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Patent · US10589432B2 · B2 · US

Underwater pipeline inspection crawler

(11) Publication number
US10589432B2
(21) Application number
15/677,509
(22) Filing date
2017-08-15
(30) Priority date
2016-09-20
(43) Publication date
2020-03-17
(45) Date of grant
2020-03-17
(51) IPC
B08B 1/00; B08B 3/02; B08B 9/023; B23K 31/12; B25J 15/00; B25J 9/00; B62D 57/00; B63C 11/42; B63C 11/52; B63G 8/00; B63G 8/14; B63G 8/42; B63H 19/08; E21B 41/04; F16H 1/16; F16H 1/22; F16H 19/08; F16H 35/18; F16H 37/04; F16L 1/26; F16L 55/00; G01B 17/02; G01N 29/04; G01N 29/22
(52) CPC
  • B08B Cleaning in general; prevention of fouling in general: 3/024, 1/00, 9/023
  • B23K Soldering or unsoldering; welding; cladding or plating by soldering or welding; cutting by applying heat locally, e.g. flame cutting; working by laser beam: 31/125
  • B25J Manipulators; chambers provided with manipulation devices: 11/00, 15/0009, 15/0028, 15/009, 19/00, 9/0009
  • B62D Motor vehicles; trailers: 57/00
  • B63C Launching, hauling-out, or dry-docking of vessels; life-saving in water; equipment for dwelling or working under water; means for salvaging or searching for underwater objects: 11/42, 11/52
  • B63G Offensive or defensive arrangements on vessels; mine-laying; mine-sweeping; submarines; aircraft carriers: 2008/002, 2008/005, 2008/008, 8/00, 8/001, 8/14, 8/24, 8/42
  • B63H Marine propulsion or steering: 19/08
  • E21B Earth or rock drilling; obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells: 41/04
  • F16H Gearing: 1/16, 1/222, 19/08, 2019/085, 35/18, 37/041
  • F16L Pipes; joints or fittings for pipes; supports for pipes, cables or protective tubing; means for thermal insulation in general: 1/26, 1/265, 55/00
  • G01B Measuring length, thickness or similar linear dimensions; measuring angles; measuring areas; measuring irregularities of surfaces or contours: 17/02
  • G01N Investigating or analysing materials by determining their chemical or physical properties: 2291/0234, 2291/02854, 2291/2675, 29/04, 29/225
(73) Assignee
Saudi Arabian Oil Co
(72) Inventors
Ammar Al Nahwi; Fadl Abdellatif; Ali Outa; Ihsan Al-Taie
(54) Title
Underwater pipeline inspection crawler
(57) Abstract

A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.

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Claims (17)

