Remote Inspection of Marine Vessels

Abstract

A marine vessel can include a tank configured to be at least partially submerged in water during normal operations. The marine vessel can also include a vent pipe disposed within the hull, where the vent pipe has a first end and a second end, where the first end of the vent pipe extends above the water, where the second end of the vent pipe is disposed in a tank in the hull, and where the vent pipe is sized along its length between the first end and the second end to allow an inspection apparatus to pass therethrough.

Claims

1. A marine vessel comprising: a hull configured to be at least partially submerged in water; and a vent pipe disposed within the hull, wherein the vent pipe has a first end and a second end, wherein the first end of the vent pipe extends above the water, wherein the second end of the vent pipe is disposed in a tank in the hull, wherein the vent pipe is sized along its length between the first end and the second end to allow an inspection apparatus to pass therethrough, and wherein the inspection apparatus comprises at least one of a group consisting of a remotely operated vehicle, an unmanned aerial vehicle, and a crawler.

2. The marine vessel of claim 1, wherein the hull comprises a column that extends upward above the water, wherein the vent pipe is disposed within the column and extends above a top end of the column.

3. The marine vessel of claim 2, wherein the hull further comprises a pontoon disposed below the column in the water, wherein the vent pipe is further disposed inside the pontoon.

4. The marine vessel of claim 3, wherein the pontoon comprises four quadrants, wherein the second end of the vent pipe is disposed in one quadrant of the four quadrants of the pontoon.

5. The marine vessel of claim 2, wherein the column comprises multiple compartments that are stacked atop each other.

6. The marine vessel of claim 1, wherein the vent pipe has a bend along its length.

7. The marine vessel of claim 1, wherein the first end of the vent pipe further extends above a deck of the hull.

8. The marine vessel of claim 1, wherein the hull comprises a plurality of tanks, wherein the vent pipe is among a plurality of vent pipes, and wherein each of the plurality of tanks has one of the plurality of vent pipes disposed therein.

9. The marine vessel of claim 8, wherein each of the plurality of tanks is physically separated from a remainder of the plurality of tanks, and wherein each of the plurality of vent pipes is physically separated from a remainder of the plurality of vent pipes.

10. The marine vessel of claim 8, wherein one of the plurality of tanks is at least partially filled with water.

11. The marine vessel of claim 8, wherein one of the plurality of tanks is void of water.

12. The marine vessel of claim 1, wherein the hull comprises a plurality of compartments, and wherein each compartment of the plurality of compartments is physically isolated from a remainder of the plurality of compartments.

13. The marine vessel of claim 12, wherein the vent pipe is among a plurality of vent pipes, and wherein each compartment of the plurality of compartments has disposed therein at least one vent pipe of the plurality of vent pipes.

14. The marine vessel of claim 13, wherein each compartment of the plurality of compartments comprises a plurality of tanks, and wherein the at least one vent pipe for each compartment is disposed in the plurality of tanks.

15. The marine vessel of claim 13, wherein each compartment of the plurality of compartments further comprises a void, and wherein the at least one vent pipe for each compartment is further disposed in the void.

16. The marine vessel of claim 1, further comprising: a second vent pipe, wherein the hull comprises a first tank and a second tank that are physically isolated from each other, wherein the second end of the vent pipe is disposed within the first tank, wherein the second vent pipe has a first end and a second end, wherein the first end of the second vent pipe extends above the water, wherein the second end of the second vent pipe is disposed in the second tank, and wherein the second vent pipe is sized along its length between the first end and the second end to allow the inspection apparatus to pass therein.

17. The marine vessel of claim 16, further comprising: a second column that extends upward from the second tank above the water, wherein the second vent pipe is disposed inside of the second column, and wherein the first end of the second vent pipe extends through a top of the second column.

18. A method for inspecting a marine vessel, the method comprising: initiating, proximate to a top end of a vent pipe of the marine vessel at a time, an inspection apparatus, wherein the inspection apparatus, after being initiated at the time, is configured to travel through the vent pipe to reach a tank within a hull of the marine vessel, wherein the inspection apparatus is configured to collect inspection data while inspecting the tank, and wherein the inspection apparatus, when finished inspecting the tank, is configured to travel back through the vent pipe toward the top end; and retrieving the inspection data from the inspection apparatus after the inspection apparatus emerges from the top end of the vent pipe, wherein the inspection apparatus comprises at least one of a group consisting of a remotely operated vehicle, an unmanned aerial vehicle, and a crawler.

19. The method of claim 18, further comprising: initiating, within a second vent pipe of the marine vessel, the inspection apparatus at a second time, wherein the inspection apparatus, after being initiated at the second time, is configured to travel through the second vent pipe to reach a second tank of the hull of the marine vessel, wherein the tank and the second tank are physically separated from each other, wherein the inspection apparatus is configured to collect second inspection data while inspecting the second tank of the hull, and wherein the inspection apparatus, when finished inspecting the second tank of the hull, is configured to travel back through the second vent pipe; and retrieving the second inspection data from the inspection apparatus after the inspection apparatus emerges from a top end of the second vent pipe.

20. A method for manufacturing a marine vessel, the method comprising: installing a vent pipe, wherein the vent pipe has a first end and a second end, wherein the second end of the vent pipe is configured to be disposed within a tank inside a hull of the marine vessel, wherein the hull is configured to be disposed under water, wherein the first end of the vent pipe is configured to be disposed above a top of the hull, wherein the first end of the vent pipe is accessible without entering a structural component of the marine vessel, wherein the vent pipe has a size along its length that is configured to receive an inspection apparatus, wherein the inspection apparatus is configured to pass through and between the first end and the second end of the vent pipe, and wherein the inspection apparatus comprises at least one of a group consisting of a remotely operated vehicle, an unmanned aerial vehicle, and a crawler.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings illustrate only example embodiments and are therefore not to be considered limiting in scope, as the example embodiments may admit to other equally effective embodiments. The elements and features shown in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the example embodiments. Additionally, certain dimensions or positions may be exaggerated to help visually convey such principles. In the drawings, reference numerals designate like or corresponding, but not necessarily identical, elements.

[0010] FIG. 1 shows a system that includes a marine vessel that can be configured for remote inspection according to certain example embodiments.

[0011] FIGS. 2A and 2B show a hull of a marine vessel being inspected by an inspection apparatus according to certain example embodiments.

[0012] FIG. 3 shows a hull of another marine vessel according to certain example embodiments.

[0013] FIG. 4 shows a pontoon of a hull of a marine vessel according to certain example embodiments.

[0014] FIG. 5 shows a compartment of the pontoon of FIG. 4.

[0015] FIG. 6 shows top view of the top of a square-shaped column of a hull according to certain example embodiments.

[0016] FIGS. 7A and 7B show a hull of another marine vessel according to certain example embodiments.

[0017] FIG. 8 shows a variation of part of a hull of a marine vessel according to certain example embodiments.

[0018] FIG. 9 shows another variation of part of a hull of a marine vessel according to certain example embodiments.

