Source: https://patents.justia.com/patent/10451514
Timestamp: 2019-11-12 23:40:41
Document Index: 728786133

Matched Legal Cases: ['Application No. 20110004367', 'art 100', 'art 200', 'art 200', 'art 300', 'Application No. 2012', 'Application No. 2012', 'art 400', 'art 400']

US Patent for Method and system for subsea leak detection using autonomous underwater vehicle (AUV) Patent (Patent # 10,451,514 issued October 22, 2019) - Justia Patents Search
Justia Patents Hull CleaningUS Patent for Method and system for subsea leak detection using autonomous underwater vehicle (AUV) Patent (Patent # 10,451,514)
Jun 24, 2013 - ExxonMobil Upstream Research Company
Method and system is described for enhanced subsea leak detection by using autonomous underwater vehicle (AUV) that is equipped with measurement components and navigation components. The method and system may include a one or more wireless communication components for navigation. Also, the method and system may include one or more sensors to detect leakage from a pipeline.
This application is the National Stage of International Application No. PCT/US2013/047334, filed Jun. 24, 2013, which claims the benefit of U.S. Provisional Patent Application 61/681,899, filed Aug. 10, 2012, entitled METHOD AND SYSTEM FOR SUBSEA LEAK DETECTION USING AUTONOMOUS UNDERWATER VEHICLE (AUV), the entirety of which is incorporated herein by reference herein.
This invention relates generally to the field of hydrocarbon processing and Maintenance. Specifically, the invention is a method for subsea leak detection (e.g., hydrocarbons, such as oil, or other fluids) using an autonomous underwater vehicle (AUV) that is equipped with one or more measurement components and one or more navigation components (e.g., equipped with a sound navigating and ranging system (SONAR)).
In the oil and gas industry, hydrocarbons are accessed via a wellbore to provide a fluid flow path to a processing facility. Some of these hydrocarbon resources are located under bodies of water, such as lakes, seas, bays, rivers and/or oceans. To provide a fluid flow path from such locations, a pipeline may be installed with various segments of tubular members coupled together to provide a fluid flow path between the wellbore and the processing facility.
While the pipeline located on land may be easily inspected for leaks or other potential issues, leaks located within a body of water may be challenging to inspect. There are several methods proposed in the art to address the issues of leak detection for a pipeline located underwater (e.g., within or at least partially within the body of water). For example, Great Britain Patent No. 2382140 describes a method that involves the use of acoustic or other signal pulses to detect pipeline leakage. As another example, U.S. Pat. No. 7,728,291 describes a method that utilizes fluorescence polarization to detect viscous oil residues. Further, in Shari Dunn-Norman et al, “Reliability of Pressure Signals in Offshore Pipeline Leak Detection”, Final Report to Dept. of the Interior, MMS TA&R Program SOL 1435-01-00-RP-31077, pressure safety low alarms are described as being utilized to detect pipeline leakage. Also, other methods of different hydrocarbon detection technologies, may include the use of fluorometric sensors, acoustic sensor, methane sensor or a temperature sensor mounted on an remote operated vehicle (ROV) to detect pipeline leakage, as noted by Neptune Oceanographics Ltd (NOL), http://www.offshore-technology.com/contractors/pipeline_inspec/neptune/2011 (visited on Jul. 25, 2012).
While various different sensors may be utilized to detect the leaks, the movement of the sensors typically involves operators and other personnel to control and manage the operation via umbilical cables. For example, certain systems utilize a remote operated vehicle (ROV) for subsea leak detection. The ROV is equipped with a leak detection sensor to detect leaks. Unfortunately, as the ROV has to be manually controlled, the operation of the ROV involves a large amount of man hours to conduct such a survey for a pipeline. For example, U.S. Pat. No. 4,001,764 describes the use of a towing and recording boat to pull a SONAR sensor for pipeline leakage. This system requires operators to manage the towing boat and associated equipment.
Also, other technologies are provided that involve the use of vehicles to survey the seabed. For example, U.S. Patent Application No. 20110004367 describes a remote operated vehicle (ROV), which may be utilized for certain missions. Further, a GOSL publication describes the use of a Marport SQX-1 AUV capable of operating to 500 meters water depth, which may utilize sensors including SONAR. See Geodetic Offshore Service Limited (GOSL) (http://www.goslng.com/marport.asp) (visited on Jul. 25, 2012). However, this reference appears to rely only upon a methane sniffer for leakage detection, which can be result in reliability problems due to the lack of other sensor information.
As the detection of leaks is a time consuming operation, a need exists to enhance underwater leak detection methods and system and to enhance the operations to provide more confident results. In particular, a need exists to reduce operator and personnel associated with leak detection and provide an automated process that may be utilized to enhance operation and the processing of hydrocarbons. Further, a need exists for the AUV to avoid obstacles along the pipeline during the operations without user intervention.
In one embodiment, a method of monitoring a pipeline disposed in a body of water is described. The method may include deploying an autonomous underwater vehicle (AUV) into the body of water; performing an operation stage that comprises: navigating the AUV without human intervention along the pipeline; monitoring the pipeline and a portion of the body of water adjacent to the pipeline to detect a leak from the pipeline, wherein monitoring comprises estimating the AUV location if a leak is detected; retrieving the AUV upon completion of the operation stage; and collecting data from the AUV to determine whether a leak has been detected along the pipeline. The method may also include transmitting wireless signals into the body of water; receiving reflected signals from the body of water; and processing the received reflected signals to provide acoustic data that is utilized in the navigation of the AUV. The method may include processing the received reflected signals to determine if the pipeline is leaking; processing the received reflected signals to determine whether an obstacle hinders the proposed path of the AUV; and wherein the performing the operation stage comprises determining whether an obstacle hinders the proposed path of the AUV in an obstacle detection component.
In another embodiment, a system for monitoring a pipeline is described. The system comprising an autonomous underwater vehicle (AUV) configured to operate within a body of water and including: one or more navigation components configured to (i) provide propulsion for the AUV for movement of the AUV within the body of water; and (ii) autonomously navigate the AUV without human intervention along a pipeline disposed within the body of water; and one or more measurement components configured to monitor the pipeline and a portion of the body of water adjacent to the pipeline to detect a leak from the pipeline, (ii) estimate the AUV location if a leak is detected, and (iii) store an indication of the detected leak and the estimated AUV location. The system may further include a deployment vessel configured to transport the AUV to a predetermined location; to deploy the AUV into the body of water and to retrieve the AUV from the body of water. The system may also include a plurality of wireless transmitters disposed adjacent to a pipeline within the body of water and configured to transmit a signal into the body of water
In one or more embodiments, the method may include various navigation systems. For example, the method may include managing data from two or more navigation components, wherein the data from each of the respective navigation component has a weight
In one or more embodiment, the method may include various measurement components. For example, the method may include managing data from two or more measurement components, wherein the data from each of the respective measurement components has a weight applied to that data based on the respective measurement component. The method may include managing data from two or more measurement components, wherein the data from each of the respective measurement components is organized into a sequential order based on the respective measurement component. The method may also include obtaining resistivity measurement data from one or more resistivity sensors disposed in fluid communication with the body of water; and processing the resistivity measurement data to provide an indication regarding the presence of hydrocarbons in the body of water, which includes comparing the resistivity measurement data with a table to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold. Also, the method may include obtaining images of a portion of the body of water from one or more cameras disposed within the AUV; and processing the images to provide an indication regarding the presence of hydrocarbons in the portion of the body of water. The obtaining may include obtaining a plurality of first images and a plurality of second images; and wherein processing comprises passing one of the plurality of first images and the plurality of second images through a filter, and comparing at least one of the plurality of first images or at least one of the plurality of second images with the filtered image to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold.
Further, in certain embodiments, the system may include and method may be performed by sets of instructions, firmware and/or a combination of both. For example, the one or more of the one or more navigation components and one or more measurement components may include a processor, memory in communication with the processor, and a set of instructions stored on the memory and accessible by the processor, wherein the set of instructions are executed by the processor to perform the respective operations for the one or more of the one or more navigation components and one or more measurement components.
FIG. 1 is a flow chart for implementing autonomous leak detection system in accordance with an exemplary embodiment of the present techniques.
FIG. 2 is a flow chart for implementing autonomous navigation for an automated underwater vehicle in accordance with an exemplary embodiment of the present techniques.
FIG. 3 is a flow chart for implementing obstacle detection for an automated underwater vehicle in accordance with an exemplary embodiment of the present techniques.
FIG. 4 is a flow chart for implementing autonomous leak detection for an automated underwater vehicle in accordance with an exemplary embodiment of the present techniques.
FIG. 5 is a diagram of an automated underwater vehicle in accordance with an exemplary embodiment of the present techniques.
FIG. 6 is a diagram of a leak detection system in accordance with an exemplary embodiment of the present techniques.
FIG. 7 is a diagram of a leak detection system with obstacle detection in accordance with an exemplary embodiment of the present techniques.
In the present disclosure, an autonomous leak detection system and method are described. The system includes an autonomous underwater vehicle (AUV) that is utilized to detect leaks, which may be along a pipeline. In this method, because the AUV navigates autonomously and does not require human operation once it is programmed, the only man power utilized is to program the equipment before launch, to launch the AUV, retrieve the AUV and any retrieval of information stored on the AUV. The AUV navigates autonomously, which may involve one or more hours or even one of more days of monitoring until the operations of detecting leaks is accomplished or the battery power is drained. The AUV may include various components, which may include one or more sensors, one or more antennas, one or more processors, one or more on-board memories and one or more sets of instructions that may be executed by the processor and accessed from the memory. Accordingly, the operation of the AUV without human intervention provides an enhancement over other systems and methods that rely upon this additional control.
