EP2421746A2 - Underwater vessel with improved propulsion and handling - Google Patents

Underwater vessel with improved propulsion and handling

Info

Publication number
EP2421746A2
EP2421746A2 EP10719658A EP10719658A EP2421746A2 EP 2421746 A2 EP2421746 A2 EP 2421746A2 EP 10719658 A EP10719658 A EP 10719658A EP 10719658 A EP10719658 A EP 10719658A EP 2421746 A2 EP2421746 A2 EP 2421746A2
Authority
EP
European Patent Office
Prior art keywords
rov
thrusters
main frame
vehicle
rotate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10719658A
Other languages
German (de)
French (fr)
Inventor
Thor Olav Sperre
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sperre AS
Original Assignee
Sperre AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sperre AS filed Critical Sperre AS
Publication of EP2421746A2 publication Critical patent/EP2421746A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • This invention relates to a vehicle, and more particularly to a remotely operated vehicle commonly known as an ROV and a method for effective use of the thrusters in an underwater vehicle.
  • ROVs The use of ROVs started in the late 50's early 60's with the US Navy that wanted the capability to perform deep-sea rescue operations and to recover objects from the ocean floor.
  • the technology was quickly adopted by the offshore industry that needed their own range of work class ROVs to help with the development of offshore oilfields.
  • ROVs are now used extensively during both the construction process and the maintenance and repair of subsea structures.
  • the normal ROV usually consists of a large buoyancy unit, normally consisting of synthetic foam, which is connected to a chassis of steel, composite material or some kind of alloy.
  • the reason for fitting the heavy objects, like the tool skid and the thrusters at the bottom and the lighter objects, like the buoyancy unit at the top is to achieve a large distance between the centre of buoyancy and the centre of gravity which provides stiffness and stability to do work underwater.
  • the thrusters which produce the propulsion for the ROV are usually fixed in all three axes to give full control while manoeuvring the ROV into the position of interest.
  • the state of the art ROV technology are usually electrically operated via an umbilical which provides both power and control signals to the unit while the unit sends data in the form of video and other recorded data back to the control ship.
  • a couple of problems with the normal construction of the ROV are that each of the thrusters are fixed in their position and can only give propulsion parallel to the direction of the thrusters. This means that e.g. only two of six thrusters can be used to propel the ROV forward or backward. This means that a lot of the potential force and propulsion capability of the ROV is lost since only a part of the thrusters give thrust in the direction of choice.
  • US 6106763 is an example on a normal way of solving the problem with propulsion, here there is a complex way of calculating the force used on the different thrusters for compensating for non-periodic drift and forces that works on the ROV.
  • the thrusters are in a fixed position which means that only parts of the potential propulsion of the ROV is used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Accessories Of Cameras (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

A vehicle for use underwater containing a buoyancy unit mounted on top of a main frame, and that said buoyancy unit contains at least one thruster, at least one camera and at least one source of light and that the main frame contains at least two thrusters and at least one set of tools or manipulators and that the vehicle is further characterised by that said buoyancy unit and said main frame can rotate around its own axis independent of each other, that said at least two thrusters mounted to said main frame can rotate around its own axis and that said thrusters, mounted to said main frame are mounted to a circular joint that is rotatable around its own axis.

