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WO2025170546A1 - Systèmes, dispositifs et procédés pour effectuer des inspections - Google Patents

Systèmes, dispositifs et procédés pour effectuer des inspections

Info

Publication number
WO2025170546A1
WO2025170546A1 PCT/TH2024/050003 TH2024050003W WO2025170546A1 WO 2025170546 A1 WO2025170546 A1 WO 2025170546A1 TH 2024050003 W TH2024050003 W TH 2024050003W WO 2025170546 A1 WO2025170546 A1 WO 2025170546A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
rotatable shaft
driven
main body
probe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/TH2024/050003
Other languages
English (en)
Inventor
Phakhachon HOONSUWAN
Weerawut CHARUBHUN
Thirawat TAWANDHARONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rovula Thailand Co Ltd
Original Assignee
Rovula Thailand Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rovula Thailand Co Ltd filed Critical Rovula Thailand Co Ltd
Priority to PCT/TH2024/050003 priority Critical patent/WO2025170546A1/fr
Publication of WO2025170546A1 publication Critical patent/WO2025170546A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N17/00—Investigating resistance of materials to the weather, to corrosion, or to light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • 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
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N17/00—Investigating resistance of materials to the weather, to corrosion, or to light
    • G01N17/006—Investigating resistance of materials to the weather, to corrosion, or to light of metals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N17/00—Investigating resistance of materials to the weather, to corrosion, or to light
    • G01N17/008—Monitoring fouling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
    • G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
    • G01N27/20—Investigating the presence of flaws

Definitions

  • the present disclosure relates generally to systems, methods, and devices for performing inspections, and more specifically, to systems, methods, and devices for performing inspections for underwater structures.
  • Background [0002] Various systems have been developed to manage, monitor, and/or protect structures. Cathodic protection systems, for example, are widely used to monitor offshore and/or underwater structures, moorings, pipelines, storage tanks, underwater instrumentation, or the like. Inspections of such structures and/or systems generally need to be performed regularly and/or periodically. For example, as underwater structures are subject to a variety of factors, including corrosion, mineral buildup, marine growth, etc., which can affect the integrity, strength, operation, etc.
  • the underwater structures are connected to metals that will function as measurement or metallic contact portions, or anodes, (referred to herein as "metallic contact portions", or the like) and the underwater structures themselves will function as a cathode.
  • the metallic contact portions are usually attached to the underwater structure by one or more conductors and are connected to power sources that provides power in the system.
  • the metallic contact portions should be regularly inspected (and replaced as needed). Inspections are commonly performed by instrumentations (e.g., a probe, etc.) that are operated by operators (e.g., divers) and/or installed on underwater vehicles. [0005] Inspections are typically challenging for a variety of reasons.
  • a system for performing an inspection includes a probe assembly.
  • the probe assembly includes a main body.
  • the main body includes proximal and distal ends, and a cylindrical interior channel formed by an interior surface of the main body.
  • the cylindrical interior channel includes a central axis that is coaxial to the first central axis.
  • the readings may not be accurate if the probes are not managed correctly due to human error or performance limitations when underwater.
  • conventional probes may require significant energy to be applied to penetrate marine growth, mineral buildup, etc. on the anode of the cathodic protection system. As a result, the operator must be able to operate such conventional probes in a challenging and hazardous environment.
  • underwater visibility may result in difficulties for operators and/or underwater vehicles to determine a precise location, make sufficient contact with anodes, and/or gather readings or measurements.
  • the response may include, but is not limited to, whether the system receives readings or measurements pertaining voltages, readings or measurements pertaining to an electromagnetic field gradient, a depth of the metallic contact portions, a depth of the underwater structures, and/or a distance (e.g., distance between the underwater vehicle and/or the probe assembly and the bottom surface of the body of water), whether the system performs a configuration process, whether the system performs an inspection, whether the system performs a voltage measurement process, whether the system rotates the probe assembly or the one or more elements of the probe assembly (e.g., shaft assembly, etc.), whether the probe assembly (e.g., probe unit) embeds in the blocking layer of the metallic contact portions, whether the probe assembly obtains a voltage measurement, etc.
  • a distance e.g., distance between the underwater vehicle and/or the probe assembly and the bottom surface of the body of water
  • the underwater vehicle 200 together with the probe assembly 300 is configurable or configured to first determine the location of an underwater structure (e.g., underwater structures 20, as illustrated in Figure 1) that is constructed at the bottom of the ocean floor or at any other target locations (e.g., a bottom 10 of the body of water, as illustrated in Figure 1).
  • the underwater vehicle 200 together with the probe assembly 300 is configurable or configured to first determine the location of one or more metallic contact portions (e.g., metallic contact portions 30, as illustrated in Figure 1).
  • the metallic contact portions 30 are typically placed near the underwater structures 20 to be protected. Alternatively or in addition, the metallic contact portions 30 may also be placed on the underwater structures 20 itself. Alternatively or in addition, the metallic contact portions may be a sacrificial anode.
  • the probe assembly 300 includes a main body (e.g., main body 320, as illustrated in at least FIGURES 3A and 3B).
  • the main body 320 further includes having a central axis that is coaxial to the first central axis (e.g., first central axis A, as illustrated in at least Figures 3A and 3B) in the main body 320.
  • the main body 320 includes a proximal end (e.g., proximal end, 320a as illustrated in at least Figures 3A and 3B) and a distal end (e.g., distal end 320b, as illustrated in at least Figures 3A and 3B).
  • the main body 320 also includes a cylindrical interior channel formed by an interior surface of the main body 320.
  • the probe assembly 300 may also include one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 350), which receives a downward force, motion, push, or the like, from one or more other elements of the system (e.g., from the main body 320, which receives same from the main base member 330, which receives same from either a vehicle 200 or an operator) (see, for example, downward force applied in Direction D in Figure 3B) and translates, transfers, converts, or the like, such force, motion, push, or the like, to a rotational force, motion, push, or the like, to (or onto) the rotatable shaft assembly 350 and probe unit 370.
  • rotatable shaft assemblies e.g., rotatable shaft assembly 350
  • receives a downward force, motion, push, or the like from one or more other elements of the system (e.g., from the main body 320, which receives same from the main base member 330, which receives same from either a vehicle 200 or an operator)
  • the probe unit 370 is configurable or configured to perform a variety of functions, including receiving a driving force, or the like (or being driven) by the rotary driven assembly 352 so as to penetrate, clear, move, or the like, buildup on a metallic contact portion 30 and perform measurements (e.g., voltage measurement) on the metallic contact portion 30.
  • the securing assembly (e.g., securing assembly 310).