[0019] FIG. 10 shows a diagram of a system for an inspection device used to inspect the hull of a marine vessel according to certain example embodiments.

DESCRIPTION OF THE INVENTION

[0020] The example embodiments discussed herein are directed to marine vessels configured for remote inspection. As defined herein, a marine vessel is a structure that is designed to float in a body of water. When a marine vessel is in water, the marine vessel can float, in a relatively stationary position, or the marine vessel can be in motion in the water. The marine vessel can remain in a body of water (e.g., an ocean, a gulf) for an extended period of time (e.g., years, decades). At times, a marine vessel can be out of water (e.g., in dry dock). Industries for which marine vessels can be used can include, but are not limited to, oil and gas (e.g., exploration, production), shipping, the cruise industry, and electric power (e.g., wind generation). Example marine vessels can have any of a number of different structural configurations, including but not limited to spars, semisubmersibles, tension leg platforms (TLPs), Floating Production Storage and Offloading (FPSOs), Floating Storage and Offloading (FSOs), and ships of any kind (e.g., tankers, barges). A marine vessel can include a hull that has one or more of a number of features, including but not limited to tanks (e.g., filled fully with water, filled partially with water, void of water), columns, pontoons, and voids. Example marine vessels can be rated for use in hazardous environments.

[0021] Example embodiments can be used in the design and construction of new marine vessels. In addition, or in the alternative, example embodiments can be retrofitted into existing marine vessels. In the latter case, the space where existing vent pipes are located can be removed and larger sized vent pipes can be inserted. The latter case may also require the insertion of additional vent pipes that did not exist in the original configuration of the marine vessel. Alternatively, if the size of an existing vent pipe for an existing marine vessel is large enough for a remote inspection device, modifications to the existing marine vessel may be relatively minimal to allow for the remote inspection device to perform a thorough inspection. In any case, retrofitting an existing marine vessel for remote inspection can involve enlarging and/or adding penetrations in bulkheads and/or deck floors of the hull of the marine vessel to the extent allowed by applicable regulations. For example, a penetration in the hull is not allowed below the water level unless it is completely sealed and can withstand the pressure and other conditions that can exist at that particular depth within the hull or in the water, as applicable. The means used to vent gases out through the vent pipes in example embodiments can be the same as what is used (e.g., fans, blowers, pressure differential) in vent pipe of the current art of marine vessels.

[0022] As defined herein, a vent pipe can be used to describe a pipe within a hull of a marine vessel that is used to vent a fluid (e.g., a gas, air) from a tank in the hull. A vent pipe can also be used to describe an access pipe, which is a purpose-built pipe that provides access to some part of a hull. As defined herein, remote inspection refers to an inspection task that does not directly involve human beings. As discussed below, in the current art, inspection of marine vessels is a dangerous assignment. While remote inspection devices are used at times to perform these inspections, a human being must still be involved to a great extent. For example, a remote inspection device may not be capable of opening hatch doors, closing hatch doors, navigating raised thresholds, and/or ascending and descending stairs. With example embodiments, the involvement of a human being should be limited to the human being having no or very limited entry into the hull of a marine vessel.

[0023] An example marine vessel configured for remote inspection includes multiple components that are described herein, where a component can be made from a single piece (as from a mold or an extrusion). When a component (or portion thereof) of an example marine vessel configured for remote inspection is made from a single piece, the single piece can be cut out, bent, stamped, and/or otherwise shaped to create certain features, elements, or other portions of the component. Alternatively, a component (or portion thereof) of an example marine vessel configured for remote inspection can be made from multiple pieces that are mechanically coupled to each other. In such a case, the multiple pieces can be mechanically coupled to each other using one or more of a number of coupling methods, including but not limited to adhesives, welding, fastening devices, compression fittings, mating threads, and slotted fittings. One or more pieces that are mechanically coupled to each other can be coupled in one or more of a number of ways, including but not limited to fixedly, hingedly, rotatably, removably, slidably, and threadably.

[0024] Each component and/or feature described herein (including each component of an example marine vessel configured for remote inspection) can be made of one or more of a number of suitable materials, including but not limited to metal (e.g., stainless steel), ceramic, rubber, glass, and plastic. An example marine vessel configured for remote inspection can be designed to comply with certain standards and/or requirements. Examples of entities that set such standards and/or requirements can include, but are not limited to, the Society of Petroleum Engineers, the American Petroleum Institute (API), the International Association of Classification Societies (IACS), the International Standards Organization (ISO), and the Occupational Safety and Health Administration (OSHA). As another example, applicable regulations can be found under 46 C.F.R. 56.

[0025] If a component of a figure is described but not expressly shown or labeled in that figure, the label used for a corresponding component in another figure can be inferred to that component. Conversely, if a component in a figure is labeled but is not described, the description for such component can be substantially the same as the description for the corresponding component in another figure. The numbering scheme for the various components in the figures herein is such that each component is a three-digit number and corresponding components in other figures have the identical last two digits. For any figure shown and described herein, one or more of the components may be omitted, added, repeated, and/or substituted. Accordingly, embodiments shown in a particular figure should not be considered limited to the specific arrangements of components shown in such figure.

[0026] Further, a statement that a particular embodiment (e.g., as shown in a figure herein) does not have a particular feature or component does not mean, unless expressly stated, that such embodiment is not capable of having such feature or component. For example, for purposes of present or future claims herein, a feature or component that is described as not being included in an example embodiment shown in one or more particular drawings is capable of being included in one or more claims that correspond to such one or more particular drawings herein.

[0027] Example embodiments of marine vessels configured for remote inspection will be described more fully hereinafter with reference to the accompanying drawings, in which example embodiments of marine vessels configured for remote inspection are shown. Marine vessels configured for remote inspection may, however, be embodied in many different forms (including variations of a marine vessel with a 2-stage tank filling mechanism) and should not be construed as limited to the example embodiments set forth herein. Rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of marine vessels configured for remote inspection to those of ordinary skill in the art. Like, but not necessarily the same, elements (also sometimes called components) in the various figures are denoted by like reference numerals for consistency.

[0028] Terms such as first, second, above, below, inner, outer, distal, proximal, end, top, bottom, upper, lower, side, left, right, front, rear, and within, when present, are used merely to distinguish one component (or part of a component or state of a component) from another. This list of terms is not exclusive. Such terms are not meant to denote a preference or a particular orientation unless explicitly stated, and they are not meant to limit embodiments of marine vessels configured for remote inspection. In the following detailed description of the example embodiments, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.