Description

Underwater Vessel with Improved Propulsion and Handling
Technical field
This invention relates to a vehicle, and more particularly to a remotely operated vehicle commonly known as an ROV and a method for effective use of the thrusters in an underwater vehicle.
Background
The use of ROVs started in the late 50's early 60's with the US Navy that wanted the capability to perform deep-sea rescue operations and to recover objects from the ocean floor. The technology was quickly adopted by the offshore industry that needed their own range of work class ROVs to help with the development of offshore oilfields.
In the 1980s they became essential since much of the development of the offshore oil fields excided the reach of human divers.
In the later years the ROVs have gone thru a great development from, in the start, only being able to send video to the control ship to, now, being able to perform a large range of operations. Their task range from mere visual inspections, to connecting pipelines and placing underwater manifolds and scientific explorations.
ROVs are now used extensively during both the construction process and the maintenance and repair of subsea structures.
The normal ROV usually consists of a large buoyancy unit, normally consisting of synthetic foam, which is connected to a chassis of steel, composite material or some kind of alloy.
It is normally fitted tools, like e.g. gripping tools or sensors to the chassis that can be operated from the control room to perform the different tasks. This is called the tool skid and is usually fitted at the bottom of the ROV.
The reason for fitting the heavy objects, like the tool skid and the thrusters at the bottom and the lighter objects, like the buoyancy unit at the top is to achieve a large distance between the centre of buoyancy and the centre of gravity which provides stiffness and stability to do work underwater. The thrusters which produce the propulsion for the ROV are usually fixed in all three axes to give full control while manoeuvring the ROV into the position of interest.
The state of the art ROV technology are usually electrically operated via an umbilical which provides both power and control signals to the unit while the unit sends data in the form of video and other recorded data back to the control ship.
Further the cameras, lights and manipulators are normally placed on the front of the ROV or back to help with the manoeuvring.
A couple of problems with the normal construction of the ROV are that each of the thrusters are fixed in their position and can only give propulsion parallel to the direction of the thrusters. This means that e.g. only two of six thrusters can be used to propel the ROV forward or backward. This means that a lot of the potential force and propulsion capability of the ROV is lost since only a part of the thrusters give thrust in the direction of choice.
Further there is a problem with that the ROV only has the opportunity to have one set of tools, this means that the ROV have a very limited range of work areas at one time.
US 2007/0283871 show an existing solution on how to direct the thrusters in the wanted direction for better to make use of the combined force of the ROV.
Here it is shown how the four thrusters in the horizontal plane can be controlled centrally to face in different directions. This is achieved by letting the thrusters be able to pivot in the horizontal plane and connecting them all together via bars and controlling them all from a central steering mechanism.
The problem with this solution is the lack of possibility to change the working tools on the tool skid and limited and complex way of positioning the thrusters.
US 6106763 is an example on a normal way of solving the problem with propulsion, here there is a complex way of calculating the force used on the different thrusters for compensating for non-periodic drift and forces that works on the ROV. Here the obvious problem is that the thrusters are in a fixed position which means that only parts of the potential propulsion of the ROV is used.

