The present invention relates to a method of inspection, particularly, but not exclusively, remote inspection of enclosed spaces; and associated apparatus.

BACKGROUND

In various industries, such as the oil/gas and utilities industries, assets such as oil rigs, masts, and other structures are regularly inspected. Such inspections are often to gauge the status of the asset and whether maintenance work is required. Some assets require periodic inspections to meet guidelines or regulations to ensure suitability of safety-critical assets.

Marine vessels, such as ships, floating platforms, FPSOs and the like, often require, or would benefit, from inspection. Floating offshore installations (FOIs) include oil drilling platforms and similar structures which are intended for permanent or semipermanent deployment at a fixed location in the sea. Like ships, FOIs and also other wholly or partially submersible structures are critically dependent for safe operation on the pressure integrity of their hull or outer shell.

Provided the region to be inspected is close to the exterior surface of the hull, visual inspection may be carried out by means of a diver. Means may be provided whereby a diver may more easily manipulate heavy gratings or other closures from outside the vessel, as taught for example by J P5O-155795U and JP50-155796U. The diver may visually inspect or photograph any valve gear which is visible through the suction and discharge openings.

Interior or onboard spaces of a vessel, such as bulkheads, tanks within an FPSO, etc., can involve working at height, for example in a large storage tank or on a ship or offshore production facility. Historically such inspections have been manned visual inspections, typically involving rope access with safety harnesses to protect the safety of inspectors. There can be a regulatory and classification requirement to inspect these confined spaces at regular intervals to assure the integrity of the structure. Such inspections involve having a competent person carry out a General Visual Inspection (GVI) and a Close Visual Inspection (CVI) of critical parts of the structure and an assessment of any structural deformation by various visual and/or mechanical means. Where the structure shows signs of corrosion then there may be a further requirement to measure the remaining thickness of the steel to confirm the structural and leak integrity of the component or tank respectively.

It may be an object of one or more aspects, examples, embodiments, or claims of the present disclosure to at least mitigate or ameliorate one or more problems associated with the prior art, such as those described herein or elsewhere.

SUMMARY

According to an aspect, there is provided a system for performing an operation. According to another aspect there is provided a method of performing an operation. The operation may comprise an inspection operation. The system may comprise apparatus such as an unmanned vehicle (UV). The unmanned vehicle (UV) may comprise an Unmanned Aerial Vehicle (UAV). The system may include apparatus such as a Launch And Recovery System (LARS). The LARS may include a Launch And Recovery Platform (LARP). The LARS may be specifically configured for the UAV. The LARS may be configured to launch and or recover the UV remotely, such as in an enclosed space, positioned through an opening, away from an operator. In at least some examples, the system may comprise at least the UV and the LARS.

The LARS may comprise a launch and/or landing platform for the UV. The platform may comprise a bottom portion, such as for supporting a UV thereon. The platform may comprise one or more side portions (e.g. a right and/or a left side wall); and/or a rear portion (e.g. a back wall). The platform may be open at the front and/or top, such as to permit exit and/or entry of the UV.

The platform may be configured to accommodate airflow, such as generated by the UV and/or movement thereof. The platform may be configured to prevent or at least mitigate turbulence associated with the UV. The platform may be configured to prevent or at least mitigate turbulence associated with downdraft from the UV. The platform may be configured to prevent or at least mitigate wash or blow-back. The platform may be air-permeable. The platform may comprise one or more air-permeable portions.

Accordingly, the platform may be configured to support the UV, whilst allowing passage of air therethrough. For example, the platform may comprise one or more perforated or mesh portions. The bottom and/or side and/or rear portion/s may be air-permeable. The platform may be reconfigurable. The platform may be reconfigurable between a transit configuration and a UV configuration, the transit configuration for moving or transporting the platform; and the UV configuration for receiving the UV (e.g. for launch and/or landing). The transit configuration may comprise a non-UV configuration, such as being unsuitable for receiving the UV. The platform in the transit configuration may be dimensioned to allow the platform to pass through an opening that the platform could otherwise not pass through in the UV configuration. The UV-configuration may be for supporting the UV, particularly for launch and/or retrieval/recovery. The platform may be selectively reconfigurable between the transit and UV configurations.