[0029] FIG. 1 shows a system 100 that includes a marine vessel 101 that can be configured for remote inspection according to certain example embodiments. The system 100 includes multiple components. In this case, the system 100 includes the marine vessel 101 in the form of a mobile drilling unit, and more specifically in the form of a semi-submersible pontoon vessel having a topsides 105 (e.g., platform, equipment, buildings, structures) mounted on a hull 110. The marine vessel 101 floats in a large body of water 194. The topsides 105 and part of the hull 110 of the marine vessel 101 is above the water line 193, and the rest of the hull 110 of the marine vessel 101 is in the water 194 below the water line 193. The marine vessel 101 in this case is used for subterranean field operations, in which exploration and production phases of a field operation can be executed to extract subterranean resources (e.g., oil, natural gas, water, a basis for hydrogen gas) from and/or inject resources (e.g., carbon monoxide) into the subterranean formation 115. To accomplish this, a riser 197 is disposed between the topsides 105 and the subsea surface 102, and field equipment (e.g., casing, tubing string) is disposed within the riser 197.

[0030] To help keep the marine vessel 101 from deviating too far from its position along the water line 193 (in this case, in a horizontal direction), multiple mooring lines 175 are used. Each mooring line 175 in this case has one end attached to part of the hull 110 of the marine vessel 101 that is disposed in the water 194, and the other end is anchored, using an anchor device 181, in the subterranean formation 115 below the surface 102. In addition, or in the alternative, mooring lines 175 can be anchored to other objects and/or have different orientations compared to what is shown in FIG. 1. For example, one or more mooring lines 175 can be laid out on the surface 102 and anchored to other mooring lines 175 that are attached to the marine vessel 101. In any case, each mooring line 175 can be long, where the length of a mooring line 175 is a function of the water depth at the location of the marine vessel 101, the size of the hull 110, and environmental conditions under which the marine vessel 101 is operating. Each mooring line 175 can be a single continuous line or multiple shorter line segments that are coupled end-to-end to each other.

[0031] Per applicable regulations and/or standards, the hull 110 of the marine vessel 101 that is in service must be thoroughly inspected on a regular (e.g., every year, every 3 years) basis. These inspections are designed to find issues (e.g., corrosion, cracks) that can jeopardize the structural integrity of the hull 110 of the marine vessel 101. In the current art, different parts of the hull 110 that require inspection are entered through hatches and other types of access ports in portions of the hull 110 that are above the water line 193.

[0032] For example, for interior structures (e.g., ballast tanks, void tanks, void spaces, machinery spaces) of the hull 110, or portions thereof (e.g., tanks, columns), an inspection starts from the top of the hull 110 (e.g., a column) going down to the bottom portion (e.g., a tank in the hull) of the hull 110. For example, inspecting a tank in the hull requires opening a series of bolted hatches, automatic doors, and/or manual doors, and then the inspection requires crews to climb climbing ladders and/or rope accesses at significant heights (e.g., up to hundreds of feet) inside the column, tank, and/or other space of the hull 110. Prior to entry by human beings performing an inspection, all tanks, spaces, access tunnels, and compartments of the hull 110 that are subject to internal inspections are thoroughly ventilated, tested for air quality, and confirmed to be non-hazardous and gas-free.

[0033] An inspection of the hull 110 by human beings can be categorized, at least in some parts (e.g., the tanks), as confined space entry and can be a complicated procedure requiring multiple personnel. Such inspections have been the cause of numerous accidents. In addition to being dangerous, these inspections by human beings can be time-consuming as most tanks are big and tall, and some tanks are difficult to access. In some cases, scaffolding and rope access are required. In an effort to mitigate these detriments, inspection apparatuses have been used for inspections. Various types of inspection apparatuses are used to inspect different parts of the hull 110. However, personnel entry to deploy these inspection apparatuses is required for any inspection of the hull 110 due to the difficulties for an inspection apparatus (or portions thereof) to maneuver through barricades including doors, hatches, ladders, and stairways to reach various parts (e.g., the lower parts) of the hull 110 from the access doors, which are located toward the top of the hull 110. As a result, even when using inspection apparatuses, human beings still face a degree of risk during inspections.

[0034] In addition, use of inspection apparatuses for inspecting the hull 110 of the marine vessel 101 has limited success. Inspection apparatuses (or portions thereof) in the form of mini ROVs, a type of remote inspection device, have been deployed to inspect spar ballast tanks, but it can be only done in fully filled ballast tanks with a top access hatch opened for deployment. On most marine vessels, particularly semi-submersibles and tension leg platforms (TLPs), side access hatches are common. With side hatches, ballast tanks cannot be filled full when the hatch is open to provide access to a remote inspection device. Inspection apparatuses (or portions thereof) in the form of flying drones can be deployed in most void or empty tanks and spaces, but confined space entry for the drone operator into the hull and tanks are still required. Inspection apparatuses (or portions thereof) in the form of crawlers are designed for structures with flat bottoms are not equipped to navigate the tank piping or the structural members on the bulkheads and floors.

[0035] In the current art, the hull of marine vessels include one or more vent pipes. These vent pipes allow gases that develop in the tanks of the hull 110 to escape into the atmosphere rather than accumulate inside the tanks. These vent pipes additionally or alternatively allow air to escape from tanks that have a liquid to prevent the tank from becoming over pressurized. However, these vent pipes have relatively small diameters and one or more sharp bends along their length. In some designs, a vent manifold can be used to connect multiple vent pipes at the top of a columns. As a result, the vent pipes within hulls 110 of marine vessels 101 in the current art serve no purpose outside of venting air and/or gases from within the tanks of the hulls 110.

[0036] FIGS. 2A and 2B show a hull 210 of a marine vessel being inspected by an inspection apparatus 280 according to certain example embodiments. Specifically, FIG. 2A shows a sectional side view of the example hull 210, and FIG. 2B shows a detailed view that includes the inspection apparatus 280 (or portion thereof) inside a vent pipe 220. The inspection apparatus 280 is a type of remote inspection device, discussed above. Referring to FIGS. 1 through 2B, the hull 210 can include multiple components. For example, in this case, the hull 210 includes a hull 230 in the form of a pontoon and multiple columns 225 (e.g., column 225-1, column 225-2) that extend up from the hull 230. The hull 230 and the lower portions of the columns 225 are disposed in the water 294, and the upper portions of the columns 225 are located in the air 289 above the water line 293.

[0037] Vent pipes designed for marine vessels are sized by taking into consideration factors such as the fill rates of the various portions of the hull, volumes of the tanks, and pressures in the various portions of the hull. The vent pipe 220 shown in FIGS. 2A and 2B can differ from vent pipes known in the art in multiple ways. For example, the inner diameter 223 of the vent pipe 220 can be larger than the inner diameter of vent pipes used in the hull (e.g., hull 110) of a marine vessel (e.g., marine vessel 101) in the current art. Specifically, the inner diameter 223 of the vent pipe 220 in this case is large enough to allow the inspection apparatus 280 (or portion thereof) to be positioned in the cavity 224 formed by the one or more walls (a singular wall when the vent pipe 220 has a circular or elliptical cross-sectional shape when viewed from above, or multiple walls when the vent pipe 220 has some other cross-sectional shape (e.g., square, rectangular, octagonal) when viewed from above) of the vent pipe 220.