With this system, an autonomous underwater vehicle (AUV) may be utilized that is equipped with measurement components and/or navigation components to enhance leak detection for underwater pipelines. The navigation components may include one or more propulsion components, one or more steering components and the like. The AUV may be equipped with SONAR, on-board sensors, and other navigation components. The AUV may be configured to autonomously navigate by itself and/or can be operated remotely by an operator. The navigation components may include an obstacle detection component, a global positioning system (GPS) component, a wireless guidance component, a mapping component, a motion sensor component and/or other different navigation components. The AUV may include wireless transmitters and receivers, such that it can receive and transmit data and/or commands (e.g., signals).
The measurement components may include one or more modules to obtain and receive measurement information and a process control unit to manage the received data, calculate operational and measurement parameters from the received data, determine adjustments to the operation of the AUV and determine if additional measurement information should be obtained and/or whether the pipeline may be leaking. The process control unit may be associated with one or more measurement components or be dedicated for each of the measurement components. The process control unit or module may be configured to perform tasks with firmware, with a set of instructions stored in memory and executed by a processor and/or a combination of these. The process control unit may be configured to record measurement data and to process the measurement data (e.g., data from sensors). Using a suite of data collected from measurement components, the processor may be configured to determine whether a leak is present and record the corresponding location of the leak. Various aspects of the present techniques are described further in FIGS. 1 to 7.
FIG. 1 is a flow chart for implementing autonomous leak detection system in accordance with an exemplary embodiment of the present techniques. In this flow chart 100, various blocks relate to deploying the autonomous underwater vehicle (AUV), such as blocks 102 to 106, which may be referred to as a deployment stage. Other blocks involve the operation of the AUV, such as blocks 108 to 118, which may be referred to as an operation or a monitoring stage. Finally, blocks 120 and 122 relate to the retrieval of the AUV and performing operations based on the collected data, which may be referred to as a retrieval stage. As noted above, this system operates with no human intervention during the monitoring or operation stage of the AUV (e.g., once it has been deployed), which reduces the cost of operation of the system.
The deployment stage of the autonomous underwater vehicle (AUV) is described in blocks 102 to 106. At block 102, the AUV may be transported to a monitoring location. This location may include a location near the one end of the pipeline, a specific location near a section of pipeline and/or any other suitable location near the pipeline being monitored. The AUV may be transported via a marine vessel and/or airborne vessel to the desired location. Then, at block 104, the AUV is configured for the pipeline. As may be appreciated, the configuration of the AUV may be performed prior to the transporting of the AUV to a specific location, at least partially during the transporting of the AUV and/or at least partially at the monitoring location. Regardless, the configuration of the AUV may include determining a sequence of operations to be performed by the AUV to monitor the pipeline. For instance, this configuring may include programming the navigation components to follow a general path, adjusting operational parameters and/or settings, adjusting the configuration of the monitoring components, and/or other suitable operational adjustments. This may also include inserting certain equipment (e.g., certain monitoring components) into the AUV for use in monitoring the pipeline. Once configured, the AUV may be deployed into the body of water, as shown in block 106. The deployment may include launching the AUV, and initiating AUV monitoring operations. As an example, the deployment may include lowering the AUV from the deck of a marine vessel into the body of water or dropping the AUV into the body of water. The initiation of the monitoring may be performed on the vessel or once the AUV is disposed in the body of water.
The operation or monitoring stage of the AUV is described in blocks 108 to 118. As may be appreciated, the operation of the AUV may include various processes that repeat during an operational period (e.g., period of time that the AUV is monitoring the pipeline and navigating toward or along the pipeline). For example, at block 108, the AUV may navigate toward the pipeline, along the pipeline and/or away from the pipeline. The AUV may utilize navigation components, which may include one or more propulsion components, one or more steering components and the like. The one or more propulsion components may include a motor coupled to one or more batteries and coupled to a propeller assembly, via a shaft, for example, as is known in the art. The propeller assembly may be utilized to move fluid in a manner to move the AUV relative to the body of water. The navigation components may utilizes sensors or other monitoring devices to obtain navigation data, as shown in block 110. The navigation data may include different types of navigational information, such as inertial motion unit (IMU), global positioning system information, compass information, depth sensor information, pipeline information, obstacle detection information, SONAR information, propeller speed information, seafloor map information, and/or other information associated with the navigation of the AUV. The navigation components and operation are described further below, for example in disclosure associated with FIGS. 2, 3, 5, 6 and 7.
At block 112, the AUV may monitor the pipeline for leaks. The measurement components may obtain measurement data, as shown in block 114. For example, the AUV may utilizes the measurement components, such as one or more modules to receive measurement data and a process control unit to manage the received data, calculate operational and measurement parameters from the received data, determine adjustments to the operation of the AUV and determine if additional measurement information should be obtained and/or whether the pipeline may be leaking. The measurement components may include fluorescence polarization components, fluorometric components, wireless component (e.g., acoustic components and/or SONAR components), methane detection components, temperature components, camera components, corrosion sensor reading component and/or other measurement components. The measurement data may include camera images, SONAR data and/or images, acoustic data, subsea pipeline corrosion sensor reading data, temperature data, fluorometric data, and/or polarization data, for example. The data can be in the format of images, raw data with specific format for the component, text files, and/or any combination of the different types. As an example, the AUV can be equipped with a wireless transducer that can wireless read the data transmitted from a corrosion sensor installed along the pipeline. This reading may be utilized to prediction a corrosion failure or potential failure for the pipeline. The measurement components and operation are described further below, for example in disclosure associated with FIGS. 4, 5 and 6.
At block 116, a determination is made whether an ending criteria is met. This determination may be performed at various times or locations. For example, the determination may be performed once certain data collection is complete, at predetermined locations, once a predetermined sequence has been performed, at set time intervals (e.g., ten second, twenty seconds, thirty seconds, minute, ten minutes or twenty minutes) or upon obtaining certain data. In particular, the determination may be performed once a monitoring sequence has collected monitoring data for that sequence, or may be performed at a specific location, such as weld segments, or monitor wireless beacons (which may transmit radio signals, acoustic signals and/or other wireless signals). The ending criteria may include the battery power reaching a predetermined level, reaching a certain distance threshold, reaching a segment end point, detection of an AUV system issue and/or detection of a leak. If the determination is that the ending criterion has not been reached, the AUV may continue to navigate and monitor the pipeline, as indicated in blocks 108 and 112.
However, if the determination is that the ending criterion has been reached, the AUV returns to the surface of the body of water, as shown in block 118. The AUV may to navigate to the surface and/or may release ballast to increase the buoyance of the AUV. The AUV may further navigate to the marine vessel or a predetermined vessel once the surface has been reached. At block 120, the AUV is retrieved and further operations are performed. The AUV may be removed from the body of water and placed within an airborne or marine vessel. The data from the AUV may be retrieved and further analyzed. The analysis may include determining whether any leaks are present along the pipeline and the location of such leaks, if any. Additionally, the analysis may include determining weaknesses in the pipeline or potential obstructions external to the pipeline to provide proactive maintenance of the pipeline. As an example, the AUV may collect measurement data that indicates that a portion of the pipeline is subjected to external stresses from the shifting of the seabed and/or other debris that has collected on or near the pipeline. Accordingly, this external pipeline information may result in proactive maintenance for the pipeline to prevent or limit any distribution to operations or service. Further, if a leak is detected, maintenance operations may be performed to repair the pipeline. The process ends at block 122.
Beneficially, the process provides a proactive mechanism that may be utilized to enhance the operations of the pipeline through the use of the AUV. The AUV, which includes the navigation components and measurement components, is able to operate without human intervention, while it is monitoring the pipeline. In this manner, the cost and expense of monitoring the pipeline may be reduced and may be managed in a more efficient manner. Indeed, a single marine vessel may be utilized to deploy various AUVs along different pipelines and/or different segments of the same pipeline. Accordingly, the operation costs of surveying the pipeline may be further reduced.
In addition for certain configurations, multiple measurement components (e.g., different hydrocarbon detection sensors) can further enhance the measurement confidence of the leak detection. For example, some of the components (e.g., sensors) may not detect hydrocarbons in certain environment. As a specific example, a camera may not detect hydrocarbons if the hydrocarbon droplets are too small and dispersed, as it may indicate other floating debris. Similarly, wireless sensors (e.g., acoustic or SONAR sensors) may record signals (e.g., electromagnetic, acoustic or other) that are not generated by leaks, but result from subsea equipment or animals. However, if an acoustic sensor detects certain signals or sounds that indicate a leak, then a methane detector or camera may be utilized to confirm the leak (e.g., presence of hydrocarbons). Thus, the use of multiple sensors may reduce the likelihood of erroneous leak detection.
As a further enhancement, the AUVs may be utilized to expedite the survey of a pipeline. As an example, two or more AUVs may be deployed by a single vessel along a single pipeline to cover discrete sections or segments of the pipeline. By distributing the AUVs along these discrete pipeline sections, which may overlap, the AUVs may be utilized to survey the pipeline in less time than previous survey techniques. That is, the pipeline may be divided into various sections for each of the AUVs. As a result, different sections may be monitored concurrently.
Further, the use of additional measurement components may provide an efficient mechanism to proactively monitor the pipeline. As the AUV involves less man power to operate, the pipeline may be monitored more often to proactively manage the external perimeter of the pipeline.