Claims

SummaryIt is therefore an object of the present invention, as stated in the set of claims, to solve the problems mentioned above by constructing an ROV with the capability to control the thrusters in such a way that the maximum effect of them always is used.The present invention solves the problems by letting all the thrusters be individually manoeuvrable. This makes the ROV able to use the combined force of all the thrusters in the most effective way, if the goal is to propel it forward, backward or sideways, compensate for currents and drift in the water or performing a vectorial displacement.It is further an object of the present invention to solve the problem with only one set of working tools on the tool skid by having a 360° front.The 360° front can be solved by the ability to rotate the main frame and the tool skid relative to the front containing the camera and lights.It can also be solved by adding extra cameras to the buoyancy unit, so that the ROV can have a camera for every tool on the tool skid.Further the ROV is divided into either two or three rotatable parts, each horizontally rotatable 360° in each direction individually to each other. This means that either the buoyancy unit and the main frame with the tool skid are rotatable relative to each other, or the buoyancy unit, the main frame and the tool skid are all rotatable relative to each other.These solutions make it possible to have more than one set of working tools on the ROV at one time.Brief description of the drawingsFigure 1 shows an example of the ROV in standard mode with one set of manipulators and thrusters directed perpendicular to each other in the horizontal plane.Figure 2 shows an example of the ROV in survey mode with one set of manipulators and thrusters directed parallel to each other in the horizontal plane and directed front to back. Figure 3 shows an example of the ROV in current mode with one set of manipulators and thrusters directed parallel to each other in the horizontal plane and at an angle to the main parts of the bodies.Figure 4 shows an example of the ROV in vector mode with one set of manipulators and thrusters directed perpendicular to each other in the horizontal plane with the entire thruster platform rotated 45°.Figure 5 - 8 shows four examples of how the ROV have the ability to have several different sets of tools connected to the tool skid at once, making it possible to perform different task during one dive without having to resurface the ROV.Detailed description of the drawingsFigure 1 shows the ROV in standard mode, which is to say with the thrusters, 5, in the normal position, with, in the horizontal plane, two thrusters facing forward and two thrusters facing sideways. Further it is possible to see how the ROV has a buoyancy unit, 1, located at the top of the ROV, and that it contains two thrusters, 9, mainly working in the vertical plane.Further a set of cameras, 7, located at the front of the ROV with a set of two light sources, 8, which makes the control of the manipulators, 3, possible.The manipulators, 3, are connected to the tool skid, 2, which further contains the HPU's (hydraulic power unit) and controls, 11, for the manipulator, 3.The buoyancy unit, 1, and the tool skid, 2, are both connected with the main frame, 6, which has the possibility to rotate the top part of the ROV, with the buoyancy unit, 1, camera, 7, lights, 8, and the vertical thrusters, 9, relative to the main frame, 6, and the tool skid, 2. This gives the ROV the opportunity to have more than one set of working tools connected to the tool skid, 2, shown in figure 5-8.Further the main frame, 6, has the ability to rotate only the set of thrusters. A small motor, 4, connects each thruster, 5, to the main frame, 6, and controls the rotation of the thrusters, 5, in such a way that they can rotate independently of each other around an axis perpendicular to the thrust axis of the thruster, 5. The fact that the thrusters, 5, can be rotated independent to each other makes it possible to always maximize the force used by the thrusters, 5, which again reduces the need for energy and again greatly reduces the weight-to-force ratio.This reduction of weight and volume makes the ROV more manoeuvrable and smaller.Further the fact that the buoyancy unit, 1 , has the ability to rotate relative to the main frame, 6, and tool skid, 2, gives the ROV the opportunity to stay submerged longer and perform a wider variety of tasks while submerged. The rotating axis of the main frame and the tool skid is horizontal, and can rotate 360° in each direction. The rotationThe ROV is further provided with a control unit and measuring equipment, 10, that have the ability to measure the drift and the current at the place of interest and by adjusting the thrusters, 5, compensate for this in the most effective way.All these improvements mentioned above makes the ROV more cost effective compared to state of the art ROVs.Figure 2 shows the ROV in survey mode, here all the thrusters, 5, in the horizontal plane are facing forward. This maximises the effect of the thrusters, 5, which again makes it possible to reduce the size of the thrusters, 5, making the ROV smaller and lighter. It is also an option to be able to rotate the vertical thrusters, 9, so that also they can be used for propelling the ROV in the desired direction.The survey mode is achieved by rotating 2 of the thrusters, 5, 90° from the standard mode in the horizontal plane. Either of the two adjacent thrusters can be rotated which makes it possible for the ROV to maximize the thrust also sideways.Figure 3 shows the ROV in current mode, here two adjacent thrusters are rotated 90° and the ring connecting the thrusters, 5, to the main frame, 6, is rotated 45°. This can be done in either direction for having the ability to compensate for the current and drifting of the ROV.Figure 4 shows the ROV in vector mode which makes it possible for the ROV to move e.g. diagonally by adjusting the thrusters, 5, individually and not equally to each other and by that being able to give force and manoeuvre in any direction. This achieved by rotating the thrusters individually and rotating the ring connecting the thrusters, 5, to the main frame, 6, as much as required. The amount of movement of the thrusters, 5, and the ring connecting the thrusters, 5, to the main frame, 6, is controlled by a computer system that adjusts the movement according to the signals given to the ROV from the control platform and the output from the sensors, 10, onboard the ROV that measures the drift and the current in the water at the time.Figure 5-8 shows how it is possible to connect several set of tools to the tool skid making it possible to perform a wider range of operations while the ROV is submerged. This aspect makes it possible to tailor the ROV to each task or mission.As it can be seen in figure 5 the front of the buoyancy unit, containing the camera and the lights are facing a gripping manipulator for handling lifting of larger objects.As it can be seen in this figure the ROV contains 4 sets of tools mounted on each side of the tool skid this is only meant as an illustration, and the ROV can contain from 1 to four sets of manipulators/tools which all can be replaced, removed or interchanged dependent on the users needs.In figure 6 it can be seen that the tool skid have rotated 90° compared to the buoyancy unit and that the tool the camera now is showing is a saw. The tool skid can be rotated in any direction depending on which of the manipulators the operator on board the control vessel need to use.Figure 7 