[0038] Also, in some cases, the vent pipe 220 of the example marine vessel 210 can be segmented with little or no curvature along its length. For instance, in this case, the vent pipe 220 is a vertical, substantially straight segment that extends from above the top of column 225-2 at the top end of the vent pipe 220 (exposed to the air 289), through the entire height of column 225-2, and into the top of the hull 230 at the bottom end of the vent pipe 220. By eliminating high radius curvatures (e.g., 900 bends), the diameter 223 of the vent pipe 220 can be relatively small while still being configured to allow the inspection apparatus 280 (or portion thereof) to pass through the cavity 224 along the entire length of the vent pipe 220. Also, because space for the vent pipes 220 can be limited within the hull 210, increased bend radiuses for vent pipes 220 can be practically difficult to achieve.

[0039] The vent pipe 220 according to example embodiments can be made of any suitable material (e.g., stainless steel). The vent pipe 220 can be a single long pipe or multiple pieces of shorter pipe that are coupled to each other (e.g., using mating threads, welded) end-to-end. In some cases, a manifold can be added at the top of a vent pipe 220, and from that manifold one or more other vent pipes 220 can be directed downward within the hull 210. Each vent pipe 220 can terminate in a single tank or void (both discussed below). When using a manifold at the top of a vent pipe 220, measures are taken to avoid accidental transfer of water from one tank to another by preventing transfer of water from one vent pipe 220 off the manifold to another vent pipe 220 off the manifold.

[0040] FIG. 3 shows a hull 310 of another marine vessel according to certain example embodiments. Referring to FIGS. 1 through 3, the hull 310 of FIG. 3 has four columns 325 (column 325-1, column 325-2, column 325-3, and column 325-4) and one pontoon 330. The pontoon 330 in this case is a ring pontoon (as opposed to other formations of a pontoon, such as a twin pontoon) that is rectangular in shape when viewed from above, and a column 325 is joined at each upper corner of the pontoon 330, extending upward at a substantially perpendicular angle to the pontoon 330.

[0041] All four of the columns 325 in this case have a vent pipe 320 disposed therein along the length of the column 325. Specifically, vent pipe 320-1 is disposed within column 325-1 along the length of the column 325-1. Vent pipe 320-2 is disposed within column 325-2 along the length of the column 325-2. Vent pipe 320-3 is disposed within column 325-3 along the length of the column 325-3. Vent pipe 320-4 is disposed within column 325-4 along the length of the column 325-4. The top end of each vent pipe 320 can be at or just above the top of the associated column 325 (or planar extension thereof). Also, the bottom end of each vent pipe 320 can be disposed within the pontoon 330. As is the case with the vent pipe 220 of FIG. 2A, each vent pipe 320 in this case is a vertical, substantially straight segment of piping.

[0042] In some cases, parts of the hull of a marine vessel can have one or more compartments, where one or more of the compartments can have multiple tanks. An example of such an arrangement of part of a hull is shown in FIG. 4. Specifically, FIG. 4 shows a top view of a pontoon 430 of a hull of a marine vessel according to certain example embodiments. Referring to FIGS. 1 through 4, the pontoon 430 of FIG. 4 has four compartments 431 (also called quadrants 431). If a hull (or portion thereof) has two, three, or five or more compartments, then each compartment of that hull (or portion thereof) can have another name besides a quadrant. For example, if a pontoon has six compartments, then the compartments of the pontoon can be called sextants.

[0043] Quadrant 431-1 is located in the upper right of FIG. 4. Quadrant 431-2 is located in the upper left of FIG. 4. Quadrant 431-3 is located in the lower left of FIG. 4. Quadrant 431-4 is located in the lower right of FIG. 4. Each quadrant 431 can be physically separated from each other by walls 433 in the form of watertight bulkheads. In some cases, there are vertical shafts from the top of a column down and horizontal access tunnels with watertight doors allowing people traveling from one quadrant 431 to another. In this case, wall 433-1 separates quadrant 431-1 from quadrant 431-2. Wall 433-2 separates quadrant 431-2 from quadrant 431-3. Wall 433-3 separates quadrant 431-3 from quadrant 431-4. Wall 433-4 separates quadrant 431-4 from quadrant 431-1. In some cases, a water-tight and air-tight hatch or similar access door can be installed in a wall 433 to allow for access from one quadrant 431 to an adjacent quadrant 431.

[0044] Also, in this case, each quadrant 431 has multiple tanks. Some of the tanks (sometimes called ballast tanks) are fully or partially filled with water. In this case, the ballast tanks are tanks 432, tanks 434, and tanks 436. Other tanks (sometimes called void tanks) are filled only with air and have not water in them. In this case, the void tanks are tanks 438. In addition, in some cases, there can be one or more central voids 439 that can provide an area for vent pipes, electrical cables, and/or other components used in the pontoon 430. A central void 439 can be ventilated. In addition, or in the alternative, a central void can include lighting, walkways, ladders, stairs, and/or other features that allow for a human being to traverse therethrough. In addition, or in the alternative, one or more of the voids 438 that are adjacent to the central void 439 can have one or more features that are similar to the features found in the central void 439. All of the tanks (tanks 432, tanks 434, tanks 436) are physically separated from each other.

[0045] For example, quadrant 431-1 includes central void 439-1 (also sometimes called an access shaft), void 438-1 (also sometimes called an access tunnel), void 438-2 (also sometimes called an access tunnel), ballast tank 432-1, ballast tank 434-1, ballast tank 434-2, ballast tank 436-1, and ballast tank 436-2. The central void 439-1 can be in communication with a column (e.g., column 325-1 from FIG. 3) for cases where a vent pipe (e.g., vent pipe 320-1 from FIG. 3) is disposed within the column. In this way, an inspection apparatus (or portion thereof) can travel through a vent pipe and arrive, directly or inside of a vent pipe, within the central void 439-1.

[0046] Void 438-1 and void 438-2 can be extensions of void 439-1 and extend to the outer edges (e.g., the walls 433) of the quadrant 431-1. Alternatively, void 438-1 and void 438-2 can be compartments that are physically separated from the central void 439-1 but that have not solids or fluids in them. In such cases, the void 438-1 and/or the void 438-2 can actually be void tanks. Ballast tank 432-1 in this case can be partially or fully filled with water. Further, in this example, ballast tank 434-1 and ballast tank 434-2 can be completely filled with water. In addition, in this case, ballast tank 436-1 and tank ballast 436-2 can be completely void of any liquid. All of the tanks in the quadrant 431-1 in this case are directly adjacent to the central void 439-1. In alternative embodiments at least one tank in the quadrant 431-1 may not be directly adjacent to the central void 439-1.