In certain embodiments, the AUV involves autonomous navigation as part of the operations. The implement of an autonomous navigation may be performed in different stages, such as part of the deployment stage (e.g., block 104 of FIG. 1) and/or the monitoring or operation stage of the AUV (e.g., blocks 108 and 110 of FIG. 1). That is, the autonomous navigation may include an initial planning stage that determines the route and/or pipeline to be monitored, which is programmed in a deployment stage. The autonomous navigation may also include navigation operations performed in an operation stage that steers the AUV along the pipeline during the operations stage.
To perform the autonomous navigation, one or more navigation components may be utilized to guide the AUV along a path. The navigation components may include a global positioning system (GPS) component, a wireless guidance component (e.g., acoustic guidance component), a mapping component, a motion sensor component and/or other different navigation components. In one embodiment, these navigation components may be utilized together to monitor the navigation of the AUV. That is, the different components may each be utilized to contribute information, if any, about the navigation of the AUV and estimated location of the AUV. That is, each component may provide an indication of the location of the AUV to a master navigation module, if any is available. These different location indications may be combined based on a weighting scheme to determine the location of the AUV. The weighting scheme may provide higher weights to navigation components that are determined to be more reliable and/or accurate (e.g., GPS data and/or wireless or acoustic guidance data), while other components may have lower weights (e.g., motion sensor data and/or SONAR data). This weighting scheme may also be adjusted if a component is not able to provide an update on the location (e.g., the GPS signal is not received due to the signal loss, it may be removed by having a zero weight). Accordingly, this embodiment provides parallel operation to manage the navigation of the AUV.
As a simplified example, the system may include a master navigation module along with a GPS component and a mapping component. The AUV may use the mapping component, which relies upon landmarks of the pipeline and a state observer (e.g., Kalman Filter) to estimate its location. The AUV may periodically return to the surface of the body of water and/or a depth that it is able to receive a signal to use GPS component. The GPS component may adjust the AUV location to correct for any estimation errors, as the GPS component may provide a more accurate location. In this configuration, the master navigation module determines if GPS signals are available, and, if available, the master navigation module relies upon the GPS component. Otherwise, the master navigation component uses the mapping component data and/or uses any known landmarks of pipeline. Then, the mapping component calculates a localization (state estimation) module and/or algorithm (e.g., Kalman Filter) to estimate the AUV location. Once its location is estimated, the master navigation module (e.g., which may include a trajectory tracking controller, PID controller, adaptive controller, model-based controller, model predictive controller) may control the AUV to track a trajectory along a path. The control priority of the navigation components may be given to the operator, if human intervention is present. The parallel operation may also include other navigation techniques, which are described in the reference by Merchant et al., AUV Navigation, <http://oceanexplorer.noaa.gov/explorations/08auvfest/logs/may15/may15.html>, May 15, 2008.
In yet another embodiment, these navigation components may be utilized in a sequential configuration to monitor the navigation of the AUV. That is, the different components may be utilized in a specific order or sequence to contribute information, if any, about the components determination of the location of the AUV. The location indication may be utilized from a primary source, a secondary source or other sources. If the primary source does not provide location information, the next source in the sequence may be utilized. This order or sequence may include any number of sources. In this manner, the priority of the navigation components may be determined and managed in a direct manner based on the configuration. For instance, the navigation components may include a global positioning system (GPS) component, a mapping component, a wireless guidance component and a motion sensor component. These components may be operated in any specific order to manage the navigation of the AUV, which may be based on the accuracy of the component and/or the reliability of the component for certain operating conditions.
An example, FIG. 2 is a flow chart for implementing autonomous navigation for an automated underwater vehicle in accordance with an exemplary embodiment of the present techniques. In this flow chart 200, various navigation components are utilized in a specific configuration to manage the AUV, which may include a master navigation module and various navigation components. In particular, the process utilizes, human operator interactions, which is described in blocks 202 and 204, as a primary source of control. Then, the various navigation components are organized in a specific sequence to control the AUV location (sequential configuration). This sequence includes a global positioning system (GPS) component (blocks 208 to 212), a wireless guidance component (blocks 214 to 218), mapping component (blocks 220 to 224) and a motion sensor component (blocks 226 to 228).
For this flow chart 200, an initial determination is made whether a human operator is intervening with the navigation, as shown in block 202. This determination may be performed in a master navigation module that manages the operation and interaction with the propulsion components. The determination may include determining if a specific setting is indicated, a wireless connection is established with the AUV (e.g., the master navigation module) and/or a connection is established via an umbilical cable. If a human operator is intervening with the AUV, the master navigation module performs the operator commands, as indicated by block 204.
However, if the human operator is not intervening with the AUV, the master navigation module performs the navigation process for the AUV and begins autonomous navigation. At block 206, the initial path, estimated AUV location and/or target pipeline information is obtained. This data may be stored in memory within the AUV, which may include information about the pipeline to be monitored. Because the AUV navigates a path substantially directly above or within close vicinity of the pipeline being monitored, the AUV's location data can be used for pipeline location. That is, if a leak is detected, the AUV's location can be used as the estimated location of the leak. Then, a determination is made whether GPS signals are available, as shown in block 208. The GPS signals may be detected by a GPS component, which includes a GPS antenna coupled to a GPS module, coupled to the master navigation module. If GPS signals are available, the GPS data is obtained, as shown in block 210. The GPS signal may be available when AUV is close to the sea surface. The obtaining of the GPS data may include using the GPS signals to triangulate the location of the AUV, which may be calculated in the GPS module, for example. The obtaining the GPS data may include three or more GPS signals from one or more different GPS satellites. Once the GPS data is obtained, the estimated AUV location is adjusted based on the GPS signals, as shown in block 212. With the updated estimated AUV location, the process returns to block 202 to determine if a human operator is intervening. If the GPS signals are not available, then the process determines whether wireless guidance signals (e.g., long baseline acoustic navigation signals or other acoustic guidance signals) are available, as shown in block 214. The wireless guidance signals may be detected by on-board wireless guidance component, which includes an acoustic transducer and antenna coupled to an acoustic signal processing module, coupled to the master navigation module. The wireless guidance signals may include radio signals, acoustic signals and/or other wireless signals. The wireless guidance component may include an antenna, which may be the same as the GPS antenna in certain embodiment. If wireless guidance signals are available, the wireless guidance data is obtained, as shown in block 216. The obtaining of the wireless guidance data may include using the acoustic signals to determine the location of the AUV, which may be calculated in the on-board processor or module, for example. The obtaining the beacon guidance signals may include receiving different wireless guidance signals from one or more different wireless guidance transmitters disposed adjacent to the pipeline. As an example, the AUV may triangulate its position with respect to one or more underwater wireless guidance transmitters (e.g., transponders) having known locations. As another example, a wireless guidance component may be utilized to triangulate AUV's location from at least three wireless guidance signals. Also, as another example, the landmarks along pipeline can include preinstalled wireless transmitters that send a specific signal indicative of its location with respect to the pipeline. When AUV is close to a wireless transmitter, it may receive the signal from that transmitter to infer its own location. Once the wireless guidance data is obtained, the estimated AUV location is adjusted based on the wireless guidance signals, as shown in block 218. With the updated estimated AUV location, the process returns to block 202 to determine if a human operator is intervening.
If the wireless guidance signals are not available, then the process determines if the mapping component data is available, as shown in block 220. If the mapping component data is available, the mapping component data is obtained, as shown in block 222. The obtaining of the mapping component data may include obtaining SONAR data and/or other landmark data to determine the trajectory of the AUV location. The obtaining the mapping component data may include communicating with various sensors. Then, the estimated AUV location based upon the mapping component data may be calculated, as shown in block 224. The mapping component data may include SONAR data and landmark data to determine the location of the AUV. As an example, mapping component may utilize landmarks of the pipeline and state observer (e.g. Kalman Filter) to estimate the AUV location. Similar to the other components, the mapping component may be coupled to the master navigation module and the propulsion components. The mapping component may include and/or use the SONAR to determine the estimated location of the AUV, such as Doppler velocity logger. The data from the AUV location may be updated relative to the map of the region.
If the mapping component data is not available then motion sensor data is used to calculate the estimated AUV location, as shown in block 226. The motion sensors may monitor the direction of the AUV, propulsion components settings and/or the direction of the forces (e.g., currents) placed against the AUV. As another example, the motion sensor data may include compass, depth sensor, and speed sensor data. Similar to the other components, the motion sensor component may be coupled to the master navigation module and include various sensors and modules. As part of this calculation, the motion sensor data may be obtained, which may include accessing a motion sensor module to determine the influences on the trajectory from the previous AUV location. The obtaining the motion sensor data may include communicating with various sensors and the propulsion components. The motion sensor data include IMU data, depth sensor data, and speed sensor. Depth is measured by an on-board pressure sensor and speed is measured via speedometer to measure propeller RPM (revolutions per minute). In this configuration, the depth sensor and speed sensor are used for location estimate of the AUV. As the AUV navigates substantially directly above or close to the vicinity of the pipeline, this data can be used to estimate the pipeline locations. In particular, if a leak is detected, the depth sensor data can be used to estimate the depth of the pipeline, while the speed sensor data is used to estimate the AUV location, which can be used as the location of the leak along the pipeline. Once the motion sensor data is obtained, the estimated AUV location is adjusted based on the motion sensor data, as shown in block 228. With the updated estimated AUV location, the process returns to block 202 to determine if a human operator is intervening.