The LARS may be configured for mechanical extension or transport to the UV deployment location. The LARS may comprise a mechanical device for positioning at the UV deployment location. The mechanical device may comprise an arm, the arm being operable from an opposite end to that of the platform. The arm may comprise a pole. The pole may be telescopic. The mechanical device may be configured for inserting the LARS through an opening. The mechanical device may comprise a mechanism for reconfiguring the platform of the LARS. For example, the LARS may comprise an internal or external movement (e.g. rotary or linear) for selectively reconfiguring the platform between transit and UV configurations. The mechanical positioning device may be configured to support the platform in position at the UV deployment location. The mechanical positioning device may be configured to support the platform in position at the UV deployment location with the UV; such as before, during and after deployment of the UV therefrom. The LARS may be configured for attachment, such as attachment to a structure to be inspected, or a structure associated therewith. For example, the mechanical positioning device may be releasably attachable to a portion or surface of the vessel, such as an FPSO or FOI. The system may be configured to allow support, optionally attachment, of the LARS outside the setting to be inspected. For example, the mechanical positioning device may be supported outside an opening, with a portion thereof (e.g. an arm) extending through the opening to position the LARS platform within the setting to be inspected.

The method may comprise deploying or positioning the LARS remotely from an operator. The method may comprise deploying the LARS on a vessel, such as an FPSO, with the LARS in an initial, transit configuration. The LARS may be deployed through an opening, such as by extending the LARS through the opening, with the platform supported on an end of an extension arm or pole. The method may comprise positioning the LARS without the UV. The method may comprise reconfiguring the LARS to the UV configuration, such as by unfolding portions of the platform once it has passed through the opening. Accordingly the LARS can provide a larger dimension, such as a larger platform of greater width and/or height than would otherwise pass through the opening. The method may optionally comprise attaching the LARS, such as by connecting or otherwise supporting the LARS (e.g. attaching or otherwise supporting the extension arm or pole with or on the structure, such as the FPSO). The system may comprise a tripod, hook or other fastener for supporting the LARS. In at least some examples, the LARS may be supported by suspension. For example, the LARS may be inserted downwards through an opening, with the LARS supported via the pole or arm from thereabove. The method may comprise subsequently deploying the UV through the opening. The method may comprise deploying the UV through the opening without the drive of the UV engaged. For example, the method may comprise mechanically or even manually inserting the UV through the opening. The UV may comprise one or more rotors or blades for propulsion; and the method may comprise inserting the UV through the opening without the propulsion means active. Accordingly, the safety of an operator may be improved. Once through the opening, the UV may be positioned on the previously-deployed LARS, with the UV supported thereby on the platform. Subsequently, the UV propulsion can be safely engaged, such as by starting the rotor/s and/or propeller/s.

The method may comprise performing an inspection operation in the enclosed setting with the UV. The method may comprise flying the UV in the enclosed setting to inspect all or selected portions of the enclosed setting. For example, particular or each bulkhead or surface of a tank or storage compartment may be inspected. The UV may comprise one or more camera/s, such as visual and/or IR camera/s. The UV may comprise one or more scanner/s, such as a laser scanner. The flightpath of the UV may be at least partially controlled in dependence on the input/s received from the camera/ and/or scanner/s. The flightpath may be automatically and/or manually controlled.

The platform may comprise one or more target/s. The target/s may be for the UV to identify the LARS for retrieval of the UV. The target/s may comprise a visual target/s. The target/s may comprise a target visible, or at least detectable, in low and/or low lighting conditions. The target may comprise a luminous target and/or a Infra-Red target (target readily visible with IR). The target may be configured to be detectable by the UV, particularly in low or no -light conditions. The target may be configured to assist a controller (automatic and/or manual) to guide the UV back to the LARS, such as for recovery.

In at least some examples, the unmanned vehicle (UV) may comprise a remotely- operated vehicle (ROV). The unmanned vehicle may be configured for deployment in an enclosed structure. In at least some examples, the apparatus may be configured to access a confined setting. The confined setting may comprise an enclosed space, such as one or more of: an internal tank, a chamber, a vessel, a container, a compartment, a hold, a cargo store, a space defined by or divided by a bulkhead/s, or the like.

The method may comprise deploying the UV in or into the confined or enclosed space. The method may comprise deploying the UV in or through an opening to the enclosed space. The method may comprise deploying the LARS at least partially into the enclosed space. The method may comprise inserting the LARS through the opening. The method may comprise inserting the LARS through the opening without the UV. The method may comprise deploying the LARS into the enclosed space without the UV, prior to the positioning or deployment of the UV into the enclosed space. The method may comprise mechanically inserting the LARS, without the UV, through the opening into the confined or enclosed space. The method may comprise then reconfiguring the LARS from the transit configuration to the UV configuration, ready for receiving the UV. The method may then comprise transporting the UV through the opening (with a secondary propulsion, such as manually) to position the UV in or on the LARS, ready for initiation and launch of the UV.