  1. A system for underwater inspection, comprising an inspection crawler having: a housing having a first side and an opposing second side, a power source, and a controller; at least one inspection tool operatively connected to the housing; four pairs of driving wheels attached to a bottom portion of the housing and being configured to propel the inspection crawler across a surface of a pipeline; and a moveable center of gravity, wherein the center of gravity is configured to selectively move along a sliding rail positioned within the housing during traverse across an obstacle on the surface of the pipeline, wherein the obstacle is a weld joint and wherein a distance between a front pair of the driving wheels and its adjacent pair of driving wheels and a distance between a rear pair of the driving wheels and its adjacent pair of driving wheels are both longer than a width of the weld joint.
  2. The system of claim 1, further comprising: at least one remotely operated vehicle (ROV), wherein the inspection crawler is configured to operate as a docking station for the ROV.
  3. The system of claim 1, further comprising: at least one communication unit located on top of the surface of a body of water and operatively connected to the at least one inspection crawler, the at least one communication unit being configured to communicate aerially with one or more remote devices and communicate with the at least one inspection crawler via a tether; and at least one sea surface unit operatively connected to the at least one communication unit.
  4. The system of claim 3, wherein in at least one communication unit is configured to float on the surface of the water.
  5. The system of claim 3, wherein the at least one sea surface unit is configured to control operations of the at least one inspection crawler via control signals.
  6. The system of claim 3, wherein each of the inspection crawler, communication unit, and sea surface unit comprise at least one transmitter and at least one receiver, and wherein the transmitters and receivers are configured to transmit and receive respectively, data and control signals.
  7. The system of claim 1, wherein the moveable center of gravity comprises internal components of the inspection crawler.
  8. A method for traversing a weld joint along a surface of an underwater pipeline with an inspection crawler having a housing comprising a first end and a second end, a sliding rail located along the length of the housing from the first end to the second end and positioned within the housing, a moving mass configured to slide along the sliding rail to change the center of gravity of the inspection crawler, and three or four pairs of driving wheels operatively attached to a bottom surface of the inspection crawler, wherein a distance between a front pair of the driving wheels and its adjacent pair of driving wheels and a distance between a rear pair of the driving wheels and its adjacent pair of driving wheels are both longer than a width of the weld joint, and wherein in the three pairs of driving wheels configuration, the adjacent pairs of driving wheels for the front and rear pairs, respectively, are the same pair of driving wheels, the method comprising: parking the inspection crawler at a location proximate to the weld joint; sliding the mass along the slide rail to a position that is substantially at the second end of the inspection crawler, wherein the second end of the inspection crawler is distal to the weld joint relative to the first end of the inspection crawler; propelling the first end of the inspection crawler over the weld joint; sliding the mass along the sliding rail to a position that is substantially in the center of the inspection crawler; propelling a center portion of the inspection crawler over the weld joint; sliding the mass along the sliding rail to a position that is substantially at the first end of the inspection crawler; and propelling the second end of the inspection crawler over the weld joint.
  9. The system of claim 1, wherein the moveable center of gravity moves in a horizontal direction along the sliding rail.
  10. A system for underwater inspection, comprising an inspection crawler having: a housing having a first side and an opposing second side, a power source, and a controller; at least one inspection tool operatively connected to the housing; three pairs of driving wheels attached to a bottom portion of the housing and being configured to propel the inspection crawler across a surface of a pipeline; and a moveable center of gravity, wherein the center of gravity is configured to selectively move along a sliding rail positioned within the housing during traverse across an obstacle on the surface of the pipeline, wherein the obstacle is a weld joint and wherein a distance between a front pair of the driving wheels and a middle pair of the driving wheels and a distance between a rear pair of driving wheels and the middle pair of driving wheels are both longer than a width of the weld joint.
  11. The method of claim 8, wherein the moving mass moves in a horizontal direction along the sliding rail.
  12. The system of claim 10, further comprising: at least one remotely operated vehicle (ROV), wherein the inspection crawler is configured to operate as a docking station for the ROV.
  13. The system of claim 10, further comprising: at least one communication unit located on top of the surface of a body of water and operatively connected to the at least one inspection crawler, the at least one communication unit being configured to communicate aerially with one or more remote devices and communicate with the at least one inspection crawler via a tether; and at least one sea surface unit operatively connected to the at least one communication unit.
  14. The system of claim 13, wherein in at least one communication unit is configured to float on the surface of the water.
  15. The system of claim 13, wherein the at least one sea surface unit is configured to control operations of the at least one inspection crawler via control signals.
  16. The system of claim 13, wherein each of the inspection crawler, communication unit, and sea surface unit comprise at least one transmitter and at least one receiver, and wherein the transmitters and receivers are configured to transmit and receive respectively, data and control signals.
  17. The system of claim 10, wherein the moveable center of gravity comprises internal components of the inspection crawler.

Description

The present invention relates to underwater robots and methods and systems for inspection of underwater pipelines.

Underwater pipelines can include a concrete weight coating to ensure their stability on the seabed. Segments of pipelines are generally welded together creating weld joints between the segments. The weld joints, however, do not have concrete coating, and thus are either exposed to the environment or have some kind of wire mesh or guard to protect them from outside damage. As such, the weld joints are generally more vulnerable to deterioration and leaks (e.g., due to corrosion) and thus require frequent inspection. The cross-sectional diameter of the weld joints is also typically smaller than the concrete coated segments of the pipeline.

Due in part to the configuration of the underwater pipelines (e.g., weld joints), external inspection of underwater pipelines can be a challenging task. Remotely operated vehicles (ROVs) have been used to inspect these pipelines by taking inspection readings at targeted spots along the pipeline. These external inspections, however, become even more difficult when the pipeline starts from shore and transitions into a shallow zone of water, where the shallow water's high currents make it difficult for ROVs to access the pipeline and, particularly, the weld joints.

As such, there is a need for new approaches to inspecting underwater pipelines. The present invention addresses these and other limitations associated with conventional inspection protocols for underwater pipelines.