[0047] Quadrant 431-2 includes central void 439-2, void 438-3, void 438-4, ballast tank 432-2, ballast tank 434-3, ballast tank 434-4, ballast tank 436-3, and ballast tank 436-4. The central void 439-2 for the quadrant 431-2 can be configured substantially similar to the central void 439-1 for quadrant 431-1. Void 438-3 and void 438-4 in this case can be extensions of the central void 439-2 and extend to the outer edges (e.g., the walls 433) of the quadrant 431-2. In some cases, the void 438-3 and/or the void 438-4 can actually be void tanks. Ballast tank 432-2 in this case can be partially filled with water. Further, in this example, ballast tank 434-3 and ballast tank 434-4 can be completely filled with water. In addition, in this case, void tank 436-3 and void tank 436-4 can be completely void of any liquid. All of the tanks in the quadrant 431-2 are directly adjacent to the central void 439-2.

[0048] Quadrant 431-3 includes a central void 439-3, void 438-5, void 438-6, ballast tank 432-3, ballast tank 434-5, ballast tank 434-6, ballast tank 436-5, and ballast tank 436-6. The central void 439-3 for the quadrant 431-3 can be configured substantially similar to the central void 439-1 for quadrant 431-1. Void 438-5 and void 438-6 in this case can be extensions of the central void 439-3 and extend to the outer edges (e.g., the walls 433) of the quadrant 431-3. In some cases, the void 438-5 and/or the void 438-6 can actually be void tanks. Ballast tank 432-3 in this case can be partially filled with water. Further, in this example, ballast tank 434-5 and ballast tank 434-6 can be completely filled with water. In addition, in this case, void tank 436-5 and void tank 436-6 can be completely void of any liquid. All of the tanks in the quadrant 431-3 are directly adjacent to the central void 439-3.

[0049] Quadrant 431-4 includes a central void 439-4, void 438-7, void 438-8, ballast tank 432-4, ballast tank 434-7, ballast tank 434-8, ballast tank 436-7, and ballast tank 436-8. The central void 439-4 for the quadrant 431-4 can be substantially similar the central void 439-1 for quadrant 431-1. Void 438-7 and void 438-8 in this case can be extensions of the central void 439-4 and extend to the outer edges (e.g., the walls 433) of the quadrant 431-4. In some cases, the void 438-7 and/or the void 438-8 can actually be void tanks. Ballast tank 432-4 in this case can be partially filled with water. Further, in this example, ballast tank 434-7 and ballast tank 434-8 can be completely filled with water. In addition, in this case, void tank 436-7 and void tank 436-8 can be completely void of any liquid. All of the tanks in the quadrant 431-4 are directly adjacent to the central void 439-4.

[0050] The shape, size, and arrangement of the central voids and various tanks for one quadrant 431 are substantially similar to the shape, size, and arrangement of the corresponding voids and tanks for the other quadrants 431 of the pontoon 430 in FIG. 4. Specifically, in this case, each quadrant 431 of the pontoon 430 is a mirror image of each adjacent quadrant 431. In alternative embodiments, the shape, size, and arrangement (e.g., number of tanks, types of tanks) of the voids and/or tanks for one quadrant 431 can differ from the shape, size, and/or arrangement of one or more corresponding voids and/or tanks for one or more other quadrants 431 of the pontoon 430.

[0051] As discussed above, each quadrant 431 of the pontoon 430 can have one or more vent pipes that penetrate each void and tank within the quadrant 431, thereby allowing an inspection apparatus (or portion thereof) to enter the void or tank through the vent pipe, inspect the void or tank, and leave the void or tank through the vent pipe without the need for the presence of a human being. After all of the voids and tanks are inspected, the entire quadrant 431 can be assessed. FIG. 5 shows the quadrant 431-1 of the pontoon 430 of FIG. 4 with a network of vent pipes. Referring to FIGS. 1 through 5, one vent pipe 420, similar to vent pipe 220 of FIG. 2, is vertically oriented with no horizontal portion, and its distal end terminates within the central void 439-1. Vent pipe 420 can be optional. When vent pipe 420 is present, vent pipe 420 extends vertically upward from the central void 439-1 through a central void in a column located directly above and connected to the pontoon 430 to the deck at the top of the column. The remaining vent pipes 520 have both vertical sections and horizontal sections.

[0052] Emanating from the central void 439-1 but physically separated from the vent pipe 420 are a number (in this case, seven) of vent pipes 520. In other words, vent pipe 520-1, vent pipe 520-2, vent pipe 520-3, vent pipe 520-4, vent pipe 520-5, vent pipe 520-6, and vent pipe 520-7 each have vertical sections that extend upward through the deck of the hull of which the quadrant 431-1 is included. Each tank of the quadrant 431-1, and each void 438 (as in this case) of the quadrant 431-1, has its own vent pipe 520. In this way, each tank and void 438 is separated from another, and so there is no cross communication of air and water between the tanks and voids 438. In case of accidental flooding, water from a flooded tank or void will not overflow to another tank or void through the vent pipes 520, which could lead to sinking the marine vessel. Each vent pipe 520 can extend through the top of a column of the hull.

[0053] In this example, vent pipe 520-1 extends horizontally within the central void 439-1 and enters ballast tank 432-1. Vent pipe 520-1 also has a bend (e.g., 90) within the central void 439-1 and extends vertically upward from the central void 439-1 through a central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column. Vent pipe 520-2 extends horizontally within the central void 439-1 and enters void tank 436-1. Vent pipe 520-2 also has a bend within the central void 439-1 and extends vertically upward from the central void 439-1 through the central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column. Vent pipe 520-3 extends horizontally within the central void 439-1 and enters void 438-2. Vent pipe 520-3 also has a bend within the central void 439-1 and extends vertically upward from the central void 439-1 through the central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column.

[0054] Vent pipe 520-4 extends horizontally within the central void 439-1 and enters ballast tank 434-1. Vent pipe 520-4 also has a bend within the central void 439-1 and extends vertically upward from the central void 439-1 through the central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column. Vent pipe 520-5 extends horizontally within the central void 439-1 and enters ballast tank 434-2. Vent pipe 520-5 also has a bend within the central void 439-1 and extends vertically upward from the central void 439-1 through the central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column. Vent pipe 520-6 extends horizontally within the central void 439-1 and enters void 438-2. Vent pipe 520-6 also has a bend within the central void 439-1 and extends vertically upward from the central void 439-1 through the central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column. Vent pipe 520-7 extends horizontally within the central void 439-1 and enters ballast tank 436-2. Vent pipe 520-7 also has a bend within the central void 439-1 and extends vertically upward from the central void 439-1 through the central void in the column located directly above and connected to the pontoon 430 to the deck at the top of the column.

[0055] In this way, by being able to access each void 438 and tank in the quadrant 431-1 using the vent pipe 420 and the vent pipes 520, and by being able to exit the hull to which the pontoon 430 belongs using each of the vent pipe 420 and the vent pipes 520, an inspection apparatus (or portion thereof) can thoroughly assess the condition of the entire quadrant 431-1 without a human having to enter the confined space by traveling down each vent pipe 420, 520 one at a time. The central void 439-1 serves in this case as the point where each vent pipe 520 turns 90 to get to its respective tank or void 438. Any air or gases can travel up the respective vent pipe 420 or vent pipe 520 to vent into the atmosphere.