This sequential operation of the navigation components may enhance the navigation of the AUV as compared to a parallel operation. For example, the components not being relied upon for the navigation of the AUV may be placed into standby to conserve power. Also, as the other navigation components are not being relied upon for the navigation, the computational processing is more efficient and faster compared to a parallel configuration. The sequential operation also provides that the most reliable location measurement mechanism is employed for the location estimation.
Further, the sequential operation may be adjusted for different environments or locations. That is, the master navigation module may be configured to operate differently in different environments. As an example, the master navigation module may monitor the depth of the AUV and operate certain components based on the depth of the AUV. In particular, the master navigation module may shutdown or disable the GPS component at depths of 20 feet or more below the surface of the body of water, of 40 feet or more below the surface of the body of water or of 100 feet or more below the surface of the body of water. At these depths, the GPS signal strength may be too weak to operate properly. In addition, the AUV may disable certain components if the water clarity is below a certain threshold. Similarly, the wireless guidance component may not be utilized until the AUV is within a certain range (e.g., within 100 feet, within 200 feet, or 500 feet) of the pipeline and/or wireless guidance transmitters, which may be based on depth and/or estimated AUV location. That is, the master navigation module may be utilized to optimize the operation of the AUV based on the location (e.g., depth) or certain environments.
In yet another embodiment, the navigation components of the AUV may include an obstacle detection component. As the trajectory of the AUV's path is generated by the master navigation module, this component may use an apriori map that contains the pipeline route, which may be updated on each survey to account for changes in the underwater environment. To further enhance the process, an obstacle detection component may be utilized to avoid obstacles that may be present along the proposed path of the AUV. The obstacle detection component may include one or more real-time obstacle detection sensors that provide obstacle sensor data for the AUV. The obstacle sensor data may be utilized to update the map and provide obstacle avoidance for the AUV. Also, the master navigation module may calculate an updated path that provides an obstacle free trajectory. This process may be continuous as long as the AUV is deployed in the body of water and/or may be activated at different portions of the survey (e.g., once the AUV is within range of the pipeline).
As an example, FIG. 3 is another flow chart for implementing obstacle detection for the autonomous navigation of the automated underwater vehicle in accordance with an exemplary embodiment of the present techniques. In this flow chart 300, an obstacle detection component is utilized to enhance the autonomous navigation of the AUV. This process may include certain programming prior to deployment with the obstacle detection component operating once the AUV is deployed into the body of water. At block 302, the obstacle detection settings are obtained. These settings may include various operational settings, such as communication settings with other programs, detection sensitivity settings and update route planning settings. These settings may be stored in memory of the obstacle detection component and/or other memory locations within the AUV. As may be appreciated, the AUV may also include settings for the pipeline route (e.g., the pipeline path), which may be stored in the master navigation module or other suitable equipment. These settings may be programmed into the AUV prior to deployment and/or during the deployment process.
Then, a determination is made whether the obstacle detection component is operating, as shown in block 304. If the obstacle detection component is not operating, the process repeats back to determine whether the obstacle detection component is operating. This loop may be delayed for a set period of time (e.g., about 5 second, 30 seconds or 1 minute), may verify the operational stage of the AUV and/or may place the obstacle detection component into a standby state until a notification is received to begin operations of the obstacle detection component. However, if the obstacle detection component is operating, the obstacle sensor data may be obtained, as shown in block 306. The obstacle sensor data may be obtained by polling one or more obstacle detection sensors, communicating the obstacle sensor data from the one or more obstacle detection sensors. At block 308, a determination is made whether an obstacle is detected. This determination may include processing the obstacle sensor data to indicate whether an obstacle is present along the proposed path. This determination may include performing pattern recognition comparisons to determine if an object is hindering the proposed path. When an obstacle is detected, the AUV maps it to an apriori known map and determines if the obstacle overlaps the AUV's predefined trajectory. If the AUV has potential to contact the obstacle, then a path planning algorithm reroutes the AUV along a path so that the AUV can detour the obstacle and return to its predefined trajectory, which is described further in FIG. 7. Further, this determination may include using acoustic and/or SONAR to determine if an object is present along the proposed path. The determination may also include processing the obstacle sensor data to provide an indication as to the dimensions of the object. If no obstacle is detected, the process continues to block 304. However, if an obstacle is detected, the pipeline route may be updated with the obstacle, as shown in block 310.
With an obstacle detected, response to the obstacle is determined, which depends on the mode of navigation for the AUV. Accordingly, a determination is made whether autonomous navigation is operating, as shown in block 312. If autonomous navigation is operating, the AUV path planning is updated, as shown in block 314. The update of the path planning may include providing the dimensions of the obstacle to the mapping component to calculate a revised path based on the estimated AUV location or calculating the revised path based on the estimated AUV location. If autonomous navigation is not operating, a notification is provided to the operator, as shown in block 316. The notification may be a visual and/or audible notification of the obstacle. Regardless, the process continues to block 304.
Furthermore, the obstacle detection component may include additional functionality for the AUV. For instance, the obstacle detection component may communicate with the propulsion components to reduce the speed of the AUV and/or reverse the direction of the AUV. That is, the obstacle detection component may interact directly with the other components to eliminate or mitigate any damage to the AUV. As an example, while the AUV is navigating along a pipeline, an on-board SONAR may detect an obstacle that is unexpected according to the a priori map of pipeline layout. The detected obstacle may trigger an obstacle detection component to utilize an obstacle avoidance algorithm that detours the AUV from its predefined trajectory to avoid a collision with the obstacle. Then, the AUV may return to the predefined path or trajectory to maintain tracking the pipeline. An example of this obstacle avoidance is further described in FIG. 7 below.
In addition to the navigation components, the AUV includes various measurement components to receive measurement information, which may be utilized to determine whether the pipeline is leaking or may be subject to a potential leak. As an example, the measurement components may include one or more hydrocarbon detection equipment. The AUV may collect real-time data from a SONAR component along with other hydrocarbon detection equipment, which may include various sensors. It may then utilize a measurement process control unit (e.g., master measurement module) to perform on-board data processing methods to verify if any leakage is detected. If hydrocarbons are detected, the measurement process control unit may store or log the measured data along with the location of the AUV in memory. The collected measurement data may also include the magnitude of the potential leak. In certain embodiments, the AUV can send the real-time processed data, such as leakage and its corresponding location, to a marine vessel, if subsea environment condition permits.
The measurement components may include one or more camera components, fluorometric components, wireless components (e.g., acoustic component, SONAR components and/or other wireless components), methane components, temperature components, fluorescence polarization components, resistivity components, and/or any other hydrocarbon detection components. Each of these components may include one or more sensors, one or more processors, memory and one or more sets of instructions stored in the memory and executed by the processor. Further, a measurement process control unit may be utilized for each component or shared between two or more of the measurement components. The process control unit may manage the received data, calculate operational and measurement parameters from the received data, determine adjustments to the operation of the AUV and determine if additional measurement information should be obtained and/or whether the pipeline may be leaking. A combination of different sensor or measurement information can be utilized together to further determine whether a leak is detected. For example, sensor fusion techniques may be utilized to combine a number of different types of sensor data to infer a conclusion that enhances the confidence in the likelihood of leak detection compared to the use of a single sensor. For example, a camera component may not detect hydrocarbons that are dispersed small droplets and the wireless component may detect sounds or other wireless signals that are not generated by leaks, but other subsea equipment. The combination of multiple sensors may reduce the likelihood of erroneous detection. For example, if an acoustic sensor detects signals that indicate a leak, then the methane detector or camera may be utilized to confirm the leak.
The resistivity component may include one or more sensors that monitor for contact with hydrocarbons present near the AUV. The resistivity component may include one or more sensors disposed on the AUV. These sensors monitor electrical resistance along the length of the respective sensors. The sensors may also be coupled to a processing module and a communications module. The processing module may monitor the electrical resistance of the respective sensors and provide an indication (e.g., alarms) when the resistance changes because of contact by oil.
The camera components may include one or more cameras that are utilized to determine the presence of hydrocarbons. The camera component may include one or more cameras disposed around the AUV and configured to capture images of the pipeline. The one or more cameras may be coupled to a processing module and a communications module. Utilizing sensor fusion technology, information collected by the multiple sensor types can be processed together to enhance the determination made on whether there is a leak. The camera collects images of the pipeline along the AUV's path. The processing module may process the images to determine whether a leak is present and the communication module may store the data and/or provide communication to other components within the AUV. The processing module may be configured to stabilize the images with a reference point, compare the images (e.g., the present image with one or more previously collected images), provide an indication when the images indicate a plume is present. The plume may be an indication of oil leaking from the pipeline. In another embodiment, one or more cameras may be utilized to collect images subjected to different filters. In this configuration, the processing module may be configured to stabilize the images with a reference point, compare the images (e.g., the present image with one or more subjected to a different filter), and/or provide an indication when the images indicate a plume is present. The indication of a plume may be based on a comparison of the images and/or an object within the images to predetermined patterns or images.
As an example, Intl. Patent Application No. 2012/028788 entitled “Autonomous Detection of Chemical Plumes”, which is hereby incorporated by reference in its entirety, describes methods and systems for utilizing images to detect gas plumes. This method and system may also be utilized to detect leaks from a pipeline. In particular, in certain embodiments, a system may include a camera capable of generating an image at least at a wavelength of electromagnetic (EM) radiation that is absorbed or emitted by a chemical species and an analysis system configured to analyze a sequence of images from the camera. The analysis system may include a processor; and a non-transitory, computer-readable medium comprising code (e.g., a set of instructions stored in memory and executable by a processor) configured to direct the processor to perform certain functions. The functions may include identifying a plurality of deterministic features and a plurality of probabilistic features of objects in an image, comparing the plurality of deterministic features, or the plurality of probabilistic features, or both, to another image collected at a proximate time, and determining if a change between the compared images represents a chemical plume (e.g., a chemical leak within the body of water). In another embodiment, a method may include obtaining a number of images from a camera at least at a wavelength of light selected to be absorbed or emitted by a chemical species. The images are analyzed to identify changes in a deterministic feature, changes in a probabilistic feature, or both, between sequential images; and recognizing a chemical plume based, at least in part, on the changes.