Citations (10)

  • EP0000808A1
  • US4290123A
  • US8185241B2
  • US20100212574A1
  • US20140338472A1
  • US9239297B2
  • US9400263B2
  • US20140260705A1
  • US20160059939A1
  • US20160272291A1
Record as JSON 
{
  "publication_number": "US10589432B2",
  "country": "US",
  "kind": "B2",
  "title": "Underwater pipeline inspection crawler",
  "abstract": "A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.",
  "claims": [
    "1. A system for underwater inspection, comprising an inspection crawler having: a housing having a first side and an opposing second side, a power source, and a controller; at least one inspection tool operatively connected to the housing; four pairs of driving wheels attached to a bottom portion of the housing and being configured to propel the inspection crawler across a surface of a pipeline; and a moveable center of gravity, wherein the center of gravity is configured to selectively move along a sliding rail positioned within the housing during traverse across an obstacle on the surface of the pipeline, wherein the obstacle is a weld joint and wherein a distance between a front pair of the driving wheels and its adjacent pair of driving wheels and a distance between a rear pair of the driving wheels and its adjacent pair of driving wheels are both longer than a width of the weld joint.",
    "2. The system of claim 1, further comprising: at least one remotely operated vehicle (ROV), wherein the inspection crawler is configured to operate as a docking station for the ROV.",
    "3. The system of claim 1, further comprising: at least one communication unit located on top of the surface of a body of water and operatively connected to the at least one inspection crawler, the at least one communication unit being configured to communicate aerially with one or more remote devices and communicate with the at least one inspection crawler via a tether; and at least one sea surface unit operatively connected to the at least one communication unit.",
    "4. The system of claim 3, wherein in at least one communication unit is configured to float on the surface of the water.",
    "5. The system of claim 3, wherein the at least one sea surface unit is configured to control operations of the at least one inspection crawler via control signals.",
    "6. The system of claim 3, wherein each of the inspection crawler, communication unit, and sea surface unit comprise at least one transmitter and at least one receiver, and wherein the transmitters and receivers are configured to transmit and receive respectively, data and control signals.",
    "7. The system of claim 1, wherein the moveable center of gravity comprises internal components of the inspection crawler.",
    "8. A method for traversing a weld joint along a surface of an underwater pipeline with an inspection crawler having a housing comprising a first end and a second end, a sliding rail located along the length of the housing from the first end to the second end and positioned within the housing, a moving mass configured to slide along the sliding rail to change the center of gravity of the inspection crawler, and three or four pairs of driving wheels operatively attached to a bottom surface of the inspection crawler, wherein a distance between a front pair of the driving wheels and its adjacent pair of driving wheels and a distance between a rear pair of the driving wheels and its adjacent pair of driving wheels are both longer than a width of the weld joint, and wherein in the three pairs of driving wheels configuration, the adjacent pairs of driving wheels for the front and rear pairs, respectively, are the same pair of driving wheels, the method comprising: parking the inspection crawler at a location proximate to the weld joint; sliding the mass along the slide rail to a position that is substantially at the second end of the inspection crawler, wherein the second end of the inspection crawler is distal to the weld joint relative to the first end of the inspection crawler; propelling the first end of the inspection crawler over the weld joint; sliding the mass along the sliding rail to a position that is substantially in the center of the inspection crawler; propelling a center portion of the inspection crawler over the weld joint; sliding the mass along the sliding rail to a position that is substantially at the first end of the inspection crawler; and propelling the second end of the inspection crawler over the weld joint.",
    "9. The system of claim 1, wherein the moveable center of gravity moves in a horizontal direction along the sliding rail.",
    "10. A system for underwater inspection, comprising an inspection crawler having: a housing having a first side and an opposing second side, a power source, and a controller; at least one inspection tool operatively connected to the housing; three pairs of driving wheels attached to a bottom portion of the housing and being configured to propel the inspection crawler across a surface of a pipeline; and a moveable center of gravity, wherein the center of gravity is configured to selectively move along a sliding rail positioned within the housing during traverse across an obstacle on the surface of the pipeline, wherein the obstacle is a weld joint and wherein a distance between a front pair of the driving wheels and a middle pair of the driving wheels and a distance between a rear pair of driving wheels and the middle pair of driving wheels are both longer than a width of the weld joint.",