[0056] FIG. 6 shows a top view of the top of a square-shaped column 625 of a hull according to certain example embodiments. Referring to FIGS. 1 through 4 and 6, the column 625 has five voids 638, with one void 638-1 that is square-shaped when viewed from above, and with four quadrant voids 638-2, 638-3, 638-4, and 638-5 that surround the void 638-1. There is one short vertically-oriented vent pipe 620-6 that extends through the deck of the void 638-1 of the column 625 (and so also the hull). At the bottom of the vent pipe 620-6, which is located just below the deck of the void 638-1 and well above a water line, is a header 626 (also sometimes called a manifold 626) located toward the top of the column 625. The manifold 626 is positioned substantially horizontally and five branches, where each branch extends to one of the five voids 638. At the end of each branch of the manifold 626 is a vent pipe 620 that extends vertically downward into the top of each void 638.

[0057] In this case, vent pipe 620-1 extends downward from the manifold 626 into the top of void 638-1. Vent pipe 620-2 extends downward from the manifold 626 into the top of void 638-2. Vent pipe 620-3 extends downward from the manifold 626 into the top of void 638-3. Vent pipe 620-4 extends downward from the manifold 626 into the top of void 638-4. Vent pipe 620-5 extends downward from the manifold 626 into the top of void 638-5. Other vent pipes can be present in FIG. 6 but are not shown. For example, if a pontoon is located below the column 625, one or more additional vent pipes (one for each tank in that portion of the pontoon) can be positioned in the void 638-1. Further, the void 638-1 can be ventilated. In addition, or in the alternative, the void 638-1 can include lighting, walkways, ladders, stairs, and/or other features that allow for a human being to traverse therethrough.

[0058] Alternatively, if no manifold 626 is used, a separate vent pipe entering the top of each tank (e.g., void tank, ballast tank) in the column 625 would extend through the deck of the column 625 instead of connecting to the header. As shown in FIGS. 5 and 6, a common design practice is to allocate all vertical sections of vent pipes within the central void (e.g., central void 439-1 in FIG. 5, void 638-1 in FIG. 6) to minimize penetrations of vent pipes through multiple decks. This feature can be compared to the design of high rise buildings, where the drains, water pipes, cables, etc. are collocated in the elevator shaft or utility well. Locating the vent pipes within a central void can introduce bends to a number of the vent pipes as the vertical sections of each vent pipe inside the central void need to turn horizontal to enter a tank.

[0059] In addition to using vent pipes that have a larger size compared to the size of vent pipes used in the art, example embodiments can include new configurations of hulls of marine vessels compared to the configurations of hulls of marine vessels currently in use. For example, for a marine vessel that is configured as a semi-submersible or a tension leg platform, it may be necessary to rearrange (e.g., create partial stacking) the pontoon tanks (part of the hull of such vessels) to provide direct access for an inspection apparatus (e.g., inspection apparatus 280), or portion thereof, through a vent pipe.

[0060] These changes can permit direct access vertically from the top of a column to a pontoon tank without impacting the size of the hull and/or column, without affecting stability of the hull, and without affecting the structural strength of the hull. Such a configuration can also create access for deployment of an inspection apparatus (or portion thereof) into the top of a vent pipe from the top of a column. As an example, FIGS. 7A and 7B show a hull 710 of another marine vessel according to certain example embodiments. Specifically, FIG. 7A shows an elevation view of the hull 710, and FIG. 7B shows a plan view of the pontoon 730 of the hull 710.

[0061] Referring to FIGS. 1 through 7B, the hull 710 shown in FIGS. 7A and 7B includes four columns 725, only two of which (column 725-1 and column 725-2) are visible in FIG. 7A, and a pontoon 730 (as detailed in FIG. 7B) with at least 20 compartments 731 (compartment 731-1, compartment 731-2, compartment 731-3, compartment 731-4, compartment 731-5, compartment 731-6, compartment 731-7, compartment 731-8, compartment 731-9, compartment 731-10, compartment 731-11, compartment 731-12, compartment 731-13, compartment 731-14, compartment 731-15, compartment 731-16, compartment 731-17, compartment 731-18, compartment 731-19, and compartment 731-20) that are watertight with respect to each other.

[0062] There are multiple vent pipes 720 disposed within each of the columns 725. For example, as shown in FIG. 7A, vent pipe 720-1 and vent pipe 720-2 are disposed within the central void 739-1 of column 725-1, and vent pipe 720-3 and vent pipe 720-4 are disposed within the central void 739-2 of column 725-2. As discussed above with respect to FIG. 6, other vent pipes can be present in the central voids 739 of the columns 725 of FIG. 7 but are not shown. Each vent pipe 720 has vertical section with a length that is slightly greater than the height of the column 725 within which the vent pipe 720 is located. In compliance with applicable code, this allows the top end of each vent pipe 720 to extend slightly into the outside environment 789, above the top (deck) of the column 725 within which the vent pipe 720 is disposed. Also, this allows the bottom end of each vent pipe 720 to extend slightly into the pontoon 730, below the bottom of the column 725 within which the vent pipe 720 is disposed. From there, each vent pipe 720 can bend toward a tank (e.g., a compartment 751) to penetrate the top of the tank.

[0063] Each column 725 has multiple compartments 751. For example, at the top of column 725-1, above the water line 793, is compartment 751-1, below which is located compartment 751-2 (which is partially disposed in the water 794), below which is located compartment 751-3, which is completely under the water line 793 in the water 794. The bottom end of compartment 751-3 abuts against compartment 731-18 of the pontoon 730. At the top of column 725-2, above the water line 793, is compartment 751-4, below which is located compartment 751-5 (which is partially disposed in the water 794), below which is located compartment 751-6, which is completely under the water line 793 in the water 794. The other two columns 725 of the hull 710 can be similarly arranged. All of the pontoon 730 is submerged in the water 794.

[0064] FIG. 8 shows a variation of part of a hull 810 of a marine vessel according to certain example embodiments. Referring to FIGS. 1 through 8, the part of the hull 810 shown in FIG. 8 includes a pontoon 830 having a compartment 831, atop of which is disposed a column 820. In some cases, the compartment 831 can have a single tank rather than multiple tanks. The column 820 has three compartments 851, where compartment 851-3 abuts against the compartment 831 of the pontoon 830, where compartment 851-2 is disposed atop compartment 851-3, and where compartment 851-1 is disposed atop compartment 851-2. The compartments 851 of the column 825 and the compartment 831 of the pontoon 830 can be watertight with respect to each other. Each compartment 851 of the column 825 and the compartment 831 of the pontoon 830 can include one or more voids and/or one or more tanks.

[0065] Also included in the part of the hull 810 shown in FIG. 8 is a vent pipe 820. In this case, the single vent pipe 820 has multiple parts. Specifically, the vent pipe 820 has a vertical part 821, a horizontal part 823, and a transition part 822 located between the vertical part 821 and the horizontal part 823. The vertical part 821 of the vent pipe 820 has a top end that protrudes through the top of compartment 851-1 of the column 825 and extends almost to the bottom of compartment 851-3 of the column 825. The horizontal part 823 of the vent pipe 820 is disposed entirely within the compartment 831 of the pontoon 830.