  • the probe assembly 300 includes one or more securing assemblies (e.g., securing assembly 310) for use in securing the vehicle 200 to the probe assembly 300.
  • an example embodiment of the main body 320 includes a cylindrical interior channel 320', a proximal end 320a, and a distal end 320b opposite to the proximal end 320a.
  • the proximal end 320a of the main body 320 may be secured to and/or relative to the main base member 330 and/or a portion of the vehicle 200.
  • the distal end 320b may include an opening, or the like, for receiving at least a portion of the rotary shaft assembly 350 into the cylindrical interior channel 320' and for enabling at least a portion of the rotary shaft assembly 350 to be housed in and extend outwardly away (or protrude) from the cylindrical interior channel 320'.
  • the distal end 330b or at least a portion of the distal end 330b of the main base member 330 is secured to at least a portion of the proximal end 320a of the main body 320.
  • the main base member 330 may also include, be secured to, and/or house a main base shaft (e.g., main base shaft 332).
  • the main base shaft 332 is an elongated member with at least a portion housed within the main base member 330, and may include one or more internal channels for housing, among other things, cables, wires, etc. for transmitting data communication, power, etc. between one or more elements of the probe assembly 300 (e.g., the probe unit 370) and the vehicle 200.
  • the main base shaft 332 may also be configurable or configured to serve as a support structure for the probe assembly 300, securing or connecting the probe assembly 300 to the underwater vehicle 300, or the like.
  • the main base member 330 may be formed in any shape, size, configuration, or form.
  • the main base member 330 may be formed in a cubical, rectangular, or cylindrical shape, but may also be formed in any other shape, size, configuration, etc. so long as it can perform the functions described above and in the present disclosure, including securing or attaching the rest of the probe assembly 300 to the vehicle 200 and housing cables, wires, etc.
  • Figures 3A and 3B may illustrate one main base member 330, it is to be understood that the probe assembly 300 and/or the system 100 may include more or less than one main base member 330 without departing from the teachings of the present disclosure.
  • An example embodiment of the spring assembly e.g., spring assembly 340.
  • an example embodiment of the probe assembly 300 includes one or more spring assemblies (e.g., spring assembly 340).
  • the spring assembly 340 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and/or processes, including, but not limited to, managing or controlling one or more movements of one or more elements of the probe assembly 300.
  • the spring assembly 340 is provided between a proximal end 350a of the rotatable shaft assembly 350 and a distal end 330b of the main base member 330 in such a way that, when the main base member 330 is being moved, pushed, urged, or the like, towards and/or relative to the rotatable shaft assembly 350, the spring assembly 340 (e.g., one or more compression spring coils of the spring assembly 340) is configurable or configured to be correspondingly compressed (e.g., so as to be loaded or store spring energy) (e.g., the main base member 330 and/or rotatable shaft assembly 350 are moved from a default or "resting" position (e.g., the position illustrated in Figure 3A), in such a way that a distance between the proximal end 350a of the rotatable shaft assembly 350 and the distal end 330b of the main base member 330 is reduced (e.g., as illustrated in Figure 3A), such as when
  • the spring assembly 340 (e.g., one or more compression spring coils of the spring assembly 340) is configurable or configured to correspondingly release or uncompress (e.g., so as to unload or release stored spring energy) (e.g., the main base member 330 and/or rotatable shaft assembly 350 are moved from the compressed or loaded position towards the default or "resting" position in such a way that a distance between the proximal end 350a of the rotatable shaft assembly 350 and the distal end 330b of the main base member 330 is increased, such as when a downward force, motion, push, or the like, is released or no longer being exerted by vehicle 200 onto the main base member 330 (and/or main body 320) and/or when the probe unit 370 is no longer in contact with
  • the spring assembly 340 may be mostly illustrated and/or described above and in the present disclosure as being provided or positioned between the main base member 330 and the rotatable shaft assembly 350, it is to be understood that the spring assembly 340 may also be provided or positioned in one or more other locations and/or between one or more other elements of the probe assembly 300 (in addition to or in replacement of being provided or positioned between the main base member 330 and the rotatable shaft assembly 350) without departing from the teachings of the present disclosure.
  • the spring assembly 340 may be provided between the main body 320 (and/or one or more other elements of the probe assembly 300 that are fixedly secured to the main body 320) and a portion of the vehicle 200 (and/or one or more other elements of the probe assembly 300 that are fixedly secured to the vehicle 200).
  • example embodiments of the spring assembly 340 enables a vehicle 200 (or operator) to perform consecutive, multiple, repeated, and/or continuous operations of the probe assembly 300, that is, consecutive, multiple, repeated, and/or continuous attempts of removing buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.).
  • the spring assembly 340 may also include one or more elements (including those described in the present disclosure), such as the main base shaft 332, which may (or may not) be provided or housed within one or more of the spring coils of the spring assembly 340.
  • an example embodiment of the rotatable shaft assembly (e.g., rotatable shaft assembly 350), rotary driven assembly (e.g., rotary driven assembly 352), and helical-shaped channel (e.g., helical-shaped channel 354).
  • an example embodiment of the probe assembly 300 includes one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 350).
  • the rotatable shaft assembly 350 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and/or processes, including, but not limited to, receiving a driving force (or being driven) from one or more other elements of the probe assembly 300 (e.g., receiving a driving force from the drive member 362 of the rotary drive assembly 360 via the helical-shaped channel 354 of the rotary driven assembly 352) so as to rotate (e.g., in rotation direction R, or opposite to rotation direction R) relative to central axis A.
  • the rotatable shaft assembly 350 may also be configurable or configured to drive the probe unit 370 to rotate in rotation R relative to central axis A (e.g., once the rotatable shaft assembly 350 is driven to rotate).
  • the rotatable shaft assembly 350 may be fixedly secured to the probe unit 370 such that the probe unit 370 is not rotatable relative to such at least one portion of the rotatable shaft assembly 350.
  • the rotatable shaft assembly 350 includes one or more rotatable shaft assembly bodies (e.g., a rotatable shaft assembly body 350').
  • the rotatable shaft assembly body 350' is secured at a distal end 350b to a probe unit 370.
  • the rotatable shaft assembly body 350' may also be secured at a proximal end 350a to the spring assembly 340 and/or the main base member 330 (e.g., via the main base shaft 332).
  • the helical-shaped channel 354 includes and/or is formed along a central axis A that is coaxial to the first central axis A.
  • the helical- shaped channel 354 includes a start section (e.g., at, near or around proximal end 350a) and an end section (e.g., between the start section and the distal end 350b).
