Oceaneering International, Inc.

Cage deployment system ( 1 ) typically comprises a remotely powered/controlled lift; a module guide adapted to ensure that a selectively removable and insertable seabed module self-aligns into a cage extension; and a subsea cage operatively connected to the remotely powered/controlled lift. Cage deployment system ( 1 ) may be used by positioning remotely operated vehicle (ROV) ( 500 ) in subsea cage ( 200 ); inserting subsea module ( 400 ) into skid slot ( 203 ) of subsea cage ( 200 ); deploying cage deployment system ( 1 ) to a predetermined location at sea; using remotely powered/controlled lift ( 100 ) as a lowering mechanism to lower subsea cage ( 200 ) to and deploying it proximate seabed ( 2 ); allowing ROV ( 500 ) to exit subsea cage ( 200 ); allowing subsea cage ( 200 ) to release subsea module interlock ( 220 ) and thereby secure seabed module ( 400 ); lowering seabed module ( 400 ) from subsea cage ( 200 ) to a seabed location.

Configurable, modular mobile docking station 1 is configured to accommodate one or more subsea assets selected from different types of subsea assets by changing the configuration of configurable, modular mobile docking station 1 to accommodate each subsea asset based on that subsea asset type. Data communications and power may be provided between the subsea assets and configurable, modular mobile docking station 1 and include data and control communications obtained from a remote control location.

A modular hydrodynamic subsea vehicle comprises an upper section and a lower section, where the upper section comprises a first upper primary module, a second upper primary module operatively connected to the first upper primary module, and, optionally, one or more intermediate upper modules disposed in-between the first and second upper primary modules. The lower section is operatively connected to the upper section and comprises a first lower module, a second lower module operatively connected to the first lower primary module, and, optionally, one or more intermediate lower modules disposed in-between the first and second lower primary modules. The modules are capable of performing a desired set of functionality subsea.

A small size subsea vehicle is designed to comprise the form of a subsea tool and include a common drive interface that allows quick connect/disconnect with the subsea vehicles (ROVs and AUVs). A subsea tool system comprising the small size subsea vehicle comprises a main vehicle 100 with a tool interface comprising a common drive interface 104 a and a power interface 104 b ; and a subsea tool system 102 comprising predetermined footprint configured to fit within a predetermined space, e.g., one smaller than a narrow region or a constricted area where a larger subsea vehicle cannot enter due to size constraints of the larger subsea vehicle; a predetermined set of tools 103 , each tool of the predetermined set of tools comprising a common drive interface 103 a ; and a tool repository 115.

An adaptive tooling interface comprises a plurality of motors, disposed at least partially within a housing, which are operatively in communication with a controller and where a first power output is operatively in communication with a first motor of the plurality of motors and a second power output operatively in communication with a second motor of the plurality of motors. A drive interface, comprising a tooling adapter, is operatively in communication with the plurality of motors and configured to mate with and provide power to one or more tools, which comprise a matching subsea tool tooling interface, via the first power output and the second power output. The adaptive tooling interface may be connected to or otherwise integrated into a subsea vehicle system comprising a subsea vehicle.

A subsea vehicle capable of supporting inspection of underwater objects while underway includes a body that provides a capability to allow the subsea vehicle to submerge underwater and follow or position near an object while maintaining an orientation to the object appropriate for inspection of, and safety requirements for, the object. The vehicle includes a set of deployable, semi-rigid arms to support the movement of inspection sensor probes near or lightly touching the inspection target with the probes. A controller helps tracks the intended inspection object using various sensor inputs along with a priori knowledge of the object to drive and position the subsea vehicle such that the appropriate orientation to the inspection target is maintained.

The invention relates to the field of special purpose robotic systems to conduct external functions such as cleaning, monitoring and inspection of structures such as tubular assets in a splash zone. The splash zone is defined as the section of a marine structure that is periodically in and out of water due to the action of waves or tides, usually falling within (+)10m to (−)20m water depth. In embodiments, splash zone inspection robot system 1 comprises station 300 , submersible saddle 350 , submersible robot 400 , and subsea robot controller 308 . A predetermined set of controllable clamps selectively secure submersible robot 400 to submersible saddle 350 or structure 2 and allow incremental traversal along submersible saddle 350 or structure 2.

Multiple systems and methods for providing supervised control of subsea vehicles for offshore asset management as well as supplemental autonomous control behaviors are described herein. These systems and methods provide offshore support and alternative supervised control of one or more vehicle generally irrespective of where the vehicle resides in an oil and gas offshore field.