[0066] The transition part 822 of the vent pipe 820 has a relatively large radius and is disposed both within compartment 851-3 of the column 825 and the compartment 831 of the pontoon 830. The radius is configured to be large enough to allow an inspection apparatus (e.g., inspection apparatus 280), or portion thereof, to traverse the entire length of the vent pipe 820 without becoming stuck or otherwise obstructed.

[0067] FIG. 9 shows another variation of part of a hull 910 of a marine vessel according to certain example embodiments. Referring to FIGS. 1 through 9, the part of the hull 910 shown in FIG. 9 includes a pontoon 930 having a compartment 931, atop of which is disposed a column 920. The column 920 has three compartments 951, where compartment 951-3 abuts against the compartment 931 of the pontoon 930, where compartment 951-2 is disposed atop compartment 951-3, and where compartment 951-1 is disposed atop compartment 951-2. The compartments 951 of the column 925 and the compartment 931 of the pontoon 930 can be physically isolated from each other. Each compartment 951 of the column 925 and the compartment 931 of the pontoon 930 can include one or more voids and/or one or more tanks.

[0068] Also included in the part of the hull 910 shown in FIG. 9 is a vent pipe 920. In this case, the single vent pipe 920 has multiple parts. Specifically, the vent pipe 920 has a vertical part 921, a horizontal part 923, and a transition part 922 located between the vertical part 921 and the horizontal part 923. The vertical part 921 of the vent pipe 920 has a top end that protrudes through the top of compartment 951-1 of the column 925 and extends through the bottom of compartment 951-3 of the column 925 into the top of the compartment 931 of the pontoon 930. The horizontal part 923 of the vent pipe 920 is disposed entirely within the compartment 931 of the pontoon 930.

[0069] The transition part 922 of the vent pipe 920 is essentially a right angle (a 900 turn), with a relatively small radius. The transition part of the vent pipe 920 is disposed within the compartment 931 of the pontoon 930. Even though there is a very small radius, the size of the vent pipe 920 relative to the size of an inspection apparatus (e.g., inspection apparatus 280), or portion thereof, is configured to be large enough to allow the inspection apparatus (or portion thereof) to traverse the entire length of the vent pipe 920, including the transition part 922, without becoming stuck or otherwise obstructed.

[0070] FIG. 10 shows a diagram of a system 1070 for an inspection device used to inspect the hull of a marine vessel according to certain example embodiments. Referring to FIGS. 1 through 10, the system 1070 includes one or more users 1050 (which can each include one or more user systems 1055) and one or more inspection devices 1080. An inspection apparatus 1080 can include an inspection vehicle 1102 and, optionally, a base station 1001. The inspection vehicle 1102 of the inspection apparatus 1080 can include a controller 1104, a power supply 1140, one or more sensor devices 1165, and one or more mobility features 1142. The optional base station 1001 of the inspection apparatus 1080 can include a controller 1004, a power supply 1040, one or more sensor devices 1065, and one or more mobility features 1042.

[0071] The components shown in FIG. 10 are not exhaustive, and in some embodiments, one or more of the components shown in FIG. 10 may not be included in the system 1070. For example, the base station 1001 can be absent from the system 1070. As another example, the base station 1001 can be present and act as a base for multiple inspection vehicles 1102. As yet another example, the base station 1001 can have a controller 1004 that also controls the inspection apparatus 1102, which can lack its own controller 1104. As still another example, the system 1070 can have multiple inspection apparatuses 1080.

[0072] Referring to FIGS. 1 through 10, the base station 1001, when present in the inspection apparatus 1080 of the system 1070, can be used to transport, introduce, support, and/or extricate an inspection vehicle 1102 proximate to and within portions of the hull of a marine vessel. The inspection vehicle 1102 of the inspection apparatus 1080 performs the actual inspection within the various tanks and voids in the compartments of the pontoons, columns, and other parts of a hull of a marine vessel.

[0073] The controller 1104 of the inspection vehicle 1102 of the inspection apparatus 1080 communicates with and in some cases controls one or more of the other components (e.g., a sensor device 1165, a mobility feature 1142) of the inspection vehicle 1102. The controller 1104 performs a number of functions that include receiving data, evaluating data, following protocols, running algorithms, and sending commands. The controller 1104 can include one or more of a number of components. Such components of the controller 1104 can include, but are not limited to, a control engine, a communication module, a timer, a counter, a power module, a storage repository, a hardware processor, memory, a transceiver, an application interface, and a security module.

[0074] When the base station 1001 is present in the inspection apparatus 1080, the controller 1004 of the base station 1001 can have some or all of the same functionality and/or have some or all of the same components as the controller 1104 of the inspection vehicle 1102. When there are multiple controllers in the inspection apparatus 1080, each controller can operate independently of each other. Alternatively, one or more of the controllers in the inspection apparatus 1080 can work cooperatively with each other. As yet another alternative, one of the controllers in the inspection apparatus 1080 can control some or all of one or more other controllers in the inspection apparatus 1080.

[0075] Each sensor device 1165 of inspection vehicle 1102 and each sensor device 1065 of the base station 1001 can include one or more sensors that measure one or more parameters (e.g., pressure, flow rate, temperature, thickness, corrosion, gas composition, magnetic field, proximity). The sensor devices 1165 of the inspection vehicle 1102 are configured to measure one or more parameters that can be used to determine the condition of some or all of a floating component of a marine vessel. The one or more sensor devices 1065 of the base station 1001 can be configured to measure one or more parameters that can be used to transport, introduce, support, and/or extricate the inspection vehicle 1102 proximate to and within portions of a hull of a marine vessel. If the base station 1001 is absent from the inspection apparatus 1080, then one or more of the sensor devices 1165 of the inspection vehicle 1102 can be configured to measure one or more parameters that can be used to transport, introduce, support, and/or extricate the inspection vehicle 1102 proximate to and within portions of a hull of a marine vessel.

[0076] As mentioned above, aside from the sensor devices 1165 and the controller 1104, the inspection vehicle 1102 can include a power supply 1140 and one or more mobility features 1142. The mobility features 1142 of the inspection vehicle 1102 are devices and/or components that allow the inspection vehicle 1102 to move. The inspection vehicle 1102 can have one or more of any number and/or type of mobility features 1142. Examples of such mobility features 1142 can include, but are not limited to, wheels, propellers, caterpillar tracks, grippers, spikes, anchors, motors, axels, gears, a heat sink, an electrical conductor or electrical cable, a terminal block, a drive train, and a circuit board. In this way, the inspection vehicle 1102 can move along the ground, through the air, in liquid, up and down a wall, along a ceiling, over obstacles in a volume of space (e.g., a tank, a void) within a vent pipe and within a hull of a marine vessel. The inspection vehicle 1102 can be a crawler, a submersible vehicle, a drone, a hovercraft, and/or any other type of movable device.