  • the helical- shaped channel 354 of the rotary driven assembly 352 may be formed as, but not limited to, a channel, indentation, groove, cavity, protrusion, and/or pattern on (and/or in) the exterior surface of the elongated cylindrical body of the rotatable shaft assembly body 350'.
  • the curvature, overall length (between the start section and end section), spacing between sections along the central axis A, number of rotations/curves, etc. of the helical-shaped channel 354 may be selected based on, among other things, the quantum of rotations (e.g., rotations per unit time or rotations per distance travelled along the central axis A) desired for the probe unit 370, expected or predicted buildup conditions on the metallic contact portions 30, underwater current conditions around or at the metallic contact portions 30, size of, weight of, and/or force applied by the vehicle 200 (or operator), etc.
  • the quantum of rotations e.g., rotations per unit time or rotations per distance travelled along the central axis A
  • the rotatable shaft assembly body 350' is driven to rotate around or relative to central axis A (e.g., when a vehicle 200 applies a force to the main base member 330 and/or main body 320 such that the probe assembly 300 is "sandwiched" between the vehicle 200 and a metallic contact portion 30), the rotatable shaft assembly body 350' is configurable or configured to cooperate with one or more other elements of the probe assembly 300 to drive the probe unit 370 to correspondingly rotate (e.g., in rotation direction R) relative to the first central axis A.
  • the drive member 362 is driven downward (towards the distal end 350b) and caused to be displaced along the helical-shaped channel 354 toward the end section of the helical-shaped channel 354.
  • the rotary driven assembly 352 (and correspondingly, the helical-shaped channel 354) is rotatable relative to the drive member 362, and as such the downward drive of the drive member 362 causes or drives: the drive member 362 to travel or move along the helical-shaped channel 354 towards the end section of the helical-shaped channel 354; and the rotatable shaft assembly body 350' to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A, which in turn causes or drives the probe unit 370 to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A.
  • the probe assembly 300 may be illustrated and/or described in the present disclosure as including one rotatable shaft assembly 350, one rotary driven assembly 352, one helical-shaped channel 354, one rotary drive assembly 360, and one drive member 362, it is to be understood in the present disclosure that the probe assembly 300 may have more than one rotatable shaft assembly 350, more than one rotary driven assembly 352, more than one helical-shaped channel 354, more than one rotary drive assembly 360, and/or more than one drive member 362 without departing from the teachings of the present disclosure.
  • the probe assembly 300 may include more than one rotary drive assemblies 360 (each with one or more than one drive member 362) arranged along the central axis A.
  • each of the drive members 362 may be staggered in position such that each of the drive members 362 are housed or provided in at least a portion of the helical-shaped channel 354.
  • the probe assembly 300 may include one rotary drive assembly 360 having a plurality of drive members 362 arranged along the central axis A.
  • each of the drive members 362 may be staggered in position such that each of the drive members 362 are housed or provided in at least a portion of the helical-shaped channel 354.
  • an example embodiment of the probe unit (e.g., probe unit 370).
  • an example embodiment of the probe assembly 300 includes one or more probe units (e.g. probe unit 370).
  • the probe unit 370 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and/or processes, including, but not limited to, performing stabbing, penetrating, clearing, removing, or the like, of buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.).
  • the probe unit 370 is also configurable or configured to perform measurements (e.g., voltage measurements, electromagnetic field gradient measurements, etc. via the distal end 370b of the probe unit 370) when placed in contact with a metallic contact portion 30 of an underwater structure 20.
  • the probe unit 370 is fixedly secured to at least a portion of the rotatable shaft assembly 350 (e.g., a distal end 350b of the rotatable shaft assembly body 350') in such a way that the probe unit 370 is not rotatable (in rotation direction R or opposite) around or relative to the rotatable shaft assembly 350.
  • the probe unit 370 is configurable or configured to rotate around or relative to the central axis A when the rotatable shaft assembly 350 (as driven by and/or rotating along with the helical-shaped channel 354 and/or the rotary driven assembly 352, which is driven by the drive member 362 of the rotary drive assembly 360 to rotate) is correspondingly driven to rotate (in rotation direction R, or opposite) relative to the central axis A.
  • the probe unit 370 is driven to rotate relative to the central axis A when the vehicle 200 (or operator) applies force to "sandwich" the probe assembly 300 such that the main base member 330 and/or main body 320 drives the drive member 362 of the rotary drive assembly 360 along the helical-shaped channel 354, which drives the rotatable shaft assembly 350 to rotate (in rotation direction R, or opposite) around or relative to central axis A, which correspondingly drives the probe unit 370 to rotate (in rotation direction R, or opposite) around or relative to central axis A.
  • buildup e.g., marine growth, mineral buildup, other buildups, etc.
  • the distal end 370b of the probe unit 370 is then configurable or configured to perform a measurement (e.g., voltage measurement) of the metallic contact portion 30.
  • the distal end 370b of the probe unit 370 may be configurable or configured to include one or more probe tips 370b, which may be formed in any one or more shapes, sizes, forms, configurations, and/or quantities of tips.
  • Figure 2C illustrates an example embodiment of a probe tip 370b having a sharp pointed tip
  • Figure 2D illustrates an example embodiment of a probe tip 370b having a plurality of flat ends resembling a blade, scooper, or the like
  • Figure 2E illustrates an example embodiment incorporating the features of example embodiments illustrated in Figures 2C and 2D
  • Figure 2F illustrates an example embodiment of a probe tip 370b similar to that of Figure 2D, but including sharp pointed tips similar to that of Figure 2C
  • Figure 2G illustrates an example embodiment of a probe tip 370b having a relatively uniformly flat end
  • Figure 2H illustrates an example embodiment of a probe tip 370b having a plurality of sharp pointed tips, including a central pointed tip.
  • the probe unit 370 may also include one or more elements (including those described in the present disclosure), such as the main base shaft 332, which may be provided or housed within the probe unit 370.
  • the main base shaft 332 may be a hollow channel, tube, space, or the like, configurable or configured to allow one or more cables, wires, or the like, to run between the probe unit 370 and one or more elements of the probe assembly 300 and/or the vehicle 200.
  • the main base shaft 332 may also be configurable or configured to secure to the main base shaft 332 in or of the rotatable shaft assembly 350, the spring assembly 340, and/or the main base member 330.
  • the main base shaft 332 may be a single element that extends from the probe unit 370 to the rotatable shaft assembly 350, the spring assembly 340, and/or the main base member 330.
  • the probe unit 370 may also include and/or be fitted or connected to one or more sensors, actuators, transducers, imaging systems (e.g., camera), and/or any other components of the probe unit 370.
