the first movable arm by force feedback control, such that the inspection tool unit is in pressure contact with the inspection object with predetermined target pressing force.

7. The underwater mobile inspection apparatus according to claim 6 , wherein the running part is a wheel.

8. Underwater inspection equipment comprising:
the underwater mobile inspection apparatus according to claim 1 ; and
a docking station disposed on a seafloor, wherein
the underwater mobile inspection apparatus is configured to be docked with and undocked from the docking station disposed on the seafloor, and
in a state where the underwater mobile inspection apparatus is docked with the docking station, a first connector provided on the underwater mobile inspection apparatus is connected to a second connector provided in the docking station, and charging of a battery of the underwater mobile inspection apparatus, transmission of inspection data that has been obtained, or reception of an inspection instruction is performed.

9. The underwater inspection equipment according to claim 8 , wherein the underwater mobile inspection apparatus includes:
an inspection object detector included in the cruising body and configured to obtain inspection object information containing a positional relationship between the inspection tool unit and the inspection object and a shape of the inspection object;
a second movable arm provided on the inspection tool unit; and
an image-capturing camera for use in visually inspecting the inspection object, the image-capturing camera being provided on the second movable arm, wherein
the controller controls the second movable arm based on the inspection object information, such that a positional relationship of the image-capturing camera with the inspection object becomes a predetermined target positional relationship,
the underwater mobile inspection apparatus is configured to store image data in a recording device included in the underwater mobile inspection apparatus, the image data being obtained by capturing an image of the inspection object with the image-capturing camera, and
in a state where the underwater mobile inspection apparatus is docked with the docking station, the underwater mobile inspection apparatus transmits the image data.

10. The underwater mobile inspection apparatus according to claim 2 , comprising:
an inspection object detector included in the cruising body and configured to obtain inspection object information containing a positional relationship between the inspection tool unit and the inspection object and a shape of the inspection object;
a second movable arm provided on the inspection tool unit; and
an image-capturing camera for use in visually inspecting the inspection object, the image-capturing camera being provided on the second movable arm, wherein
the controller controls the second movable arm based on the inspection object information, such that a positional relationship of the image-capturing camera with the inspection object becomes a predetermined target positional relationship.

Assignees

• Akira Kimura
• Okaya Noriyuki
• Sumino Kazuya
• Mukaida Minehiko
• Kagaya Hiroaki
• Hamamatsu Masanori
• Saiki Akiyoshi
• Kubota Tetsuya
• Enomoto Masayuki
• Kawasaki Heavy Ind Ltd

Inventors

• Kimura Akira
• Okaya Noriyuki
• Sumino Kazuya
• Mukaida Minehiko
• Kagaya Hiroaki
• Hamamatsu Masanori
• Saiki Akiyoshi
• Kubota Tetsuya
• Enomoto Masayuki

Classifications

• B63C11/52

  Tools specially adapted for working underwater, not otherwise provided for · CPC title

• B63G2008/004

  autonomously operating · CPC title

• B63G8/001 Primary

  Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42) · CPC title

• B63G2008/005

  remotely controlled · CPC title

• B63B59/00

  Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels {(inhibiting corrosion of metals by anodic or cathodic protection C23F13/00)} · CPC title