In at least some examples, there is provided an inspection system, the inspection system comprising a UAV and a LARS for the UAV, wherein the LARS is configured to allow deployment of the UAV remotely from an operator. The LARS may be configured to allow deployment of the UAV in a confined or enclosed space, the confined or enclosed space accessible by an opening, whereby it may be impossible or unsafe to otherwise attempt to deploy the UAV. The method may comprise transporting the UV through the opening to the confined space without the UV’s propulsion, such as without the UV’s rotor/s or blade/s being powered. The method may comprise using a secondary propulsion, not the UV’s primary propulsion, to position the UV on or in the LARS. The secondary propulsion may be manual. The method may comprise controlling the UV to propel the UV away from the LARS to launch the UV. The method may comprise manoeuvring the UV through a restriction. The restriction may comprise an internal opening within the enclosed space. For example, the method may comprise manoeuvring the UV through a hatchway, port or aperture, such as within a partition or between bulkheads or the like. The internal aperture may be of less than 1m in diameter. In at least some examples, the opening may be 600mm x 600mm or less. The UV may be configured to mitigate collision with an object/s and also to permit passage through an enclosed restriction.

The system may comprise an umbilical attached to the UV. The umbilical may extend between the UV and a base. The umbilical may provide power and/or communication signal/s to the UV. Additionally or alternatively, the umbilical may provide for communication signal/s from the UV. For example, data, such as camera images and/or measurement or feedback data may be relayed via the umbilical to the base. Additionally, or alternatively signal/s may be conveyed wirelessly between the UV and the base. In at least some examples some signals, such as power, may be conveyed via the umbilical; and other or additional signal/s may be conveyed wirelessly, such as with short-range wireless signals. In at least some examples, redundancy and/or duplication may be provided, such as a back-up communication channel/s for an event of failure of a primary communication channel/s.

The method may comprise controlling the a payout of the umbilical. The method may comprise controlling the payout of the umbilical to control a length of umbilical associated with the UV, such as the length of umbilical between the UV and the base, in dependence on a position of the UV, such as the distance of the UV from the base. The method may comprise controlling the payout of the umbilical to mitigate or prevent trailing of the umbilical on a surface below the UV, such as a ground or floor. The method may comprise controlling the payout of the umbilical to mitigate or prevent contact between the umbilical on a surface below the UV, such as a ground or floor. The method may comprise controlling the payout of the umbilical to mitigate or prevent contact between the umbilical and a material, such as a fluid below the UV. The method may comprise controlling the payout of the umbilical to minimise contact between the umbilical and a material, such as a fluid below the UV. The method may comprise controlling the payout of the umbilical to limit a weight of umbilical supported by the UV (e.g. UAV) to at or below a maximum weight threshold. In at least some uses, the UV may be deployed in a setting where it is undesirable to trail the umbilical. For example, the UV may be deployed in or above a fluid, such as a liquid in a container, where it is desirable to minimise or prevent any contact between the umbilical and the fluid.

The system may comprise an umbilical control device. The umbilical control device may be configured to control the payout of the umbilical. The umbilical control device may comprise a tensioning device. Additionally, or alternatively, the umbilical control device may comprise a reeling device, such as winch. The umbilical control device may comprise a mechanical device. The umbilical control device may comprise a powered device, such as electrically and/or hydraulically powered. The umbilical control device may be configured to pay-put and reel-in portions of umbilical as the UV moves, such as away from or closer to the base.

The UV may comprise an at least partially autonomous vehicle. The vehicle may comprise a navigation system. The navigation system may comprise at least partial autonomy. In at least some examples the apparatus may be configured to manoeuvre relative to the setting in dependence of the navigation system without manual navigational input, such as without input remotely by an operator. The UV may be at least semi-autonomous, such as with automatic stabilisation with option for manual control for direction and/or height and/or speed. The UV may comprise a Lidar system for controlling the UV, such as to prevent or at least mitigate against collision with static and/or dynamic objects. The system may be configured to allow for override, such as of the navigation and/or stabilisation system and/or Lidar. For example, the system may be configured to allow for manual override of the lidar to explicitly enable contact of the UV with a desired object.