and 8 shows further rotations of the tool skid compared to the buoyancy unit containing the camera and the light sources mounted on top. Further it can be seen that each of the tools or manipulators can contain a further set of light sources to better improve the visibility.The features above means that the ROV requires less energy to perform the same tasks as conventional ROVs, the reduction in some instances is up to 50%. This means that the system that transfers power from the control platform to the ROV, can be reduced considerably, something that will be of big importance while working on great depths.Further the ability to rotate the buoyancy unit 360° around its own axis relative to the main frame, and the tool skid, gives the ROV a better overview of the situation. The ability can be achieved by rotating the tool skid around its own axis by using the thrusters.The feature, that the ROV can rotate each of the thrusters around an axis perpendicular to the direction of the thrust makes it better adapted to perform tasks where the ROV is controlled automatically, like following lines or way points.The ROV shown in the pictures is one embodiment of the invention; another is that the ROV also has the ability to have several cameras, e.g. one for each tool on the tool skid. A further embodiment is that the buoyancy unit, the main frame and the tool skid can all rotate freely relative to each other.Another embodiment of the ROV is that the different parts, the buoyancy unit, the main frame and the tool skid does not have to be cubic, they can be of any polygonal shape, or even round, they can also be of different shapes individually, like e.g. cubic buoyancy unit and main frame with round tool skid.A further feature of invention is that the control platform can be situated on a ship, an offshore installation, like e.g. an oil rig, on land, e.g. in the form of a mobile control room or even inside another submerged vehicle like a submarine. The benefits of having a small versatile ROV connected to another submerged vehicle is that it can perform many different tasks while e.g. the submarine is submerged and you can use the ROV to perform tasks that would put the submarine or personnel in danger, like entering into a wreck.Another embodiment of the invention is that the technical features described for an ROV with umbilical can also be used on both an autonomous ROVs, where the ROV is not connected to the control platform via an umbilical, but are remotely operated via e.g. radio signals. Further it is also possible to construct a manned submarine with the same technical features as described for the ROV.Further it is possible to fit the ROV with stereoscopic vision, making the handling of the tools from the control platform easier. To get a stereoscopic vision this can be done either by placing two and two cameras next to each other or by one specialised camera with two lenses. Claims
1. A vehicle for use underwater containing a buoyancy unit(l) mounted on top of a main frame (6) with a tool skid(2) mounted underneath, and that said buoyancy unit(l)contains at least one thruster(9), at least one camera (7) and at least one source of light (8) and that the main frame (6) contains at least two thrusters (5) and at least one set of tools or manipulators (3) and that the vehicle is further c h a r a c t e r i s e d b y :
- that said buoyancy unit (1) and said main frame (6) can rotate around its own axis independent of each other,
- that said at least two thrusters (5) mounted to said main frame (6) can rotate around an axis perpendicular to the axis of the thrust direction,
- that said thrusters (5), mounted to said main frame (6) are mounted to a circular joint that is rotatable around its own axis.
2. A vehicle for use underwater, as described in claim 1 further characterised by that said buoyancy unit (1) and said main frame (6) can rotate 360° in either directions around its own axis relative to each other.
3. A vehicle for use underwater, as described in claim 1 further characterised by that said buoyancy unit (1), said main frame (6) and said tool skid (2) can all rotate 360° in either direction around its own axis relative to each other.
4. A vehicle for use underwater, as described in claim 1 further characterised by that at least two thrusters (5) mounted to said main frame (6) can rotate 90° in either directions, around an axis perpendicular to the axis of the thrust direction.
5. A vehicle for use underwater, as described in claim 1 further characterised by that said circular joint can rotate at least 45° in either direction around its own axis.
6. A vehicle for use underwater, as described in claim 1 further characterised by that said at least one thruster (9) mounted on said buoyancy unit (1) can rotate at least 90° around its own axis.
7. A vehicle for use underwater, as described in claim 1 further characterised by that said at least two thrusters (5) mounted to said main frame (6) can rotate around an axis perpendicular to the axis of the thrust direction, individually of each other.
8. A vehicle for use underwater, as described in claim 1 further characterised by that said main frame (6) can contain more than one set of tools or manipulators
(3).
9. A vehicle for use underwater, as described in claim 8 further characterised by that said set of tools or manipulators (3) can be removed, interchanged or replaced.
10. A vehicle for use underwater, as described in claim 1 further characterised by that said vehicle contains sensors (10) that measures and records data such as the position of said vehicle and the drift and currents in the water.
1 1. A vehicle for use underwater, as described in claim 10 further characterised by that said sensors (10) sends the recorded data to a control system.
12. A vehicle for use underwater, as described in claim 11, further characterised by that said control system can control said thrusters (5) to compensate for said drift and currents in the water.
13. A vehicle for use underwater, as described in claim 11, further characterised by that said vehicle is controlled from a control platform.
14. A vehicle for use underwater, as described in claim 11, further characterised by that said control platform either communicates with the vehicle via a cable or radio signal.
15. A vehicle for use underwater, as described in claim 11, further characterised by that said vehicle can operate autonomously or as a manned submarine.
EP10719658A 2009-04-24 2010-04-26 Underwater vessel with improved propulsion and handling Withdrawn EP2421746A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20091637A NO20091637L (en) 2009-04-24 2009-04-24 Underwater craft with improved propulsion and handling capabilities
PCT/NO2010/000152 WO2010123380A2 (en) 2009-04-24 2010-04-26 Underwater vessel with improved propulsion and handling

Publications (1)

Publication Number Publication Date
EP2421746A2 true EP2421746A2 (en) 2012-02-29

Family

ID=42767943

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EP10719658A Withdrawn EP2421746A2 (en) 2009-04-24 2010-04-26 Underwater vessel with improved propulsion and handling

Country Status (5)

Country Link
EP (1) EP2421746A2 (en)
CA (1) CA2760910A1 (en)
NO (1) NO20091637L (en)
RU (1) RU2011145889A (en)
WO (1) WO2010123380A2 (en)

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Also Published As

Publication number Publication date
NO20091637L (en) 2010-10-25
RU2011145889A (en) 2013-05-27
WO2010123380A2 (en) 2010-10-28
CA2760910A1 (en) 2010-10-28
WO2010123380A3 (en) 2011-03-24

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