  • sensors may include, but not limited to, voltmeters, electromagnetic sensors, gaussmeters, multimeters, depth sensors, sonars, potential difference probe or sensors, potentiometers, or the like.
  • the Figures may illustrate one probe unit 370, it is to be understood that the probe assembly 300 and/or the system 100 may include more or less than one probe unit 370 without departing from the teachings of the present disclosure.
  • Another example embodiment of the probe assembly e.g., probe assembly 1300.
  • an example embodiment of the system 100 includes one or more probe assemblies (e.g., probe assembly 1300).
  • the probe assembly 300 is configurable or configured to actuate (e.g., transition the probe unit 1370 to rotate) so as to penetrate through such buildup and reach a surface of the metallic contact portion 30.
  • Such rotating movement of the probe unit 1370 includes lowering and rotating a rotatable shaft assembly (e.g., rotatable shaft assembly 1350), which is secured to the probe unit 1370.
  • the probe assembly 1300 is configurable or configured to perform a measurement of the one or more metallic contact portions 30.
  • the probe assembly 1300 includes one or more elements.
  • the probe assembly 1300 may include on or more securing assemblies (e.g., securing assembly 310) to secure the probe assembly 1300 to the vehicle 200.
  • the main body 1320 includes at least one cylindrical interior channel (e.g., cylindrical interior channel 1320') formed by an interior surface of the main body 1320 and having a central axis (e.g., central axis A or first central axis A).
  • the central axis A of the cylindrical interior channel 1320' may be coaxial to the overall first central axis A of the probe assembly 1300 in example embodiments.
  • the central axis A of the cylindrical interior channel 1320' may be parallel (but not necessarily coaxial) to the overall first central axis A of the probe assembly 1300 in example embodiments (e.g., in example embodiments in which the probe assembly 1300 includes one base member 1330, two or more main bodies 1320 formed adjacent and parallel to one another and secured to the one base member 1330, corresponding two or more rotatable shaft assemblies 1350 (one rotatable shaft assembly 1350 provided in a cylindrical interior channel 1320' of each main body 1320), corresponding two or more rotary driven assemblies and rotary drive assemblies, and corresponding two or more probe units 1370 (one or more probe units 1370 secured to a distal end of each rotatable shaft assembly 1350)).
  • the probe assembly 1300 includes one base member 1330, two or more main bodies 1320 formed adjacent and parallel to one another and secured to the one base member 1330, corresponding two or more rotatable shaft assemblies 1350 (one rotatable shaft assembly 1350 provided in a cylindrical interior channel 1320'
  • the probe assembly 1300 may also include one or more main base members (e.g., main base member 1330) for use in securing to a vehicle 200 (e.g., directly to the vehicle 200 and/or via one or more securing assemblies 310) or for use in enabling an operator to grip and operate the probe assembly 1300.
  • main base members e.g., main base member 1330
  • main base member 1330 for use in securing to a vehicle 200 (e.g., directly to the vehicle 200 and/or via one or more securing assemblies 310) or for use in enabling an operator to grip and operate the probe assembly 1300.
  • the probe assembly 1300 may also include one or more spring assemblies (e.g., spring assembly 1340), or the like, which may be configurable or configured to enable the rotatable shaft assembly 1350 to return to an original or default position (i.e., a position in which the probe assembly 1300 is ready to penetrate buildup and perform measurement of a metallic contact portion 30) after the rotatable shaft assembly 1350 has penetrated buildup and performed measurement of a metallic contact portion 30.
  • spring assemblies e.g., spring assembly 1340
  • an original or default position i.e., a position in which the probe assembly 1300 is ready to penetrate buildup and perform measurement of a metallic contact portion 30
  • the probe assembly 1300 may also include one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 1350), which receives a downward force, motion, push, or the like, from one or more other elements of the system (e.g., from the main body 1320, which receives same from the main base member 1330, which receives same from either a vehicle 200 or an operator) (see, for example, downward force applied in Direction D in Figure 3D) and translates, transfers, converts, or the like, such force, motion, push, or the like, to a rotational force, motion, push, or the like, to (or onto) the rotatable shaft assembly 1350 and probe unit 1370.
  • rotatable shaft assemblies e.g., rotatable shaft assembly 1350
  • receives a downward force, motion, push, or the like, from one or more other elements of the system e.g., from the main body 1320, which receives same from the main base member 1330, which receives same from either a vehicle
  • the probe assembly 1300 may also include one or more rotary drive assemblies (e.g., rotary drive assembly 1360) and one or more corresponding rotary driven assemblies (e.g., rotary driven assembly 1352).
  • the rotary drive assembly 1360 and rotary driven assembly 1352 cooperate to enable a translation, transfer, conversion, or the like, of the above-mentioned downward force, motion, push, or the like, to a rotational force, motion, push, or the like.
  • the probe assembly 1300 further includes one or more probe units (e.g., probe unit 1370).
  • the probe unit 1370 is configurable or configured to perform a variety of functions, including receiving a driving force, or the like (or being driven) by the rotary driven assembly 1352 so as to penetrate, clear, move, or the like, buildup on a metallic contact portion 30 and perform measurements (e.g., voltage measurement) on the metallic contact portion 30.
  • the figures may illustrate one securing assembly 310, one main body 1320, one main base member 1330, one spring assembly 1340, one rotatable shaft assembly 1350, one rotary drive assembly 1360, one rotary driven assembly 1352, and one probe assembly 1370
  • the probe assembly 1300 may include more or less than one securing assembly 310, more or less than one main body 1320, more or less than one main base member 1330, more or less than one spring assembly 1340, more or less than one rotatable shaft assembly 1350, more or less than one rotary drive assembly 1360, more or less than one rotary driven assembly 1352, and/or more or less than one probe unit 1370, without departing from the teachings of the present disclosure.
  • the securing assembly (e.g., securing assembly 310).
  • the probe assembly 1300 includes one or more securing assemblies (e.g., securing assembly 310) for use in securing the vehicle 200 to the probe assembly 1300.
  • the securing assembly 310 may be similar to or the same as the securing assembly 310 of the probe assembly 300.
  • the probe assembly 1300 includes one or more main bodies (e.g., main body 1320).
  • an example embodiment of the main body 1320 includes a cylindrical interior channel 1320', a proximal end 1320a, and a distal end 1320b opposite to the proximal end 1320a.
  • the proximal end 1320a of the main body 1320 may be secured to and/or relative to the main base member 1330 and/or a portion of the vehicle 200.