In at least some examples, the method and system are configured to contact a surface. The UV may be configured to be positioned proximal to, optionally to contact, a desired surface, such as for a performance of a measurement or data acquisition. For example, the UV may be configured to perform a thickness measurement, such as with a thickness probe (e.g. Ultrasonic, laser, or the like).

Regulators and classification societies have provided guidance for alternative inspection methods and have stated that any alternative methods must provide an ‘equivalent’ quality and scope of inspection. Thus, an alternative method should provide a GVI, CVI, structural deformation survey and a means of measuring wall thickness of critical components where there is evidence of corrosion. The apparatus and method may be configured to provide such an ‘equivalent’ quality and scope of inspection. The UV may comprise camera/s configured to provide imagery of equivalent quality and scope.

In at least some examples, the UV may be configured to perform a measurement remotely. The UV may comprise a probe or other measurement device for performing the measurement/s. For example, the UV may be equipped with a gauge or probe for measuring a thickness or other dimensional property. In at least some examples, the UV may be configured to acquire a physical sample from the setting. The UV may comprise one or more of: a laser/s; a scanner/s; a camera; a distance measurement device/s; and/or a proximity sensor/s. The UV may comprise LIDAR, such as with a laser emitter and receiver for measuring distance/s. The UV may comprise a time-of- flight distance measurer and/or wavelength-based measurer. The UV may be configured to determine a distance/s based upon a time-of-flight signal and/or wavelength information, based upon a signal received by the UV (e.g. a reflected signal).

It may be an advantage of the present disclosure, that unmanned inspections of enclosed spaces can be performed remotely with an UV, without requiring entry of personnel into the enclosed space. Accordingly, safety of personnel can be improved whilst ensuring industry-standard inspections can still be performed.

The method may comprise the inspection of a hazardous area, such as identified or classified as a hazardous area by a hazard identification process (e.g. a Preliminary Hazard Analysis (PHA) or a Hazard and Operability Study (HAZOP), regulatory body or guideline. The method may comprise the inspection of a hazardous area, such as associated with a presence of chemicals (e.g. toxins, flammables, etc.), temperatures, pressures or other hazards whereby manned inspection could represent a safety risk.

The UV and/or LARS may be configured for operation in and inspection of Hazardous Area settings, such as predefined, specified Hazardous Area Equipment.

According to a further aspect, there is provided an inspection system. The system may be configured to perform methods as described herein. The inspection system may comprise a drone. The system may be an inspection system for one or more of: the oil/gas industry; utilities industries; assets such as FPSOs, FOIs, oil rigs, vessels, or other structures. The system may comprise an asset inspection system. The asset may comprise one or more of: a vessel; a floating vessel; a bulkhead; a FPSO; a container; a storage container; a tank; a pressure tank; a vessel interior; a hull or portion thereof; an internal tank; a chamber; a compartment; a hold; a cargo store; a space defined by or divided by one or more bulkheads.

According to an aspect, there is provided a method of using the system according to an aspect, claim, embodiment or example of this disclosure.

The steps of the method may be in any order.

According to an aspect of, there is provided a system configured to perform a method according to an aspect, claim, embodiment or example of this disclosure.

According to an aspect, there is provided a controller arranged to perform a method according to an aspect, claim, embodiment or example of this disclosure.

According to an aspect, there is provided a system comprising a controller according to an aspect, claim, embodiment or example of this disclosure, or a system arranged to perform a method according to an aspect, claim, embodiment or example of this disclosure.

According to an aspect, there is provided computer software which, when executed by a processing means, is arranged to perform a method according to any aspect, claim, embodiment or example of this disclosure. The computer software may be stored on a computer readable medium. The computer software may be tangibly stored on a computer readable medium. The computer readable medium may be non-transitory.

Any controller or controllers described herein may suitably comprise a control unit or computational device having one or more electronic processors. Thus, the system may comprise a single control unit or electronic controller or alternatively different functions of the controller may be embodied in, or hosted in, different control units or controllers. As used herein the term “controller” or “control unit” will be understood to include both a single control unit or controller and a plurality of control units or controllers collectively operating to provide any stated control functionality. To configure a controller, a suitable set of instructions may be provided which, when executed, cause said control unit or computational device to implement the control techniques specified herein. The set of instructions may suitably be embedded in said one or more electronic processors. Alternatively, the set of instructions may be provided as software saved on one or more memory associated with said controller to be executed on said computational device. A first controller may be implemented in software run on one or more processors. One or more other controllers may be implemented in software run on one or more processors, optionally the same one or more processors as the first controller. Other suitable arrangements may also be used.

