Underwater pipeline inspection crawler

{
  "publication_number": "US11097428B2",
  "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, at least two 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 moveable 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 one pair of the driving wheels and another pair of the driving wheels is longer than a width of the weld joint; and at least one remotely operated vehicle (ROV), wherein the inspection crawler is configured to operate as a docking station for the ROV or to connect to the ROV.",
    "2. The system of claim 1, further comprising: at least one communication unit located on top of a surface of a body of water and operatively connected to the inspection crawler, the at least one communication unit being configured to communicate aerially with one or more remote devices and communicate with the inspection crawler via a tether; and at least one sea surface unit operatively connected to the at least one communication unit.",
    "3. The system of claim 2, wherein in at least one communication unit is configured to float on the surface of the water.",
    "4. The system of claim 2, wherein the at least one sea surface unit is configured to control operations of the inspection crawler via control signals.",
    "5. The system of claim 2, 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.",
    "6. The system of claim 1, wherein the ROV is configured to assist the inspection crawler in underwater navigation when the ROV is docked in the inspection crawler.",
    "7. The system of claim 1, wherein the at least two pairs of driving wheels comprise three pairs of driving wheels.",
    "8. The system of claim 1, wherein the at least two pairs of driving wheels comprise a front-most pair, a front inner pair adjacent to the front-most pair, a rear-most pair, and a rear inner pair adjacent to the rear-most pair and the front inner pair.",
    "9. The system of claim 8, wherein the distance between the front-most pair and the rear inner pair is longer than a width of the weld joint.",
    "10. The system of claim 8, wherein the distance between the rear-most pair and the front inner pair is longer than a width of the weld joint.",
    "11. The system of claim 1, wherein the moveable center of gravity comprises internal components of the inspection crawler.",
    "12. The system of claim 1, wherein the moveable center of gravity moves in a horizontal direction along the sliding rail.",
    "13. 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 at least two pairs of driving wheels operatively attached to a bottom surface of the inspection crawler, wherein a distance between one pair of the driving wheels and another pair of the driving wheels is longer than a width of the weld joint, 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.",
    "14. The method of claim 13, wherein the step of propelling the first end of the inspection crawler over the weld joint comprises: actuating at least a rear-most pair of driving wheels of the at least two pairs of driving wheels, thereby propelling a front-most pair of driving wheels of the at least two pairs of driving wheels and the first end of the inspection crawler across the weld joint.",
    "15. The method of claim 13, wherein the step of propelling the second end of the inspection crawler over the weld joint comprises: actuating at least a front-most pair of driving wheels of the at least two pairs of driving wheels, thereby propelling a rear-most pair of driving wheels of the at least two pairs of driving wheels and the second end of the inspection crawler across the weld joint."
  ],
  "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",
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    "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": "2020-03-05",
  "publication_date": "2021-08-24",
  "grant_date": "2021-08-24",
  "priority_date": "2016-09-20",
  "application_number": "US-202016810498-A",
  "family_id": "61617920",
  "cited_by_count": 7,
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}