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.
Subsea Inspection Vehicle
2019-08-29
Patent
Electronic Resource
English
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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