Within the scope of this disclosure it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION

An embodiment of the present disclosure will now be described by way of example only and with reference to the accompanying drawings, in which:

Figure 1 shows an example of a method according to the present disclosure;

Figure 2 shows an example of a portion of a system according to the present disclosure;

Figure 3 shows the portion of Figure 2 from a different perspective; and Figure 4 shows an example of another system according to the present disclosure.

DETAILED DESCRIPTION

Referring firstly to Figure 1 , there is shown a method 2 of deploying a LARS 10, 110 and a UV 120. The method 2 as shown here firstly involves the step 4 of positioning the LARS 10, 110 (e.g. as shown in Figures 2, 3 and 4). The LARS 10, 110 is then reconfigured from an initial (transit) configuration to a second (UV) configuration in a subsequent step 6. The LARS 10, 110 thus far has been without the UV present in or on the LARS. Thereafter, the UV 120 is positioned in or on the LARS 10, 110 in a next step 8.

Referring now to Figures 2 and 3, there is shown a portion of an example of a LARS 10. The LARS 10 is configured to launch and/or recover the UV (e.g. UV 120 as shown in Figure 4) remotely, such as in an enclosed space, positioned through an opening, away from an operator. Here, the LARS 10 comprises a launch and/or landing platform for the UV 120. The platform 10 comprises a bottom portion 12, for supporting a UV 120 thereon. The platform 10 here comprises a right 18 and a left 17 side wall; and/or a rear portion 16. The platform 10 is open at the front and top, such as to permit exit and entry of the UV 120.

The LARS 10 is shown here in a reconfigured UV configuration - ready for receiving the UV 120. It will be appreciated that the LARS 10 has been reconfigured from a transit configuration - achieved here by having folded down the bottom portion 12 of the platform 10. It will be appreciated that the bottom portion 12 of the platform is hingedly attached to the extension arm 14 of the LARS 10. To pass the LARS platform 10 through the opening to access the enclosed space, the bottom portion 12 was folded, hinged up against the extension arm 14. In the example shown here, the bottom portion 14 has been reconfigured to the deployed, UV configuration as shown in Figures 2 and 3 under gravity. That is to say that here the bottom portion 12 is freely hinged, with a stop to prevent downward rotation of the platform 12 beyond 90°. Accordingly, the bottom portion 12 can be readily pushed up (e.g. by an operator) against the extension arm 14 for downwards insertion through the opening, whereafter once through the opening, the bottom portion 12 can readily fall to the deployed, horizontal position as shown. Accordingly, a platform with a greater length extending away from the extension arm 14 can be located within the enclosed space than would otherwise pass through the opening. It will be appreciated that in other examples, the LARS 10 can be selectively reconfigured by operation of a mechanical device, such as a linear lever, cam mechanism or other actuator to move the bottom portion 12 between the respective positions of the configurations.

The platform 10 is configured to accommodate airflow, such as generated by the UV

120 and/or movement thereof. The platform 10 is configured to prevent or at least mitigate turbulence associated with the UV 120. The platform 10 is configured to prevent or at least mitigate turbulence associated with downdraft from the UV 120. The platform 10 is configured to prevent or at least mitigate wash or blow-back. The platform 10 is air-permeable. The platform 10 comprises one or more air-permeable portions. Accordingly, the platform 10 is configured to support the UV 120, whilst allowing passage of air therethrough. Here, the platform 10 comprises a perforated or mesh bottom portion 12.

Referring now to Figure 4, there is shown a LARS 110 generally similar to that 10 shown in Figures 2 and 3, with like features incremented by 100 but not all described here for brevity and to prevent duplication. Accordingly, the LARS 110 comprises a bottom portion 112 for supporting the UV 120 thereon, when in the deployed UV configuration - as shown in Figure 4. The UV 120 shown in Figure 4 has been physically passed through the opening after the LARS 110, to then position the UV 120 on the LARS 110 once it 110 has been reconfigured to that shown in Figure 4 (similar also to Figures 2 and 3). Here, the bottom portion 112 of the LARS 110 shown has had the perforations omitted for ease.