  • the distal end 1320b may include an opening, or the like, for receiving at least a portion of the rotary shaft assembly 1350 into the cylindrical interior channel 1320' and for enabling at least a portion of the rotary shaft assembly 1350 to be housed in and extend outwardly away (or protrude) from the cylindrical interior channel 1320'.
  • the cylindrical interior channel 1320' is formed by an interior surface of the main body 1320, and extends from the distal end 1320b of the main body 1320 towards the proximal end 1320a of the main body 1320.
  • the cylindrical interior channel 1320' includes a central axis A that is coaxial to the first central axis A.
  • cylindrical interior channel 1320' is configurable or configured to house at least a portion of the spring assembly 1340, at least a portion of the rotatable shaft assembly 1350 (including at least the proximal end 1350a of the rotatable shaft assembly 1350), the rotary drive assembly 1360, and at least a portion of the rotary driven assembly 1352.
  • the main body 1320 may also include one or more rotary drive assemblies (e.g., rotary drive assembly 1360).
  • the rotary drive assembly 1360 is configurable or configured to receive a driving force from (or be driven by) a vehicle 200 (or operator) via one or more elements of the probe assembly 300 (e.g., the main body 1320 and/or main base member 1330). More specifically, the rotary drive assembly 1360 includes one or more helical-shaped channels (e.g., helical-shaped channel 1362) configurable or configured to drive the driven member 1354 of the rotary driven assembly 1352.
  • helical-shaped channels e.g., helical-shaped channel 1362
  • the helical- shaped channel 1362 may be any helical, spiral, curved, or the like, channel that is formed on (and/or into) an interior surface (or wall) of the main body 1320 (e.g., the interior surface of the main body 1320 that forms the cylindrical interior channel 1320').
  • the helical-shaped channel 1362 includes and/or is formed along a central axis A that is coaxial to the first central axis A.
  • the helical-shaped channel 1362 includes a start section (e.g., at, near or around distal end 1320b) and an end section (e.g., between the start section and the proximal end 1320a).
  • the helical-shaped channel 1362 of the rotary drive assembly 1360 may be formed as, but not limited to, a channel, indentation, groove, cavity, protrusion, and/or pattern on (and/or in) the interior surface of the main body 1320.
  • Figures 3C-D may illustrate one main body 1320, it is to be understood that the probe assembly 1300 and/or the system 100 may include more than one main body 1320 without departing from the teachings of the present disclosure.
  • Another example embodiment of the main base member e.g., main base member 1330.
  • the probe assembly 1300 includes a main base member (e.g., main base member 1330).
  • the main base member 1330 is configurable of configured to perform one or more plurality of functions, operations, actions, methods and/or processes, including, but not limited to, providing an internal channel to house one or more elements of the probe assembly 1300 (e.g., cables, wires, etc.
  • the main base shaft 1332 is an elongated member with at least a portion housed within the main base member 1330, and may include one or more internal channels for housing, among other things, cables, wires, etc. for transmitting data communication, power, etc. between one or more elements of the probe assembly 1300 (e.g., the probe unit 1370) and the vehicle 200.
  • the main base shaft 1332 may also be configurable or configured to serve as a support structure for the probe assembly 1300, securing or connecting the probe assembly 10300 to the underwater vehicle 300, or the like.
  • the main base member 1330 may be formed in any shape, size, configuration, or form.
  • the main base member 1330 may be formed in a cubical, rectangular, or cylindrical shape, but may also be formed in any other shape, size, configuration, etc. so long as it can perform the functions described above and in the present disclosure, including securing or attaching the rest of the probe assembly 1300 to the vehicle 200 and housing cables, wires, etc.
  • Figure 3G may illustrate one main base member 1330, it is to be understood that the probe assembly 1300 and/or the system 100 may include more or less than one main base member 1330 without departing from the teachings of the present disclosure.
  • Another example embodiment of the spring assembly e.g., spring assembly 1340).
  • an example embodiment of the probe assembly 1300 includes one or more spring assemblies (e.g., spring assembly 1340).
  • the spring assembly 1340 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and/or processes, including, but not limited to, managing or controlling one or more movements of one or more elements of the probe assembly 1300.
  • the spring assembly 1340 is provided between a proximal end 1350a of the rotatable shaft assembly 1350 and a distal end 1330b of the main base member 1330 in such a way that, when the main base member 1330 is being moved, pushed, urged, or the like, towards and/or relative to the rotatable shaft assembly 1350, the spring assembly 1340 (e.g., one or more compression spring coils of the spring assembly 1340) is configurable or configured to be correspondingly compressed (e.g., so as to be loaded or store spring energy) (e.g., the main base member 1330 and/or rotatable shaft assembly 1350 are moved from a default or "resting" position (e.g., as illustrated in Figure 3C) in such a way that a distance between the proximal end 1350a of the rotatable shaft assembly 1350 and the distal end 1330b of the main base member 1330 is reduced (e.g., as illustrated in Figure 3D
  • the spring assembly 1340 (e.g., one or more compression spring coils of the spring assembly 1340) is configurable or configured to correspondingly release or uncompress (e.g., so as to unload or release stored spring energy) (e.g., the main base member 1330 and/or rotatable shaft assembly 1350 are moved from the compressed or loaded position towards the default or "resting" position in such a way that a distance between the proximal end 1350a of the rotatable shaft assembly 1350 and the distal end 1330b of the main base member 1330 is increased, such as when a downward force, motion, push, or the like, is released or no longer being exerted by vehicle 200 onto the main base member 1330 (and/or main body 1320) and/or when the probe unit 1370 is no
  • the spring assembly 1340 may be mostly illustrated and/or described above and in the present disclosure as including one or more compression springs, or the like, it is to be understood that the spring assembly 1340 may include one or more other elements (in addition to or in replacement of the one or more compression springs) to achieve similar or the same functionalities without departing from the teachings of the present disclosure, including one or more of the following functionalities: storing energy when a probe assembly 1300 is provided (or “sandwiched") between a vehicle 200 (or operator) and a metallic contact portion 30 and when a force is applied (e.g., by a vehicle 200 or operator) onto the probe assembly 1300; and releasing such stored energy when such force is released and/or no longer applied (e.g., by a vehicle 200 or operator) onto the probe assembly 1300.
  • a force e.g., by a vehicle 200 or operator
  • the spring assembly 1340 may be mostly illustrated and/or described above and in the present disclosure as being provided or positioned between the main base member 1330 and the rotatable shaft assembly 1350, it is to be understood that the spring assembly 1340 may also be provided or positioned in one or more other locations and/or between one or more other elements of the probe assembly 1300 (in addition to or in replacement of being provided or positioned between the main base member 1330 and the rotatable shaft assembly 1350) without departing from the teachings of the present disclosure.