As another example, Intl. Patent Application No. 2012/028791 entitled “Differential Infrared Imager for Gas Plume Detection”, which is hereby incorporated by reference in its entirety, describes yet another method and system for autonomously detecting a chemical plume. The system or method may include a lens, a beam splitter, a first detector, a second detector, a first bandpass filter that passes a wavelength of electromagnetic radiation that is absorbed or emitted by a chemical species and rejects frequencies outside that range, and a second bandpass filter that passes a wavelength of electromagnetic radiation that is offset from the wavelengths passed by the first bandpass filter and rejects frequencies outside that range. Also, in certain embodiments, the system or method may include an analysis system configured to analyze images from the first detector and the second detector, a processor, and a non-transitory, computer-readable medium comprising a set of instructions configured to direct the processor to perform certain functions, such as: (a) identify a plurality of deterministic features and a plurality of probabilistic features of objects in an image from the first detector; (b) identify a plurality of deterministic features and a plurality of probabilistic features of objects in an image from the second detector; (c) compare (i) the plurality of deterministic features, or the plurality of probabilistic features, or both from the first detector, to (ii) the plurality of deterministic features, or the plurality of probabilistic features, or both from the second detector; and (d) determine if a difference between the compared images represents a chemical plume. In yet another embodiment, the method for autonomously detecting a chemical plume may include the steps of: (a) splitting a beam of electromagnetic radiation into at least two beams, which are directed to corresponding at least two detectors, (b) obtaining a first plurality of images from a first detector at least at a wavelength of electromagnetic radiation selected to be absorbed or emitted by a chemical species; (c) obtaining a second plurality of images from a second detector at a wavelength of electromagnetic radiation offset from the wavelength of the first detector; (d) comparing the first plurality images to the second plurality of images to identify differences in a deterministic feature, changes in a probabilistic feature, or both; and (e) recognizing a chemical plume based, at least in part, on the differences.
The other hydrocarbon detection components may include one or more sensors that monitor for contact with hydrocarbons present near and/or with the AUV. The other hydrocarbon detection components may include fluorescence polarization component, fluorometric component, wireless component, methane component, temperature component and/or any other suitable components. These components may include one or more sensors disposed on the AUV. These sensors may monitor temperature, wireless signals (e.g., sounds), polarization, presence of methane and other aspects, for the respective components. The sensors may also be coupled to a processing module and a communications module. The processing module may obtain the measurement data from the sensors, store the measurement data of the respective sensors and provide an indication (e.g., alarms or otherwise identify in memory) when the hydrocarbons are detected.
Similar to the navigation components, the measurement components may be utilized in a parallel configuration, a sequential configurations or combination to monitor the pipeline. In one embodiment, these measurement components may be utilized together in parallel operation to monitor the pipeline for leaks. That is, the different measurement components may each be utilized to contribute measurement information about the presence of hydrocarbons near the pipeline and/or the AUV. Each component may provide an indication of a leak, which may be appropriately documented for the location of the AUV and stored for latter retrieval. A master measurement module, if any is available, may be utilized to compare the different measurement components. If a leak is detected, the measurement system may provide an indication to the navigation components to return the AUV to the surface of the body of water. Then, the AUV may contact another vessel or location of the potential leak. Alternatively, the measurement data may be collected and the different location may be indicated and stored with the associated measurement data.
In yet another embodiment, these measurement components may be utilized in a sequential configuration to monitor the pipeline. That is, the different components may be utilized in a specific order or sequence to contribute information, if any, about the presence of hydrocarbons and the location of the potential leak. Certain of the measurement components may be utilized as a primary monitoring source, while the secondary monitoring source and other monitoring sources are not relied upon or utilized if the primary monitoring source does not indicate a leak is present. If the primary monitoring source does indicate a leak may be present, the next monitoring source in the sequence may be utilized based on the configuration. In this manner, the priority of the measurement components may be determined and managed in a direct manner, which may conserve power.
As an example, FIG. 4 is another flow chart for implementing autonomous leak detection for an automated underwater vehicle in accordance with an exemplary embodiment of the present techniques. In this flow chart 400, various measurement components are utilized in a specific configuration to monitor the pipeline for leaks. In particular, the process utilizes master measurement module, which is described in blocks 402 to 404, as a control mechanism for the monitoring operations. Then, the various measurement components are organized in a specific sequence to monitor the pipeline. This sequence includes a resistivity component (blocks 406 to 408), camera component (blocks 410 to 414) and other hydrocarbon detection components, such as a methane component and/or a wireless components (e.g., acoustic component), for example (blocks 416 to 418).
For this flow chart 400, an initial determination is made whether the AUV is within a predetermined range of the pipeline, as shown in block 402. This determination may be performed in a master measurement module that manages the operation and interaction with the navigation components, propulsion components and/or other measurement components. The determination may include determining whether the AUV is within 100 feet, within 200 feet or 300 feet of the pipeline, which may be based on one or more of the navigation components. This range may be a measurement setting stored in memory accessible by a processor in the master measurement module. If a pipeline is not within range, the process repeats back to determine whether the pipeline is within range. This loop may be delayed for a set period of time (e.g., about 5 seconds, 30 seconds or 1 minute) and/or may place the master measurement module into a standby state until a notification is received that the AUV is within the specified range.
However, if the AUV is within range of the pipeline, the monitoring operations begin. At block 404, the monitoring configuration is performed. The performance of the monitoring configuration may involve obtaining a set of instructions from memory accessible by a processor in the master measurement module, and executing the set of instructions to begin obtaining measurement data from one or more of the measurement components based on the specific sequential configuration. At block 406, resistivity measurement data is obtained. The resistivity measurement data may be obtained by a communicating with the various sensors to obtain the resistivity measurement data along with an indication as to sensor location associated with the resistivity measurement data. Then, a determination is made whether resistivity component detects the presence of hydrocarbons, as shown in block 408. This determination may include obtaining resistivity measurement data from various sensors disposed at different locations on the AUV. The resistivity measurement data may then be processed by a resistivity processor that compares the resistivity measurement data to a table, which include the resistivity of hydrocarbons and water. If the determination indicates that no hydrocarbons are present, the process repeats back to block 402 and may obtain additional resistivity measurement data and determine whether hydrocarbons are present in the additional resistivity measurement data, if within range of the pipeline. This loop may be delayed for a set period of time (e.g., about 5 seconds, 10 seconds or 20 seconds) and/or may be continuous, which depends on the specific configuration.
However, if the resistivity component indicates that hydrocarbons are present, the camera measurement data is obtained, as shown in block 410. The camera measurement data may be obtained by a communicating with the various cameras to obtain the camera measurement data (e.g., images, which may be obtained using different filters) along with an indication as to camera location associated with the camera measurement data. Then, a determination is made whether the camera component detects the presence of hydrocarbons, as shown in block 412. This determination may include obtaining different images from various cameras disposed at different locations within the AUV. The camera measurement data may then be processed by a camera processor that compares the images to each other and/or the same image with different filters applied, and then compares the resulting images to a table of predicted leak plumes. If the determination indicates that no hydrocarbons are present, an indication that the hydrocarbons are not confirmed is stored, as shown in block 414. This indication may be associated with the resistivity and camera measurement data for future processing along with the estimated AUV location. Then, the process repeats back to block 402 and may obtain additional resistivity measurement data if within the range of the pipeline. This loop may be delayed for a set period of time (e.g., about 5 seconds, 10 seconds or 20 seconds) and/or may be continuous, which depends on the specific configuration.
If the camera measurement data indicates that hydrocarbons are present, then the other measurement data is obtained, as shown in block 416. The other hydrocarbon measurement data may be obtained by a communicating with a component that collects sensor data near the AUV. The other hydrocarbon detection components may include fluorescence polarization component to measure the polarization, fluorometric component, wireless component, methane component, temperature component to determine the temperature and/or any other suitable components. The resulting measurement data and estimated AUV location may be stored for further processing, as shown in block 418. Then, the process repeats back to block 402 and may obtain additional resistivity measurement data and determine whether hydrocarbons are present in the additional resistivity measurement data. This loop may be delayed for a set period of time (e.g., about 5 seconds, 10 seconds or 20 seconds) and/or may be continuous, which depends on the specific configuration.
The different configurations of these AUV and method of operation may include various different combinations of components to be able to operate. As an example of an AUV, FIG. 5 is a diagram of an AUV in accordance with an exemplary embodiment of the present techniques. In this AUV 500, a process control unit 502 is utilized to manage the navigation components and the measurement components. The process control unit 502 includes a processor 503, memory 504 and sets of instructions (e.g., master navigation module 510 and master measurement module 520) that are stored in the memory 504 and executable by the process control unit 502. The power for the process control unit 502 may be supplied by one or more batteries 506. Also, the process control unit 502 may include a communication component 508, which may include an antenna and other equipment to manage communications with other systems, such as marine vessel and/or GPS.