It will be appreciated that, as for Figures 2 and 3, the LARS platform 110 shown in Figure 4 is reconfigurable. The platform 110 is reconfigurable between a transit configuration and a UV 120 configuration, the transit configuration for moving or transporting the platform 110; and the UV 120 configuration for receiving the UV 120 (e.g. for launch and/or landing). The transit configuration comprises a non-UV 120 configuration, such as being unsuitable for receiving the UV 120. The platform 110 in the transit configuration is dimensioned to allow the platform 110 to pass through an opening that the platform 110 could otherwise not pass through in the UV 120 configuration. The UV 120-configuration is for supporting the UV 120, particularly for launch and/or retrieval/recovery. The platform 110 is selectively reconfigurable between the transit and UV 120 configurations.

The LARS 10, 110 is configured for mechanical extension or transport to the UV 120 deployment location. The LARS 10, 110 comprises a mechanical device for positioning at the UV 120 deployment location. Here, the mechanical device comprises an arm 114, the arm 114 being operable from an opposite end to that of the platform 110 (similar to the arm 14 in Figures 2 and 3). In other examples, there is provided a pole, such as a telescopic pole. The mechanical device is configured for inserting the LARS 10, 110 through an opening. In other examples, the LARS 10, 110 comprises an internal or external movement (e g. rotary or linear) for selectively reconfiguring the platform 110 between transit and UV 120 configurations. The mechanical positioning device is configured to support the platform 110 in position at the UV 120 deployment location. The mechanical positioning device is configured to support the platform 110 in position at the UV 120 deployment location with the UV 120; such as before, during and after deployment of the UV 120 therefrom. In some examples, the LARS 10, 110 is configured for attachment, such as attachment to a structure to be inspected, or a structure associated therewith. For example, the mechanical positioning device is releasably attachable to a portion or surface of the vessel, such as an FPSO or FOI. The system is configured to allow support, optionally attachment, of the LARS 10, 110 outside the setting to be inspected. For example, the mechanical positioning device is supported outside an opening, with a portion thereof (e.g. an arm) extending through the opening to position the LARS platform 112 within the setting to be inspected.

The method comprises deploying or positioning the LARS 10, 110 remotely from an operator. The method comprises deploying the LARS 10, 110 on a vessel, such as an FPSO, with the LARS 10, 110 in an initial, transit configuration. The LARS 10, 110 is deployed through an opening, such as by extending the UXRS 10, 110 through the opening, with the platform 112 supported on an end of an extension arm or pole. The method comprises positioning the LARS 10, 110 without the UV 120. The method comprises reconfiguring the LARS 10, 110 to the UV 120 configuration, such as by unfolding portions of the platform 110 once it has passed through the opening. Accordingly, the LARS 10, 110 can provide a larger dimension, such as a larger platform 110 of greater width, length and/or height than would otherwise pass through the opening. The method may optionally comprise attaching the LARS 10, 110, such as by connecting or otherwise supporting the LARS 10, 110 (e.g. attaching or otherwise supporting the extension arm or pole 14, 114 with or on the structure, such as the FPSO). In other examples, the system comprises a tripod, hook or other fastener for supporting the LARS 10, 110 (e.g. connected to the other end of the arm 14, 114 from the LARS platform 10, 110). In at least some examples, the LARS 10, 110 is supported by suspension. For example, the LARS 10, 110 is inserted downwards through an opening, with the LARS 10, 110 supported via the pole or arm 14, 114 from thereabove. The method comprises subsequently deploying the UV 120 through the opening. The method comprises deploying the UV 120 through the opening without the drive of the UV 120 engaged. For example, the method comprises mechanically or even manually inserting the UV 120 through the opening. The UV 120 comprises one or more rotors or blades for propulsion; and the method comprises inserting the UV 120 through the opening without the propulsion means active. Accordingly, the safety of an operator is improved. Once through the opening, the UV 120 is positioned on the previously-deployed LARS 10, 110, with the UV 120 supported thereby on the platform 110. Subsequently, the UV 120 propulsion can be safely engaged, such as by starting the rotor/s and/or propeller/s.

The method comprises performing an inspection operation in the enclosed setting with the UV 120. The method comprises flying the UV 120 in the enclosed setting to inspect all or selected portions of the enclosed setting. For example, particular or each bulkhead or surface of a tank or storage compartment is inspected. The UV 120 comprises one or more camera/s, such as visual and/or I camera/s. The UV 120 comprises one or more scanner/s, such as a laser scanner. The flightpath of the UV 120 is at least partially controlled in dependence on the input/s received from the camera/ and/or scanner/s. Here, the flightpath is semi-automatically controlled with manual inputs, such as to select target locations for inspection based upon real-time images received from the UV’s 120 cameras.