  • the spring assembly 1340 may be provided between the main body 1320 (and/or one or more other elements of the probe assembly 1300 that are fixedly secured to the main body 1320) and a portion of the vehicle 200 (and/or one or more other elements of the probe assembly 1300 that are fixedly secured to the vehicle 200).
  • example embodiments of the spring assembly 1340 enables a vehicle 200 (or operator) to perform consecutive, multiple, repeated, and/or continuous operations of the probe assembly 1300, that is, consecutive, multiple, repeated, and/or continuous attempts of removing buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.).
  • the spring assembly 1340 may also include one or more elements (including those described in the present disclosure), such as the main base shaft 1332, which may (or may not) be provided or housed within one or more of the spring coils of the spring assembly 1340.
  • the main base shaft 1332 may be a hollow channel, tube, space, or the like, configurable or configured to allow one or more cables, wires, or the like, to run between one or more elements of the probe assembly 1300 (e.g., the probe unit 1370) and the vehicle 200.
  • the main base shaft 1332 may also be configurable or configured to secure and/or connect the main base member 1330 to the rotatable shaft assembly 1350.
  • an example embodiment of the probe assembly 1300 includes one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 1350).
  • the rotatable shaft assembly 1350 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and/or processes, including, but not limited to, receiving a driving force (or being driven) from one or more other elements of the probe assembly 1300 (e.g., receiving a driving force from the helical- shaped channel 1362 of the rotary drive assembly 1360 via the driven member 1354 of the rotary driven assembly 1352) so as to rotate (e.g., in rotation direction R, or opposite to rotation direction R) relative to central axis A.
  • a driving force or being driven
  • the rotatable shaft assembly 1350 may also be configurable or configured to drive the probe unit 1370 to rotate in rotation R relative to central axis A (e.g., once the rotatable shaft assembly 1350 is driven to rotate). In this regard, at least a portion of the rotatable shaft assembly 1350 may be fixedly secured to the probe unit 1370 such that the probe unit 1370 is not rotatable relative to such at least one portion of the rotatable shaft assembly 1350. [00131] In an example embodiment, the rotatable shaft assembly 1350 includes one or more rotatable shaft assembly bodies (e.g., a rotatable shaft assembly body 1350').
  • the rotatable shaft assembly body 1350' is secured at a distal end 1350b to a probe unit 1370.
  • the rotatable shaft assembly body 1350' may also be secured at a proximal end 1350a to the spring assembly 1340 and/or the main base member 1330 (e.g., via the main base shaft 1332).
  • the rotatable shaft assembly body 1350' may be formed as an elongated cylindrical body with a central axis A that is coaxial to the first central axis A.
  • the elongated cylindrical body of the rotatable shaft assembly body 1350' may include one or more interior channels, tubes, hollow spaces, or the like, for housing one or more cables, wires, etc., including those between the probe unit 1370 and the vehicle 200, and such one or more interior channels, tubes, hollow spaces, or the like, may be connected to, in communication with, or formed as part of the main base shaft 1332 in example embodiments.
  • the rotatable shaft assembly body 1350' may also include a rotary driven assembly (e.g., rotary driven assembly 1352) (e.g., formed on an exterior surface of the rotatable shaft assembly body 1350').
  • the rotatable shaft assembly body 1350' may be secured to a rotary driven assembly 1352 (e.g., secured to an exterior surface of the rotatable shaft assembly body 1350').
  • the rotary driven assembly 1352 may include and/or be formed as one or more driven members (e.g., driven member 1354).
  • Each driven member 1354 may be or include a member that protrudes outwardly away from the first central axis A and into a portion of the helical-shaped channel 1362 that is formed on the inner or interior surface of the main body 1320.
  • the driven member 1354 is configurable or configured to protrude outwardly away from the exterior surface forming the rotatable shaft assembly body 1350' when viewed from the perspective of the exterior surface forming the rotatable shaft assembly body 1350'.
  • the driven member 1354 is correspondingly housed or received in at least a portion of the helical-shaped channel 1362.
  • a downward force, motion, push, or the like is exerted onto the main body 1320 (e.g., from the vehicle 200 and/or main base member 1330) (see, for example, downward force applied in Direction D in Figure 3D)
  • such downward force, motion, push, or the like is exerted or passed to the helical-shaped channel 1362, which correspondingly causes the helical-shaped channel 1362 to move downward and causes the driven member 1354 to move "upward" along the helical-shaped channel 1362 (that is, move towards the proximal end 1320a of the main body 1320 and/or end section of the helical-shaped channel 1362).
  • the main body 1320 is fixedly secured to the main base member 1330 and/or the vehicle 200 in such a way that the main body 1320 does not rotate relative to the vehicle 200.
  • such downward movement of the helical-shaped channel 1362 will not cause the main body 1320 to rotate relative to the central axis A, but such downward movement will instead drive the driven member 1354 (e.g., a top side wall forming the helical-shaped channel 1362 drives the driven member 1354) so as to cause the rotary shaft assembly 1350 (and correspondingly, the probe unit 1370) to rotate (in rotation direction R) relative to the central axis A.
  • the rotatable shaft assembly body 1350' is driven to rotate around or relative to central axis A (e.g., when a vehicle 200 applies a force to the main base member 1330 and/or main body 1320 such that the probe assembly 1300 is "sandwiched" between the vehicle 200 and a metallic contact portion 30), the rotatable shaft assembly body 1350' is configurable or configured to cooperate with one or more other elements of the probe assembly 1300 to drive the probe unit 1370 to correspondingly rotate (e.g., in rotation direction R) relative to the first central axis A.
  • the driven member 1354 of the rotary driven assembly 1352 (which may (or may not) remain housed in the helical-shaped channel 1362, such as nearby or at the start section, at a default state (e.g., a state when no force is applied by a vehicle 200 or operator)) engages with or is pushed by at least a portion of the helical-shaped channel 1362 of the rotary drive assembly 1360.
  • the driven member 1354 is driven “upwards” (towards the proximal end 1320a) and caused to be displaced along the helical- shaped channel 1362 toward the end section of the helical-shaped channel 1362.
  • the rotary driven assembly 1352 (and correspondingly, the driven member 1354) is rotatable relative to the helical-shaped channel 1362 and the main body 1320, and as such the downward drive of the helical-shaped channel 1362 causes or drives: the driven member 1354 to travel or move along the helical-shaped channel 1362 towards the end section of the helical-shaped channel 1362; and the rotatable shaft assembly body 1350' to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A, which in turn causes or drives the probe unit 1370 to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A.