[0077] Similarly, the mobility features 1042 of the base station 1001 are devices and/or components that allow the base station 1001, often with the inspection vehicle 1102 on board, to move. The base station 1001 can have one or more of any number and/or type of mobility features 1142. Examples of such mobility features 1142 can include, but are not limited to, wheels, propellers, caterpillar tracks, grippers, spikes, anchors, motors, axels, gears, a heat sink, an electrical conductor or electrical cable, a terminal block, a drive train, and a circuit board. In this way, the base station 1001 can move along the ground, through the air, in liquid, up and down stairs, up and down ladders, through doors and hatches, up and down a wall, along a ceiling, over obstacles in a volume of space (e.g., a tank, a void) within a vent pipe and within a hull of a marine vessel. The base station 1001 can be a crawler, a submersible vehicle, a drone, a hovercraft, and/or any other type of movable device. If the base station 1001 is absent from the inspection apparatus 1080, then the mobility features 1142 of the inspection vehicle 1102 can have some or all of the capabilities of the mobility features 1042.

[0078] The power supply 1140 of the inspection vehicle 1102 can include one or more components (e.g., a transformer, a diode bridge, an inverter, a converter) that receives power (for example, through an electrical cable) from a source (e.g., a battery, the power supply 1040 of the base station 1001, a power source external to the inspection apparatus 1080) and generates power of a type (e.g., alternating current, direct current) and level (e.g., 12V, 24V, 120V) that can be used by the controller 1104 and the mobility features 1142. In addition, or in the alternative, the power supply 1140 can be or include a source of power in itself. For example, the power supply 1140 can be or include a battery or some other source of independent power. In some cases, the controller 1104 can generate and send a signal to the power supply 1140 to control the operation and/or output of the power supply 1140.

[0079] Similarly, the power supply 1040 of the base station 1001 can include one or more components (e.g., a transformer, a diode bridge, an inverter, a converter) that receives power (for example, through an electrical cable) from a source (e.g., a battery, a power source external to the inspection apparatus 1080) and generates power of a type (e.g., alternating current, direct current) and level (e.g., 12V, 24V, 120V) that can be used by the controller 1004 and the mobility features 1042. In addition, or in the alternative, the power supply 1040 can be or include a source of power in itself. For example, the power supply 1040 can be or include a battery or some other source of independent power. In some cases, the controller 1004 can generate and send a signal to the power supply 1040 to control the operation and/or output of the power supply 1040.

[0080] A user 1050 can be any person or entity that interacts, directly or indirectly, with the inspection apparatus 1080, including any portions thereof. Examples of a user 1050 may include, but are not limited to, a business owner, a research scientist, an engineer, a company representative, an inspector, a consultant, a government representative, a regulator, a network manager, a contractor, and a manufacturer's representative. A user 1050 can use one or more user systems 1055, which may include a display (e.g., a GUI). A user system 1055 of a user 1050 can interact with (e.g., send data to, obtain data from) the inspection apparatus 1080 (or portions thereof) via an application interface and using the communication links 1005. The user 1050 can also interact directly with the inspection apparatus 1080 (or portions thereof) through a user interface (e.g., keyboard, mouse, touchscreen). Examples of a user system 1055 can include, but are not limited to, a cell phone, a laptop computer, an electronic tablet, and a specialized handheld device.

[0081] In some cases, the communication links 1005 can also transfer power signals directly or indirectly. The indirect transfer of power using the communication links 1005 can use, for example, power inductance. In such cases, the power supply 1140 of the inspection vehicle 1102 can eliminated or modified (e.g., include inductors, transformers, etc.) to facilitate receipt of the inductive power. In yet other cases, the inspection vehicle 1102 can be tethered to the base station 1001 by a cable. In such cases, the power supply 1140 of the inspection vehicle 1102 can eliminated or modified to facilitate receipt of the power through the tether.

[0082] As an example, a user 1050 (including an associated user system 1055) can communicate, using the communication links 1005, with the controller 1004 of the base station 1001 and/or the controller 1104 of the inspection vehicle 1102 to initiate, within a vent pipe of the marine vessel at a time, the inspection apparatus 1080, where the inspection apparatus 1080 (or portions thereof), after being initiated, is configured to travel through one or more vent pipes to reach a pontoon and/or column (including compartments thereof) of a hull of a marine vessel that is submerged under water, where the inspection apparatus 1080 (including portions thereof) is configured to collect inspection data while inspecting the hull, and where the inspection apparatus 1080, when finished inspecting the hull, is configured to travel back through the vent pipe.

[0083] As another example, a user 1050 (including an associated user system 1055) can communicate, using the communication links 1005, with the controller 1004 of the base station 1001 and/or the controller 1104 of the inspection vehicle 1102 to retrieve the inspection data from the inspection apparatus 1080 after the inspection apparatus 1080 emerges from the vent pipe above the water.

[0084] Interaction between the controller 1004, the controller 1104, the sensor devices 1065, the sensor devices 1165, and the users 1050 (including any associated user systems 1055) of the system 1070 can be conducted using communication links 1005. Each communication link 1005 can include wired (e.g., Class 1 electrical cables, Class 2 electrical cables, electrical connectors, Power Line Carrier, RS485) and/or wireless (e.g., Wi-Fi, Zigbee, visible light communication, cellular networking, Bluetooth, WirelessHART, ISA100) technology. A communication link 1005 can be used for the transmission of signals (e.g., communication signals, control signals, data) between the controller 1004, the controller 1104, the sensor devices 1065, the sensor devices 1165, and the users 1050 (including any associated user systems 1055) in the system 1070.

[0085] Example embodiments can be used to improve the efficiency, effectiveness, and safety for inspections of hulls of marine vessels that are in service (located in a body of water). Specifically, example embodiments utilize vent pipes that are sufficiently large to allow for the passage of an inspection apparatus (or portion thereof) to pass therethrough to access the various tanks and voids in the compartments throughout the hull of a marine vessel. Example embodiments eliminate or severely minimize the need for human entry into any part of a hull of a marine vessel during an inspection of the hull. Example embodiments can be used with newly manufactured marine vessels. In addition, or in the alternative, example embodiments can be used to modify existing marine vessels. Example embodiments also provide a number of other benefits. Such other benefits can include, but are not limited to, less use of resources, greater operational flexibility, time savings, and compliance with applicable industry standards and regulations.

[0086] Although embodiments described herein are made with reference to example embodiments, it should be appreciated by those skilled in the art that various modifications are well within the scope and spirit of this disclosure. Those skilled in the art will appreciate that the example embodiments described herein are not limited to any specifically discussed application and that the embodiments described herein are illustrative and not restrictive. From the description of the example embodiments, equivalents of the elements shown therein will suggest themselves to those skilled in the art, and ways of constructing other embodiments using the present disclosure will suggest themselves to practitioners of the art. Therefore, the scope of the example embodiments is not limited herein.