The platform 110 comprises one or more target/s. The target/s is for the UV 120 to identify the LARS 10, 110 for retrieval of the UV 120. The target/s comprises a visual target/s. The target/s (obscured behind the UV 120 in Figure 4) comprises a target visible, or at least detectable, in low and/or low lighting conditions. Accordingly, the UV 120 can return to the LARS for recovery, even in poorly lit or dark settings. The target comprises a luminous target and/or an Infra-Red target (target readily visible with IR). The target is configured to be detectable by the UV 120, particularly in low or no -light conditions. The target is configured to assist a controller (automatic and/or manual) to guide the UV 120 back to the LARS 10, 110, such as for recovery.

The method comprises deploying the UV 120 in or into the confined or enclosed space. The method comprises deploying the UV 120 in or through an opening to the enclosed space. The method comprises deploying the LARS 10, 110 at least partially into the enclosed space. The method comprises inserting the LARS 10, 110 through the opening. The method comprises inserting the LARS 10, 110 through the opening without the UV 120. The method comprises deploying the LARS 10, 110 into the enclosed space without the UV 120, prior to the positioning or deployment of the UV 120 into the enclosed space. The method comprises mechanically inserting the LARS 10, 110, without the UV 120, through the opening into the confined or enclosed space. The method comprises then reconfiguring the LARS 10, 110 from the transit configuration to the UV 120 configuration, ready for receiving the UV 120. The method then comprises transporting the UV 120 through the opening (with a secondary propulsion, such as manually) to position the UV 120 in or on the LARS 10, 110, ready for initiation and launch of the UV 120.

In at least some examples, there is provided an inspection system, the inspection system comprising a UAV 120 and a LARS 10, 110 for the UAV 120, wherein the LARS 10, 110 is configured to allow deployment of the UAV 120 remotely from an operator. The LARS 10, 110 is configured to allow deployment of the UAV 120 in a confined or enclosed space, the confined or enclosed space accessible by an opening, whereby it is impossible or unsafe to otherwise attempt to deploy the UAV 120. The method comprises transporting the UV 120 through the opening to the confined space without the UV 120’ s propulsion, such as without the UV 120’s rotor/s or blade/s being powered. The method comprises using a secondary propulsion, not the UV 120’s primary propulsion, to position the UV 120 on or in the LARS 10, 110. The secondary propulsion is manual.

The method comprises controlling the UV 120 to propel the UV 120 away from the LARS 10, 110 to launch the UV 120. The method comprises manoeuvring the UV 120 through a restriction. The restriction comprises an internal opening within the enclosed space. For example, the method comprises manoeuvring the UV 120 through a hatchway, port or aperture, such as within a partition or between bulkheads or the like. The internal aperture is of less than 1 m in diameter. In at least some examples, the opening is 600mm x 600mm or less. The UV 120 is configured to mitigate collision with an object/s and also to permit passage through an enclosed restriction.

The system comprises an umbilical 160 attached to the UV 120. The umbilical 160 extends between the UV 120 and a base. The umbilical 160 provides power and/or communication signal/s to the UV 120. Additionally or alternatively, the umbilical 160 provides for communication signal/s from the UV 120. For example, data, such as camera images and/or measurement or feedback data is relayed via the umbilical 160 to the base. Additionally, or alternatively signal/s is conveyed wirelessly between the UV 120 and the base. In at least some examples some signals, such as power, is conveyed via the umbilical 160; and other or additional signal/s is conveyed wirelessly, such as with short-range wireless signals. In at least some examples, redundancy and/or duplication is provided, such as a back-up communication channel/s for an event of failure of a primary communication channel/s.

The method comprises controlling the payout of the umbilical 160. The method comprises controlling the payout of the umbilical 160 to control a length of umbilical associated with the UV 120, such as the length of umbilical 160 between the UV 120 and the base, in dependence on a position of the UV 120, such as the distance of the UV 120 from the base. The method comprises controlling the payout of the umbilical 160 to mitigate or prevent trailing of the umbilical 160 on a surface below the UV 120, such as a ground or floor. The method comprises controlling the payout of the umbilical 160 to mitigate or prevent contact between the umbilical 160 on a surface below the UV 120, such as a ground or floor. The method comprises controlling the payout of the umbilical 160 to mitigate or prevent contact between the umbilical 160 and a material, such as a fluid below the UV 120. The method comprises controlling the payout of the umbilical 160 to minimise contact between the umbilical 160 and a material, such as a fluid below the UV 120. The method comprises controlling the payout of the umbilical 160 to limit a weight of umbilical 160 supported by the UV 120 (e.g. UAV 120) to at or below a maximum weight threshold. In at least some uses, the UV 120 is deployed in a setting where it is undesirable to trail the umbilical 160. For example, the UV 120 is deployed in or above a fluid, such as a liquid in a container, where it is desirable to minimise or prevent any contact between the umbilical 160 and the fluid.