The navigation components of the AUV 500 may include the master navigation module 510, a mapping component, such as SONAR component 512, motion sensor component 516 and propulsion component 518. The master navigation module may operate by the processor executing the sets of instructions configured to: manage the different navigation components, calculate the path of the AUV, obtain signals (e.g., GPS signals and/or wireless guidance signals), communicate with the propulsion systems to adjust steering and/or speed of the AUV, obtain motion sensor data, and/or calculate the AUV's location based on different data (e.g., GPS data, wireless guidance data, motion sensor data and mapping component data). The SONAR component 512 may include SONAR sensor equipment to send and receive SONAR signals and provide associated SONAR data to the master navigation module. The SONAR component 512 may also be utilized for the detection of hydrocarbons external to the AUV (e.g., in fluid disposed external to the AUV, such as a body of water that the AUV is disposed within). The motion sensor component 516 may include various sensors and other equipment to obtain motion sensor data about the forces applied to the AUV 500 (e.g., currents and fluid flows). The motion sensor component 516 may include a processor that communicates with a gyroscope, depth sensor, velocity meter along with various other meters to measure the orientation or other parameters of the AUV. Also, the propulsion component 518 may include two propeller assemblies enclosed by a propeller support members, a motor coupled to the batteries 506.
The measurement components of the AUV 500 may include the master measurement module 520, resistivity components 522a-522c, camera component 524a-524c and/or other hydrocarbon detection component 526 along with the SONAR component 512. The master measurement module may operate by the processor executing the sets of instructions configured to: manage the different measurement components, determine whether hydrocarbons are present external to the AUV (e.g., in fluid disposed external to the AUV, such as a body of water that the AUV is disposed within), communicate with the propulsion systems to adjust steering and/or speed of the AUV if hydrocarbons are detected, obtain measurement data and the AUV's location based on different hydrocarbon indications, and store certain measurement data and AUV location data. The resistivity components 522a-522c may include various sensor that are configured to detect resistivity via contact with the fluid adjacent to the AUV and provide these measurements to a processor, which is configured to send and receive commands, process the resistivity data and to communicate resistivity data and/or certain notifications with the master measurement module 520. The camera components 524a-524c may include various cameras that are configured to obtain images (e.g., the images may be subjected to different filters) of fluids adjacent to the pipeline and provide these images to a processor, which is configured to send and receive commands, process the images, and to communicate camera data and/or certain notifications with the master measurement module 520. The other hydrocarbon detection components 526 may include various piping and equipment that is utilized to obtain measurement data near the AUV. The other hydrocarbon detection components may include fluorescence polarization component, fluorometric component, wireless component (e.g., acoustic component and/or SONAR component 512), methane component, temperature component, corrosion sensor reading component and/or other suitable measurement components. For example, a temperature component typically has a thermocouple or a resistance temperature device (RTD). A corrosion sensor typically reads the electrical resistance of element metal loss caused by corrosion or erosion. The measurement data may include acoustic images, acoustic data, subsea pipeline corrosion sensor reading data, temperature data, fluorometric data, and/or polarization data, for example. The other hydrocarbon detection components 526 may also include a processor configured to send and receive commands, to process the measured data, and to communicate measured data and/or certain notifications with the master measurement module 520.
The equipment within the AUV 500 may be coupled together through physical cables to manage the distribution of power from the batteries 506 and to manage communication exchanges between the equipment. As an example, power distribution is provided between the process control unit 502, the one or more batteries 506 and the communication component 508 via lines 509, while the communication distribution is provided between the process control unit 502 and the communication component 508 via line 507. Other communication and power distribution lines are not shown for simplicity in this diagram. Also, the communication between certain devices may be via wireless communications, as well. Accordingly, the specific configuration with the AUV provides flexibility.
FIG. 6 is a diagram of a leak detection system 600 in accordance with an exemplary embodiment of the present techniques. In this configuration, a pipeline 602 is disposed on the floor 604 of a body of water 606. The pipeline 602 provides a fluid flow path from a wellhead 608 to a fluid processing facility 610. The wellhead 608 provides fluid access (e.g., hydrocarbons and/or other fluids that may be transported via tubulars) to a reservoir 612 via a wellbore 614. The access to and operation of the wellbore 614, wellhead 608 and fluid processing facility 610 are known to those skilled in the art.
To monitor the pipeline 602, a marine vessel 616 may be utilized to deploy an AUV 618. This AUV 618 may include any underwater vehicle that includes autonomous navigation and measurement components, such as the AUV 500 of FIG. 5, as one example. The navigation component of the AUV 618 may include a GPS component, and wireless guidance component, a mapping component and motion sensor components (e.g., navigation sensors and/or motor propeller speedometer) for navigating the body of water 606. The AUV may include an obstacle detection component. When an obstacle is detected, the obstacle detection component may compare the obstacle to the apriori map, which may be stored in memory. If it is an obstacle not marked in the previous apriori map, then the location of the obstacle may be stored in the apriori map and the map gets updated. The wireless guidance component may receive signals from the pipeline wireless guidance transmitters 620 disposed along the pipeline 602. As the AUV 618 moves along the pipeline, the measurement components of the AUV 618 may be utilized to collect measurement data to determine if the pipeline has a leak.
FIG. 7 is a diagram of a leak detection system 700 with obstacle detection in accordance with an exemplary embodiment of the present techniques. In this configuration, the pipeline 602 and AUV 618, which are described above in FIG. 6, are disposed in a body of water. In this diagram, the AUV 618 follows a predefined trajectory 704 along the pipeline 602. The AUV 618 includes an obstacle detection component that is utilized to calculate a new trajectory to avoid obstacles location along the predefined trajectory 704. As shown in the figure, when the AUV 618 detects an obstacle 702, the obstacle detection component of the AUV 618 is utilized to calculate a revised trajectory or indicate to another component of the AUV 618 to calculate a new trajectory 706. In this manner, the AUV 618 may be configured to detect and avoid obstacles, such as obstacle 702, along the predefined trajectory 704.
In certain embodiments, the obstacle detection component may include an obstacle avoidance algorithm that resides in AUV's process unit. The obstacle detection component is configured to use a map and based on SONAR signals and kinematics constraints of the AUV calculate the shortest path to deviate from the predefined trajectory to avoid obstacles as well as return to the trajectory as soon as the obstacle is avoided. The calculated revised trajectory is then tracked by AUV's trajectory tracking controller of the obstacle detection component so that it is accurately tracked.
Certain embodiments of the present techniques may be implemented as a method, as described in the exemplary embodiments of the flow charts in FIGS. 1 to 4 and the systems of FIGS. 5 to 7. Persons skilled in the technical field will readily recognize that in practical applications of the disclosed methodology, it is partially performed on a computer, typically a suitably programmed digital computer, or other processor based device. Further, some portions of the detailed descriptions are presented in terms of procedures, steps, logic blocks, processing and other symbolic representations of operations on data bits within a computer memory. These descriptions and representations are the means used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. In the present application, a procedure, step, logic block, process, or the like, is conceived to be a self-consistent sequence of steps or instructions leading to a desired result. The steps are those requiring physical manipulations of physical quantities. Usually, although not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated in a computer system or process based system.
It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the following discussions, it is appreciated that throughout the present application, discussions utilizing the terms, such as “processing” or “computing”, “calculating”, “determining”, “displaying”, “copying,” “producing,” “storing,” “adding,” “applying,” “executing,” “maintaining,” “updating,” “creating,” “constructing” “generating” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.
Furthermore, as will be apparent to one of ordinary skill in the relevant art, the modules, features, attributes, methodologies, and other aspects of the invention can be implemented as software, hardware, firmware or any combination of the three. Of course, wherever a module and/or portion of a component of the present invention is implemented as software, the module and/or portion of the component can be implemented as a standalone program, as part of a larger program, as a plurality of separate programs, as a statically or dynamically linked library, as a kernel loadable module, as a device driver, and/or in every and any other way known now or in the future to those of skill in the art of computer programming. Additionally, the present invention is in no way limited to implementation in any specific operating system or environment.
Further, one or more embodiments may include methods that are performed by executing one or more sets of instructions, firmware and/or combinations of both to perform certain tasks, functions or operations. For example, the one or more navigation components and one or more measurement components may include sets of instructions with other equipment as part of the component, while the master navigation module and master measurement components may be sets of instructions stored on memory within the AUV and executed by a processor. The one or more navigation components and one or more measurement components comprise a processor, memory in communication with the processor, and a set of instructions stored on the memory and accessible by the processor, wherein the set of instructions are executed by the processor to perform the respective operations for the one or more of the one or more navigation components and one or more measurement components.
1. A method of monitoring a pipeline disposed in a body of water comprising: deploying an autonomous underwater vehicle (AUV) into the body of water; performing an operation stage that comprises: navigating the AUV without human intervention along the pipeline; monitoring the pipeline and a portion of the body of water adjacent to the pipeline to detect a leak from the pipeline, wherein monitoring comprises estimating the AUV location if a leak is detected; retrieving the AUV upon completion of the operation stage; and collecting data from the AUV to determine whether a leak has been detected along the pipeline.
2. The method of paragraph 1, further comprising: transmitting wireless signals into the body of water; receiving reflected signals from the body of water; and processing the received reflected signals to provide wireless data that is utilized in the navigation of the AUV.
3. The method of paragraph 2, further comprising processing the received reflected signals to determine if the pipeline is leaking.
4. The method of any one of paragraphs 2 to 3, further comprising processing the received reflected signals to determine whether an obstacle hinders the proposed path of the AUV.
5. The method of any one of paragraphs 1 to 3, wherein the performing the operation stage comprises determining whether an obstacle hinders the proposed path of the AUV in an obstacle detection component.