  • an example embodiment of the spring assembly 1340 causes or drives the driven member 1354 to be displaced along the helical-shaped channel 1362 back towards the start section of the helical-shaped channel 1362 (i.e., its default state), which also drives the rotatable shaft assembly body 1350' to correspondingly rotate relative to the first central axis A.
  • the probe assembly 1300 may be illustrated and/or described in the present disclosure as including one rotatable shaft assembly 1350, one rotary driven assembly 1352, one helical-shaped channel 1362, one rotary drive assembly 1360, and one driven member 1354, it is to be understood in the present disclosure that the probe assembly 1300 may have more than one rotatable shaft assembly 1350, more than one rotary driven assembly 1352, more than one helical-shaped channel 1362, more than one rotary drive assembly 1360, and/or more than one driven member 1354 without departing from the teachings of the present disclosure.
  • the probe assembly 1300 may include more than one rotary drive assemblies 1360 (each with one or more than one helical-shaped channel 1362) arranged along the central axis A.
  • the probe assembly 1300 includes more than one rotary driven assembly 1352 (with more than one driven member 1354) such that each of the driven members 1354 are housed or provided in at least a portion of one of the helical- shaped channels 1362.
  • the probe assembly 300 may include one rotary drive assembly 1360 having one helical-shaped channel 1362.
  • the probe assembly 1300 may include a plurality of driven members 1354 arranged along the central axis A staggered in position such that each of the driven members 1354 are housed or provided in at least a portion of the helical-shaped channel 1362.
  • Other configurations, quantities, and permutations of rotary driven assembly (or assemblies) 1352, helical-shaped channel (or channels) 1362, rotary drive assembly (or assemblies) 1360, and driven member (or members) 1354 are contemplated without departing from the teachings of the present disclosure.
  • Another example embodiment of the probe unit e.g., probe unit 1370).
  • an example embodiment of the probe assembly 300 includes one or more probe units (e.g. probe unit 1370).
  • the probe unit 1370 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and/or processes, including, but not limited to, performing stabbing, penetrating, clearing, removing, or the like, of buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.).
  • the probe unit 1370 is also configurable or configured to perform measurements (e.g., voltage measurements, electromagnetic field gradient measurements, etc.
  • an example embodiment of the system includes one or more underwater vehicle (e.g., underwater vehicle 200).
  • the underwater vehicle 200 may be configurable or configured to communicate with one or more elements of the system 100.
  • the underwater vehicle 200 is configurable or configured to perform a plurality of actions, functions, operations, methods, and/or processes, including transporting the probe assembly (e.g., probe assembly 300), carrying out its underwater mission (e.g., performing inspections, measuring one or more voltages, managing and monitoring the cathodic protection of the underwater structure, etc.), locating one or more metallic contact portions (e.g., metallic contact portions 30) placed on or near underwater structures (e.g., underwater structures 20), finding a path or trajectory to the underwater structures 20 and/or metallic contact portions 30, and to communicate with one or more elements of the system 100.
  • the underwater vehicle 200 is configured or configurable to communicate with one or more elements of the underwater vehicle 200.
  • the underwater vehicle 200 may be and/or include an underwater vehicle that is guided autonomously (e.g., ROV, AUV, MUV, UUV, etc.) and/or remotely, underwater drones or robots, and/or any other forms of underwater vehicle 200 which may be applicable.
  • the underwater vehicle 200 is configurable or configured to maneuver, navigate, ascend, descend, rotate, change orientate and otherwise based on one or more commands and/or information received and/or communicated to the underwater vehicle 200 by the one or more elements of the system 100.
  • the underwater vehicle 200 is configurable or configured to capture one or more images of one or more surrounding areas (or regions, directions, etc.) of the underwater structures 20 and/or the surrounding areas (or regions, directions, etc.) of the metallic contact portions 30.
  • the underwater vehicle 200 is also configurable or configured to process, analyze, provide, send, transmit and/or make available the captured images to the main controller 260 to determine and/or assist in determining a location (and/or position, direction, etc.) of the metallic contact portions 30 and to subsequently generate one or more trajectories for the underwater vehicle 200 based on the location (and/or position, direction, etc.) determined.
  • Other commands and/or information may also include speed information of the underwater vehicle 200, acceleration/deceleration of the underwater vehicle 200, orientation information of the underwater vehicle 200, pitch/roll/yaw information of the underwater vehicle 200, position of the underwater vehicle 200 or the probe assembly 300 above the underwater structures 20, underwater current conditions around the underwater structures 20, the underwater vehicle 200 and the probe assembly 300, depth of the underwater vehicle 200 and/or probe assembly 300, distance between the underwater vehicle 200 and/or probe assembly 300 and the metallic contact portions 30, one or more trajectories generated by and/or for the underwater vehicle 200 to navigate towards the metallic contact portions 30 or to navigate towards a particular destination and/or points of interest, and any other commands and/or information which may be relevant to the performance of the system 100.
  • the imaging subsystem 220 may also be configurable or configured to make available, transmit, send, or the like the one or more images to the main controller 260 for processing and analysis. Based on the information by the imaging subsystem 220, the main controller 260 may (or receive a command to) determine and/or assist in determining a location (and/or position, direction, etc.) of the one or more metallic contact portions 30. Alternatively or in addition, the main controller 260 may also determine and/or assist in determining a depth of the one or more metallic contact portions 30. [00171] Further, the imaging subsystem 220 may also be configurable or configured to receive one or more commands and/or information.
  • the power subsystem 250 is configurable or configured to communicate with one or more elements of the underwater vehicle 200 and/or one or more of elements of the probe assembly 300. [00194] In an example embodiment, the power subsystem 250 is configurable or configured to receive one or more signals, information, commands or notifications from the probe assembly 300.
  • the main controller 260 is configurable or configured to receive one or more images of one or more surrounding areas (or regions, directions, etc.) of the underwater structures 20 and/or the surrounding areas (or regions, directions, etc.) of the metallic contact portions 30. Based on the information received, the main controller 260 may (or receive a command to) determine and/or assist in determining a location (and/or position, direction, etc.) of the metallic contact portions 30. The main controller 260 may also be configurable or configured to generate one or more trajectories for the underwater vehicle 200 and/or navigation subsystem (e.g., navigation subsystem 230) based on the determined locations (and/or position, direction, etc.) of the metallic contact portions 30.
  • navigation subsystem e.g., navigation subsystem 230
  • the main controller 260 is also configurable or configured to manage, receive, process and/or otherwise one or more one or more information (or determination) on the depth of the metallic contact portions 30 and/or the underwater structure 20 based on real- time information received (e.g., electromagnetic field gradient measurements, images, etc.). Based on the one or more information received (e.g., the electromagnetic field gradient measurements and the depth measurements), the main controller 260 may (or receive a command to) determine and/or assist in determining a location (and/or position, direction, etc.) of the metallic contact portions 30.