The system comprises an umbilical 160 control device. The umbilical 160 control device is configured to control the payout of the umbilical 160. The umbilical 160 control device comprises a tensioning device. In at least some examples, the umbilical 160 control device comprises a reeling device, such as winch. Here, the umbilical 160 control device comprises a powered device, such as electrically and/or hydraulically powered. The umbilical 160 control device is configured to pay-put and reel-in portions of umbilical 160 as the UV 120 moves, such as away from or closer to the base.

The UV 120 comprises an at least partially autonomous vehicle, such as with automatic stabilisation with option for manual control for direction and/or height and/or speed. The UV 120 comprises a Lidar system for controlling the UV 120, such as to prevent or at least mitigate against collision with static and/or dynamic objects. The system is configured to allow for override, such as of the navigation and/or stabilisation system and/or Lidar. For example, the system is configured to allow for manual override of the lidar to explicitly enable contact of the UV 120 with a desired object. For example, here, the UV 120 is configured to be positioned proximal to, and to contact, a desired surface, such as for a performance of a measurement or data acquisition. For example, the UV 120 is configured to perform a thickness measurement, such as with a thickness probe (e.g. Ultrasonic, laser, or the like). In at least some examples, the UV 120 is configured to perform a measurement remotely. The UV 120 comprises a probe or other measurement device for performing the measurement/s. For example, the UV 120 is equipped with a gauge or probe for measuring a thickness or other dimensional property. In at least some examples, the UV 120 is configured to acquire a physical sample from the setting. The UV 120 comprises one or more of: a laser/s; a scanner/s; a camera; a distance measurement device/s; and/or a proximity sensor/s. The UV 120 comprises LIDAR, such as with a laser emitter and receiver for measuring distance/s. The UV 120 comprises a time-of-flight distance measurer and/or wavelength-based measurer. The UV 120 is configured to determine a distance/s based upon a time-of- flight signal and/or wavelength information, based upon a signal received by the UV 120 (e.g. a reflected signal).

Regulators and classification societies have provided guidance for alternative inspection methods and have stated that any alternative methods must provide an ‘equivalent’ quality and scope of inspection. Thus, an alternative method should provide a GVI, CVI, structural deformation survey and a means of measuring wall thickness of critical components where there is evidence of corrosion. The apparatus and method here is configured to provide such an ‘equivalent’ quality and scope of inspection. The UV 120 comprises camera/s configured to provide imagery of equivalent quality and scope.

It is an advantage of the present disclosure, that unmanned inspections of enclosed spaces can be performed remotely with an UV 120, without requiring entry of personnel into the enclosed space. Accordingly, safety of personnel can be improved whilst ensuring industry-standard inspections can still be performed.

The method here comprises the inspection of a hazardous area, such as identified or classified as a hazardous area by a hazard identification process (e.g. a Preliminary Hazard Analysis (PHA) or a Hazard and Operability Study (HAZOP), regulatory body or guideline. The method comprises the inspection of a hazardous area, such as associated with a presence of chemicals (e.g. toxins, flammables, etc.), temperatures, pressures or other hazards whereby manned inspection could represent a safety risk.

The UV 120 and/or LARS 10, 110 is configured for operation in and inspection of Hazardous Area settings, such as predefined, specified Hazardous Area Equipment.

Here, the system comprising the LARS 10, 110 and the UV 120, is configured to access a confined setting, in the form of an enclosed space here, such as one or more of: an internal tank, a chamber, a vessel, a container; a storage container; a tank; a pressure tank; a vessel interior; a hull or portion thereof; a compartment; a hold; a cargo store; a space defined by or divided by one or more bulkheads, or the like.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as disclosed in any aspect, example, claim or embodiment of this disclosure, and a machine-readable storage storing such a program. Still further, embodiments of the present disclosure may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features. The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims, including with equivalence.