6. The method of paragraph 5, wherein the obstacle detection component is configured to perform the steps of: a) obtain obstacle sensor data; b) determine whether an obstacle is along the proposed path; c) if an object is detected along the proposed path, update the map with the obstacle and update the path planning to avoid the obstacle; and d) if an object is not detected along the proposed path, repeat steps a to c.
7. The method of any one of paragraphs 1 to 6, further comprising: receiving global positioning system (GPS) signals; and processing the GPS signals to provide GPS data that is utilized in the navigation of the AUV.
8. The method of any one of paragraphs 1 to 7, further comprising: receiving wireless guidance signals; and processing the wireless guidance signals to provide wireless guidance data that is utilized in the navigation of the AUV.
9. The method of any one of paragraphs 1 to 8, further comprising: receiving mapping component data; and processing the mapping component data to provide mapping component data that is utilized in the navigation of the AUV.
10. The method of paragraph 9, wherein the processing the mapping component data comprises applying a Kalman filter to the mapping component data to estimate the location of the AUV in the body of water.
11. The method of any one of paragraphs 1 to 10, further comprising managing data from two or more navigation components, wherein the data from each of the respective navigation component has a weight applied to that data based on the respective navigation component.
12. The method of any one of paragraphs 1 to 11, further comprising managing data from two or more navigation components, wherein the data from each of the respective navigation component is organized into a sequential order based on the respective navigation component.
13. The method of paragraph 12, wherein the two or more navigation components comprise a global positioning system (GPS) component and wireless guidance component and the sequential order comprises: determining whether global positioning system (GPS) signals are received; if the GPS signals are received, processing the GPS signals to provide GPS data that is utilized in the navigation of the AUV; if the GPS signals are not received, determining whether wireless guidance signals are received; if wireless guidance signals are received, processing the wireless guidance signals to provide wireless guidance data that is utilized in the navigation of the AUV; if the wireless guidance signals are not received, obtaining mapping component data and utilizing the mapping component data in the navigation of the AUV.
14. The method of any one of paragraphs 1 to 13, further comprising interrupting the autonomous navigation of the AUV when operator commands are detected.
15. The method of any one of paragraphs 1 to 14, further comprising: obtaining resistivity measurement data from one or more resistivity sensors disposed in fluid communication with the body of water; and processing the resistivity measurement data to provide an indication regarding the presence of hydrocarbons in the body of water.
16. The method of paragraph 15, wherein processing comprising comparing the resistivity measurement data with a table to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold.
17. The method of any one of paragraphs 1 to 16, further comprising: obtaining images of a portion of the body of water from one or more cameras disposed within the AUV; and processing the images to provide an indication regarding the presence of hydrocarbons in the portion of the body of water.
18. The method of paragraph 17, wherein obtaining comprises obtaining a plurality of first images and a plurality of second images; and wherein processing comprises passing one of the plurality of first images and the plurality of second images through a filter, and comparing at least one of the plurality of first images or at least one of the plurality of second images with the filtered image to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold.
19. The method of any one of paragraphs 1 to 18, further comprising managing data from two or more measurement components, wherein the data from each of the respective measurement components has a weight applied to that data based on the respective measurement component.
20. The method of any one of paragraphs 1 to 18, further comprising managing data from two or more measurement components, wherein the data from each of the respective measurement components is organized into a sequential order based on the respective measurement component.
21. The method of paragraph 20, wherein the two or more measurement components comprise a resistivity component and a camera component, and the sequential order comprises: obtaining resistivity measurement data; determining whether the resistivity measurement data indicates the presence of hydrocarbons; if the resistivity measurement data does not indicate the presence of hydrocarbons, obtaining additional resistivity measurement data; if the resistivity measurement data indicates the presence of hydrocarbons, obtaining camera measurement data; if the camera measurement data does not indicate the presence of hydrocarbons, obtaining additional resistivity measurement data; if the camera measurement data indicates the presence of hydrocarbons, obtaining estimating the location of the AUV and storing an indication associated with the presence of hydrocarbons.
22. A system for monitoring a pipeline comprising: an autonomous underwater vehicle (AUV) configured to operate within a body of water and including: one or more navigation components configured to (i) provide propulsion for the AUV for movement of the AUV within the body of water; and (ii) autonomously navigate the AUV without human intervention along a pipeline disposed within the body of water; and one or more measurement components configured to monitor the pipeline and a portion of the body of water adjacent to the pipeline to detect a leak from the pipeline, (ii) estimate the AUV location if a leak is detected, and (iii) store an indication of the detected leak and the estimated AUV location.
23. The system of paragraph 22, further comprising a deployment vessel configured to transport the AUV to a predetermined location; to deploy the AUV into the body of water and to retrieve the AUV from the body of water.
24. The system of any one of paragraphs 22 to 23, wherein the one or more navigation components comprise a wireless component configured to: transmit wireless signals into the body of water from the AUV; receive reflected signals from the body of water; and process the received reflected signals to one or more of provide wireless data that is utilized in the navigation of the AUV and determine whether an obstacle hinders the proposed path of the AUV.
25. The system of paragraph 24, wherein the wireless component is configured to apply a Kalman filter to the wireless data to estimate the location of the AUV in the body of water.
26. The system of any one of paragraphs 22 to 23, wherein the one or more measurement components comprise a SONAR component configured to: transmit sound signals into the body of water from the AUV; receive reflected sound signals from the body of water; and process the received reflected sound signals to determine if the pipeline is leaking.
27. The system of any one of paragraphs 22 to 26, wherein the one or more navigation components comprise a global positioning system (GPS) component configured to: receive GPS signals; and process the GPS signals to provide GPS data that is utilized in the navigation of the AUV.
28. The system of any one of paragraphs 22 to 27, further comprising: a plurality of wireless transmitters disposed adjacent to a pipeline within the body of water and configured to transmit a signal into the body of water; and wherein the one or more navigation components comprise a wireless guidance component configured to: receive wireless guidance signals; and process the wireless guidance signals to provide wireless guidance data that is utilized in the navigation of the AUV.
29. The system of any one of paragraphs 22 to 28, wherein the one or more navigation components include at least two navigation components, wherein the data from each of the respective at least two navigation components is provided to a master navigation module and the master navigation module is configured to apply a weight to the data received from the respective navigation components.
30. The system of any one of paragraphs 22 to 28, wherein the one or more navigation components include at least two navigation components, wherein the data from each of the respective at least two navigation components is provided to a master navigation module and the master navigation module is configured rely upon the data from the respective at least two navigation components based on a sequential order.
31. The system of paragraph 30, wherein the at least two navigation components comprise a global positioning system (GPS) component and wireless guidance component and the master navigation module is configured to: if the global positioning system (GPS) component is available, rely on the GPS component to autonomously navigate the AUV without human intervention along a pipeline disposed within the body of water; and if the GPS component is not available, rely on the wireless component to autonomously navigate the AUV without human intervention along a pipeline disposed within the body of water.
32. The system of any one of paragraphs 22 to 31, wherein the one or more measurement components comprise a resistivity component configured to: obtain resistivity measurement data from one or more resistivity sensors disposed in fluid communication with fluid external to the AUV; and process the resistivity measurement data to provide an indication regarding the presence of hydrocarbons external to the AUV.
33. The system of paragraph 32, wherein the resistivity measurement component is configured to compare the resistivity measurement data with a table stored in memory to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold.
34. The system of any one of paragraphs 22 to 32, wherein the one or more measurement components comprise a camera component configured to: obtain images external of the AUV from one or more cameras disposed within the AUV; and process the images to provide an indication regarding the presence of hydrocarbons external to the AUV.
35. The system of paragraph 34, wherein the camera component is configured to obtain a plurality of first images from a first detector and a plurality of second images from a second detector; pass one of the plurality of first images and the plurality of second images through a filter, and compare at least one of the plurality of first images or at least one of the plurality of second images with the filtered image to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold.
36. The system of any one of paragraphs 22 to 35, wherein the one or more measurement components include at least two measurement components, wherein the data from each of the respective at least two measurement components is provided to a master measurement module and the master measurement module is configured to apply a weight to the data received from the respective measurement components.
37. The system of any one of paragraphs 22 to 28, wherein the one or more measurement components include at least two measurement components, wherein the data from each of the respective at least two measurement components is provided to a master measurement module and the master measurement module is configured rely upon the data from the respective at least two measurement components based on a sequential order.
38. The system of paragraph 37, wherein the two or more measurement components comprise a resistivity measurement component and a camera component, and the master measurement module is configured to: obtain resistivity measurement data from a resistivity measurement component; determine whether the resistivity measurement data indicates the presence of hydrocarbons; if the resistivity measurement data does not indicate the presence of hydrocarbons, obtain additional resistivity measurement data; if the resistivity measurement data indicates the presence of hydrocarbons, obtain camera measurement data; if the camera measurement data does not indicate the presence of hydrocarbons, obtain additional resistivity measurement data; if the camera measurement data indicates the presence of hydrocarbons, estimate the location of the AUV and store the indication associated with the presence of hydrocarbons and the estimated location of the AUV.
39. The system of any one of paragraphs 22 to 38, wherein one or more of the one or more navigation components and one or more measurement components comprise: a processor, memory in communication with the processor, and a set of instructions stored on the memory and accessible by the processor, wherein the set of instructions are executed by the processor to perform the respective operations for the one or more of the one or more navigation components and one or more measurement components.