    "11. The method of claim 8, wherein the moving mass moves in a horizontal direction along the sliding rail.",
    "12. The system of claim 10, further comprising: at least one remotely operated vehicle (ROV), wherein the inspection crawler is configured to operate as a docking station for the ROV.",
    "13. The system of claim 10, further comprising: at least one communication unit located on top of the surface of a body of water and operatively connected to the at least one inspection crawler, the at least one communication unit being configured to communicate aerially with one or more remote devices and communicate with the at least one inspection crawler via a tether; and at least one sea surface unit operatively connected to the at least one communication unit.",
    "14. The system of claim 13, wherein in at least one communication unit is configured to float on the surface of the water.",
    "15. The system of claim 13, wherein the at least one sea surface unit is configured to control operations of the at least one inspection crawler via control signals.",
    "16. The system of claim 13, wherein each of the inspection crawler, communication unit, and sea surface unit comprise at least one transmitter and at least one receiver, and wherein the transmitters and receivers are configured to transmit and receive respectively, data and control signals.",
    "17. The system of claim 10, wherein the moveable center of gravity comprises internal components of the inspection crawler."
  ],
  "description_excerpt": "The present invention relates to underwater robots and methods and systems for inspection of underwater pipelines.\n\nUnderwater pipelines can include a concrete weight coating to ensure their stability on the seabed. Segments of pipelines are generally welded together creating weld joints between the segments. The weld joints, however, do not have concrete coating, and thus are either exposed to the environment or have some kind of wire mesh or guard to protect them from outside damage. As such, the weld joints are generally more vulnerable to deterioration and leaks (e.g., due to corrosion) and thus require frequent inspection. The cross-sectional diameter of the weld joints is also typically smaller than the concrete coated segments of the pipeline.\n\nDue in part to the configuration of the underwater pipelines (e.g., weld joints), external inspection of underwater pipelines can be a challenging task. Remotely operated vehicles (ROVs) have been used to inspect these pipelines by taking inspection readings at targeted spots along the pipeline. These external inspections, however, become even more difficult when the pipeline starts from shore and transitions into a shallow zone of water, where the shallow water's high currents make it difficult for ROVs to access the pipeline and, particularly, the weld joints.\n\nAs such, there is a need for new approaches to inspecting underwater pipelines. The present invention addresses these and other limitations associated with conventional inspection protocols for underwater pipelines.",
  "cpc": [
    "B08B 3/024",
    "B08B 1/00",
    "B08B 9/023",
    "B23K 31/125",
    "B25J 11/00",
    "B25J 15/0009",
    "B25J 15/0028",
    "B25J 15/009",
    "B25J 19/00",
    "B25J 9/0009",
    "B62D 57/00",
    "B63C 11/42",
    "B63C 11/52",
    "B63G 2008/002",
    "B63G 2008/005",
    "B63G 2008/008",
    "B63G 8/00",
    "B63G 8/001",
    "B63G 8/14",
    "B63G 8/24",
    "B63G 8/42",
    "B63H 19/08",
    "E21B 41/04",
    "F16H 1/16",
    "F16H 1/222",
    "F16H 19/08",
    "F16H 2019/085",
    "F16H 35/18",
    "F16H 37/041",
    "F16L 1/26",
    "F16L 1/265",
    "F16L 55/00",
    "G01B 17/02",
    "G01N 2291/0234",
    "G01N 2291/02854",
    "G01N 2291/2675",
    "G01N 29/04",
    "G01N 29/225"
  ],
  "ipc": [
    "B08B 1/00",
    "B08B 3/02",
    "B08B 9/023",
    "B23K 31/12",
    "B25J 15/00",
    "B25J 9/00",
    "B62D 57/00",
    "B63C 11/42",
    "B63C 11/52",
    "B63G 8/00",
    "B63G 8/14",
    "B63G 8/42",
    "B63H 19/08",
    "E21B 41/04",
    "F16H 1/16",
    "F16H 1/22",
    "F16H 19/08",
    "F16H 35/18",
    "F16H 37/04",
    "F16L 1/26",
    "F16L 55/00",
    "G01B 17/02",
    "G01N 29/04",
    "G01N 29/22"
  ],
  "assignees": [
    "Saudi Arabian Oil Co"
  ],
  "inventors": [
    "Ammar Al Nahwi",
    "Fadl Abdellatif",
    "Ali Outa",
    "Ihsan Al-Taie"
  ],
  "filing_date": "2017-08-15",
  "publication_date": "2020-03-17",
  "grant_date": "2020-03-17",
  "priority_date": "2016-09-20",
  "application_number": "US-201715677509-A",
  "family_id": "61617920",
  "cited_by_count": 8,
  "citations": [
    "EP0000808A1",
    "US4290123A",
    "US8185241B2",
    "US20100212574A1",
    "US20140338472A1",
    "US9239297B2",
    "US9400263B2",
    "US20140260705A1",
    "US20160059939A1",
    "US20160272291A1"
  ]
}

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