  • real- time information received e.g., electromagnetic field gradient measurements, images, etc.
  • the main controller 260 may (or receive a command to) determine and/or assist in determining a location (and/or position, direction, etc.) of the metallic contact portions 30.
  • the main controller 260 may also be configurable or configured to generate one or more trajectories for the underwater vehicle 200 and/or navigation subsystem 230 based on the determined locations (and/or position, direction, etc.) of the metallic contact portions 30. Upon determining the location of the metallic contact portions 30, the main controller 260 may generate a command to the underwater vehicle 200 to navigate, maneuver, ascend, descend, rotate, change orientation, and/or otherwise transport itself to the determined location in one or more generated trajectory and/or path. [00202] In an example embodiment, the main controller 260 may also generate one or more commands to the probe assembly 300 or one or more of the elements in the probe assembly 300.
  • the main controller 260 may generate a command for the probe assembly 300 to be lowered to the metallic contact portions 30 upon arriving at the determined location of the metallic contact portions 30 and/or target location(s).
  • the one or more command may be provided to the power subsystem 250 or any other force providing means (not shown) on the underwater vehicle 200 and/or the probe assembly 300.
  • the power subsystem 250 is configurable or configured to provide power, force or energy to drive the probe assembly 300 and/or to perform a variety of tasks.
  • the command, by the main controller 260 includes moving the probe assembly 300 downwards (e.g., lowering) to the metallic contact portions 30 based on the determined location(s).
  • the main controller 260 may be configurable of configured to manage, receive, process, send, generate and/or otherwise one or more information to or from the power subsystem 250 with regards to the power, force or energy required by the underwater vehicle 200 and/or the probe assembly 300 to perform their tasks.
  • Such information may include to power or rotate the rotatable part of the probe assembly 300 (e.g., rotatable shaft assembly 350, rotary drive assembly 360, and probe unit 370) in order to come into contact and embed into the metallic contact portions of the underwater structure 20 and/or the surface (e.g., blocking layer) of the metallic contact portions 30.
  • the main controller 260 is also configurable or configured to manage, receive, process, send, generate and/or otherwise one or more commands to move the one or more elements of the probe assembly 300 cooperatively.
  • the main controller 260 may be configurable or configured to receive power, force or energy to drive the probe assembly 30.
  • a force power or energy
  • the probe unit 370 is driven to rotate relative to the first central axis 310 by the rotary drive assembly 350 and the rotary driven assembly 354.
  • the main controller 260 may also be configurable or configured to manage, receive, process, send, generate and/or otherwise one or more one or more information that the probe assembly 300 is running low on power/battery level if the probe assembly 300 is powered by wireless power source or battery source, etc.
  • the main controller 20 is configurable or configured to send, generate and/or otherwise one or more information to the power subsystem 250 to recharge the probe assembly 300.
  • the main controller 260 may also receive information including one or more voltage measurements from the metallic contact portions 30. The one or more voltage measurements may be received from the sensor subsystem (e.g., sensor subsystem 230) which includes one or more sensors.
  • the main controller 260 may also receive one or more voltage measurements directly from the one or more sensors that are present in the probe assembly 300.
  • the one or more sensors are configurable or configured to communicate, provide, send and/or make available the measurements, readings, data, information, or the like to the main controller 260 via one or more network (not shown).
  • the main controller 260 is configurable or configured to perform a determination or an assessment of the system by comparing the current voltage ) measurements with one or more reference voltage measurements.
  • the main controller 260 may also be configurable or configured to determine and/or assist in determining a current output, a current density, the amount of cathodic protection, the level of cathodic protection, how the cathodic protection is applied to the underwater structure 20, how localized the corrosion is, etc..
  • the determination based on the current output may include or be an indication of the level or the rate of corrosion that is occurring to the underwater structures 20.
  • the determination based on the current density may include or be an indication the distribution of the corrosion.
  • the level or rate of corrosion may be also be determined based on the electromagnetic field gradient that is determined by the sensor subsystem 230.
  • determinations may be determined or calculated based on the or more readings of voltage measurements, one or more readings of electromagnetic field gradient measurements, a combination thereof or the like. Further, the main controller 260 may also be configurable or configured to perform these determinations and/or calculations by using one or more algorithms and/or machine learning modules. Alternatively or in addition, the main controller 260 may also be configurable or configured to perform these determinations and/or calculations using an external source, database and/or assessment tools. [00206] Although Figure 2 may illustrate one main controller 260, it is to be understood that the underwater vehicle 200 and/or the system 100 may include more or less than one main controller 260 without departing from the teachings of the present disclosure.
  • a processor, device, computing device, server, generator, subsystem, and/or controller may be any processor, computing device, and/or communication device, and may include a virtual machine, computer, node, instance, host, or machine in a networked computing environment.
  • a network or cloud may be or include a collection of machines connected by communication channels that facilitate communications between machines and allow for machines to share resources. Network may also refer to a communication medium between processes on the same machine.
  • a network element, node, or server may be a machine deployed to execute a program operating as a socket listener and may include software instances.

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Abstract

Des modes de réalisation concernent des systèmes et des procédés pour effectuer une inspection, en particulier une inspection d'une structure sous-marine. Le système comprend un ensemble sonde comportant un corps principal, un élément de base principal, un ensemble arbre rotatif, un ensemble ressort, un ensemble d'entraînement rotatif et une unité de sonde pour effectuer des mesures. Le corps principal comprend un canal intérieur. L'élément de base principal est fixé au corps principal. L'ensemble arbre rotatif comprend un corps de l'ensemble arbre rotatif fixé à une unité de sonde et un ensemble entraîné par rotation. L'ensemble entraîné par rotation comprend un canal en forme d'hélice. L'ensemble ressort est disposé entre l'élément de base principal et l'ensemble arbre rotatif. L'ensemble d'entraînement rotatif comprend un élément d'entraînement qui fait saillie dans le canal en forme d'hélice. Lorsque l'élément d'entraînement est entraîné pour se déplacer, l'élément d'entraînement entraîne le canal en forme d'hélice de façon à amener le corps de l'ensemble arbre rotatif à tourner.
PCT/TH2024/050003 2024-02-07 2024-02-07 Systèmes, dispositifs et procédés pour effectuer des inspections Pending WO2025170546A1 (fr)

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JPS5682559U (fr) * 1979-11-14 1981-07-03
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