1. A method for performing maintenance or repair on a pipeline disposed in a body of water comprising:
deploying an autonomous underwater vehicle (AUV) into the body of water;
performing an operation stage that comprises: using two or more navigation components to navigate the AUV without human intervention along the pipeline, wherein using said navigation components comprises managing data from each of the respective navigation components; monitoring the pipeline and a portion of the body of water adjacent to the pipeline to detect a leak from the pipeline, wherein monitoring comprises estimating the AUV location if a leak is detected;
retrieving the AUV upon completion of the operation stage;
collecting data from the AUV to determine whether a leak has been detected along the pipeline; and
performing proactive maintenance on the pipeline or repair of the pipeline;
wherein the data from each of the respective navigation components fulfills one of the following conditions (A) or (B): (A) said data has a weight applied to that data based on the respective navigation component; or (B) said data is organized into a sequential order based on the respective navigation component, wherein the two or more navigation components comprise a GPS component and wireless guidance component, and further wherein the sequential order comprises: i. determining whether GPS signals are received; ii. if the GPS signals are received, processing the GPS signals to provide GPS data that is utilized in the navigation of the AUV; iii. if the GPS signals are not received, determining whether wireless guidance signals are received; iv. if wireless guidance signals are received, processing the wireless guidance signals to provide wireless guidance data that is utilized in the navigation of the AUV; v. if the wireless guidance signals are not received, obtaining mapping component data and utilizing the mapping component data in the navigation of the AUV.
transmitting wireless signals into the body of water;
receiving reflected signals from the body of water; and
processing the received reflected signals to provide wireless data that is utilized in the navigation of the AUV.
3. The method of claim 2, further comprising processing the received reflected signals to determine if the pipeline is leaking.
4. The method of claim 2, further comprising processing the received reflected signals to determine whether an obstacle hinders the proposed path of the AUV.
5. The method of claim 1, wherein the performing the operation stage comprises determining whether an obstacle hinders the proposed path of the AUV in an obstacle detection component.
6. The method of claim 5, wherein the obstacle detection component is configured to perform the steps of:
a) obtain obstacle sensor data;
b) determine whether an obstacle is along the proposed path;
c) if an object is detected along the proposed path, update the map with the obstacle and update the path planning to avoid the obstacle; and
d) if an object is not detected along the proposed path, repeat steps a to c.
processing the GPS signals to provide GPS data that is utilized in the navigation of the AUV.
receiving wireless guidance signals; and
processing the wireless guidance signals to provide wireless guidance data that is utilized in the navigation of the AUV.
receiving mapping component data; and
processing the mapping component data to provide mapping component data that is utilized in the navigation of the AUV.
10. The method of claim 9, wherein the processing the mapping component data comprises applying a Kalman filter to the mapping component data to estimate the location of the AUV in the body of water.
obtaining resistivity measurement data from one or more resistivity sensors disposed in fluid communication with the body of water; and
processing the resistivity measurement data to provide an indication regarding the presence of hydrocarbons in the body of water by comparing the resistivity measurement data with a table to determine the presence of hydrocarbons in the body of water and provide the indication if the comparison is above a threshold.
obtaining images of a portion of the body of water from one or more cameras disposed within the AUV, wherein the images comprise a plurality of first images and a plurality of second images; and
processing the images to provide an indication regarding the presence of hydrocarbons in the portion of the body of water, wherein the processing comprises passing one of the plurality of first images and the plurality of second images through a filter, comparing at least one of the plurality of first images or at least one of the plurality of second images with the filtered image to determine the presence of hydrocarbons in the body of water, and providing the indication if the comparison is above a threshold.
13. The method of claim 1, further comprising managing data from two or more measurement components, wherein the data from each of the respective measurement components has a weight applied to that data based on the respective measurement component.
14. The method of claim 1, further comprising managing data from two or more measurement components, wherein the data from each of the respective measurement components is organized into a sequential order based on the respective measurement component, wherein the two or more measurement components comprise a resistivity component and a camera component, and the sequential order comprises:
obtaining resistivity measurement data;
determining whether the resistivity measurement data indicates the presence of hydrocarbons;
if the resistivity measurement data does not indicate the presence of hydrocarbons, obtaining additional resistivity measurement data;
if the resistivity measurement data indicates the presence of hydrocarbons, obtaining camera measurement data;
if the camera measurement data does not indicate the presence of hydrocarbons, obtaining additional resistivity measurement data;
if the camera measurement data indicates the presence of hydrocarbons, estimating the location of the AUV and storing an indication associated with the presence of hydrocarbons and the estimated AUV location.
15. A system for monitoring a pipeline comprising:
an autonomous underwater vehicle (AUV) configured to operate within a body of water and including:
two or more navigation components, each configured to (i) provide propulsion for the AUV for movement of the AUV within the body of water; and (ii) autonomously navigate the AUV without human intervention along a pipeline disposed within the body of water;
a process control unit configured to manage the two or more navigation components and one or more measurement components, and further comprising a master navigation module which is a set of instructions that are executable by the process control unit; and
the one or more measurement components configured to monitor the pipeline and a portion of the body of water adjacent to the pipeline to detect a leak from the pipeline, (ii) estimate the AUV location if a leak is detected, and (iii) store an indication of the detected leak and the estimated AUV location;
wherein data from each of the respective navigation components is provided to the master navigation module, and the master navigation module is configured either: (A) to apply a weight to the data received from the respective navigation components; or (B) to rely upon the data from the respective navigation components based on a sequential order, wherein the navigation components comprise a global positioning system (GPS) component and wireless guidance component, and the master navigation module is further configured to: i. if GPS signals are received through the GPS component, rely on the GPS component to autonomously navigate the AUV without human intervention along a pipeline disposed within the body of water; ii. if GPS signals are not received through the GPS component, rely on the wireless guidance component to autonomously navigate the AUV without human intervention along the pipeline disposed within the body of water.
16. The system of claim 15, wherein the one or more navigation components comprise a wireless component configured to:
transmit wireless signals into the body of water from the AUV;
receive reflected signals from the body of water; and
process the received reflected signals to one or more of provide wireless data that is utilized in the navigation of the AUV and determine whether an obstacle hinders the proposed path of the AUV.
17. The system of claim 16, wherein the wireless component is configured to apply a Kalman filter to the wireless data to estimate the location of the AUV in the body of water.
18. The system of claim 15, wherein the one or more measurement components comprise a SONAR component configured to:
transmit sound signals into the body of water from the AUV;
receive reflected sound signals from the body of water; and
process the received reflected sound signals to determine if the pipeline is leaking.
19. The system of claim 15, wherein the one or more navigation components comprise a global positioning system (GPS) component configured to:
receive GPS signals; and
process the GPS signals to provide GPS data that is utilized in the navigation of the AUV.
a plurality of wireless transmitters disposed adjacent to a pipeline within the body of water and configured to transmit a signal into the body of water; and
wherein the one or more navigation components comprise a wireless guidance component configured to:
receive wireless guidance signals; and
process the wireless guidance signals to provide wireless guidance data that is utilized in the navigation of the AUV.
21. The system of claim 15, wherein the one or more measurement components comprise a resistivity component configured to:
obtain resistivity measurement data from one or more resistivity sensors disposed in fluid communication with fluid external to the AUV; and
process the resistivity measurement data to provide an indication regarding the presence of hydrocarbons external to the AUV by comparing the resistivity measurement data with a table stored in memory to determine the presence of hydrocarbons in the body of water and providing the indication if the comparison is above a threshold.
22. The system of claim 15, wherein the one or more measurement components comprise a camera component configured to:
obtain images external of the AUV from one or more cameras disposed within the AUV; and
process the images to provide an indication regarding the presence of hydrocarbons external to the AUV by obtaining a plurality of first images from a first detector and a plurality of second images from a second detector; passing at least one of the plurality of first images or the plurality of second images through a filter, comparing at least one of the plurality of first images or at least one of the plurality of second images with the filtered image to determine the presence of hydrocarbons in the body of water, and providing the indication if the comparison is above a threshold.
23. The system of claim 15, wherein the one or more measurement components at least two measurement components is provided to a master measurement module and the master measurement module is configured to apply a weight to the data received from the respective measurement components.
24. The system of claim 15, wherein the one or more measurement components include at least two measurement components, wherein the data from each of the respective at least two measurement components is provided to a master measurement module and the master measurement module is configured rely upon the data from the respective at least two measurement components based on a sequential order.
25. The system of claim 24, wherein the two or more measurement components comprise a resistivity measurement component and a camera component, and the master measurement module is configured to:
obtain resistivity measurement data from a resistivity measurement component;
determine whether the resistivity measurement data indicates the presence of hydrocarbons;
if the resistivity measurement data does not indicate the presence of hydrocarbons, obtain additional resistivity measurement data;
if the resistivity measurement data indicates the presence of hydrocarbons, obtain camera measurement data;
if the camera measurement data does not indicate the presence of hydrocarbons, obtain additional resistivity measurement data;
if the camera measurement data indicates the presence of hydrocarbons, estimate the location of the AUV and store the indication associated with the presence of hydrocarbons and the estimated location of the AUV.
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Patent number: 10451514
Patent Publication Number: 20150192488
Inventors: Bin Xu (The Woodlands, TX), Vasudev Rayachoti (The Woodlands, TX)
Application Number: 14/414,410
International Classification: G01M 3/00 (20060101); B63C 11/40 (20060101); B63G 8/00 (20060101); G01N 27/20 (20060101); G01N 29/11 (20060101); G01S 15/88 (20060101); H04N 5/232 (20060101); H04N 5/225 (20060101);