EP1658219A1

EP1658219A1 - Manipulating robotized modular system for raising parts of the vessel or equipment from large sea depths

Info

Publication number: EP1658219A1
Application number: EP03727885A
Authority: EP
Inventors: Slobodan Stojic
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-01-22
Filing date: 2003-06-12
Publication date: 2006-05-24
Also published as: WO2004065206A1

Abstract

This invention refers to the manipulating robotized modular system for raising parts of the vessel or equipment from sea depths deeper than 120m, consisting of minimum one base module (1,21,31) mounted on the housing (12) with locomotor organs (13, 13') for sea bed works. The base module (1, 21, 31) is of parallelepiped shape, executed as a frame structure with supports (2,2',3,3'). Within the frame structure of module (1) are four ballast tanks (5), four liquid fuel tanks (8) and four tanks with compressed air (10). Valves (6,7) are on tanks (5) which are connected to tanks (8,10) via valves (9, 11). Both front and rear ends of the module (1) and modular system (20, 30) are equipped with a turbine unit (22,22',32,32') for underwater motion and maintenance of stability in diving. One alternative of the system (20) is made of 4 base modules (21) and 4 superstructure modules (21') mounted on the base modules (21). The invention includes two more alternatives.

Description

MANIPULATING ROBOTIZED MODULAR SYSTEM FOR RAISING PARTS OF THE VESSEL OR EQUIPMENT FROM LARGE SEA DEPTHS

Technical Field

This invention belongs to the field of traffic and transport or transport and handling; or more precisely, to the field of ships and vessels; and specifically, to the field of salvage operations or detection of submarine vessels.

According to the International Patent Classification (IPC), the subject of invention is designated and classified by the standard classification symbols: B 63 C 7/20, pertaining to salvage of the sunken ships and raising of the ship parts or equipment and other underwater objects by directly gripping them with grippers, and B 63 G 7/00, pertaining to the submarine vessels and control of diving depth.

Technical Problem

This invention is intended for solution of the following technical problem: designing a device in the form of a manipulating robotized modular system which assures technically and technologically safe and reliable raising of the objects, in different extreme conditions, especially of the sunken ships or equipment at sea depths larger than 120m, inaccessible for divers in their standard diving suits or bathyscaphs, by using a system easy for control and maintenance, where the entire procedure is controlled and monitored from the mother ship on the sea surface.

Background

Until recently, current technical designs and methods have not allowed any salvage and raising operations on the sunken vessels at a sea depth over 120m. The reason was rather limited capabilities and time for a diver at such depth, providing the weather conditions above water are appropriate for these operations. There are several designs, built or presented in literature, consisting of the units or systems for raising the sunken vessels or equipment from different sea depths. All known systems for raising the sunken vessels require extensive diving, large diving teams and logistic support on the surface, including vessels, finance, special training and operating procedure. Still, all this has not always assured favourable outcome. Most of the designs remained only trials, since they have either been intended for one single case or their costs made them hardly affordable, or economy inefficient, for most of the sunken objects. The best example is the sunken Russian submarine KURSK. Preparation and construction of the special pontoon vessel with an extremely complex system of hoists were both very time and money consuming.

Among the existing patents in literature is the one presented in YU Patent application No. P-1253/82, under the title:«Equipment (system) for ship raising«, where the technical solution is so simplified that the whole operation depends on the weight of the object to be raised. Tow vessels, making a ring, are located on the sea surface and with the winches, supported on the vessels in the second ring, they lift sunken vessel by ropes. These are not special purpose vessels but ordinary cargo carriers. They are equipped with winches and steel ropes. Divers install steel cables with hooks on several points on a sunken vessel, depending on its weight and by using the winches on the coils mounted on separate tow vessels the sunken object is raised to the surface. This design has several disadvantages, including impossible application on the deep seabed for big and complex sunken vessels, and permanent necessity to control and recalculate the ropes and winches subject to the weight of the raising vessel.

Another system is presented in YU patent application no. P-1705/90 under the title »Equipment for raising the sunken objects«, offering a solution for raising the sunken objects from large depths. This equipment has a tank made of steel or some other material of appropriate hardness, equipped with lifting loops, manoeuvring engines and pipes for water supply to and discharge from the tank. The end of the external pipe protrusion is equipped with the electromagnetic valves and an electric cable with special conductors for operation control of the electric motors and manoeuvring engines, and for triggering electric igniters in the plastic bags with gunpowder. These bags are in steel sheet compartments with open bottoms, divided by transverse and longitudinal sheet partitions. Tank side end is equipped with connecting levers, fixed to the tank by hooks, with cutters on the front side operated by the electric motors with blades behind. Cables supply power to the electric motors. Gripping levers are installed on the tank top. Cutters cut holes in the hull of the sunken ship. The tank is filled with water and lowered down to the sunken vessel. Electromagnetic valves are open to attain the balance between the outside and inside tank pressures. The tank is placed adjacent to the sunken vessel and attached to its edges by gripping levers. Holes are then cut and powder bags ignited; water is gradually displaced out of the tank, resulting in gradual lifting of the sunken vessel. Disadvantage of the system is its extreme complexity and inadequacy for most vessels, requiring appropriate configuration of the site.

Raising the sunken Russian submarine KURSK is a very interesting example. Building of a special pontoon with a complex system of hoists on the barges and gripers took extremely much time and money. However, using a pontoon for raising some other vessel at different depth would require technical modifications of the system, which is a disadvantage. For more details, please see Mammoet&smit international site: www.kursksalvage.com.

Talking generally about raising the sunken vessels from deep sea, we always think about robots that could be used wherever conditions do not allow humans to spend longer time underwater performing more complex works. Generally, there are two interesting groups of robotized systems: manipulating and mobile robotized systems. The first includes remote controlled robots, manipulators or technological facilities, mainly used under extreme working conditions including radiation, high and low temperatures or pressures. Mobile robotized systems are automatically controlled platforms. Mobile systems are especially used for works performed on the seabed, for oil and gas drilling equipment. The motion principles are different: wheels, mechanical legs, tracks, flying or navigating objects like submarines.

There are three significant types of remotely controlled robots and manipulators: (a) manipulators controlled by operators who remotely switch individual parts of each manipulating articulation; (b) semi-automatic manipulators, where the operator's control console is equipped with a multi-step steering arm, and electric signals are transformed by a special computer into control signals of the manipulator drive unit, with different control algorithms; and (c) robots with combined control, automatic and manual, mainly used in unmanned submarine units.

Disclosure of the Invention

This invention refers to the manipulating robotized modular system intended for raising parts of the vessel or equipment from large depths and consisting of minimum one base module mounted on the housing with locomotor organs for seabed works. The base module is a parallelepiped frame structure with supports. Nodes in the corners of the frame structure are with holes to connect and fix the base modules to the superstructure modules. Within the frame structure of the module, there are four ballast tanks, four liquid fuel tanks and four tanks with compressed air. A water inlet/discharge valve is fitted on the ballast tank shell. Liquid fuel tanks and compressed air tanks are connected directly with ballast tanks via valves. Both front and rear ends of the module/modular system are equipped each with a turbine unit for underwater motion and maintenance of stability in diving or motion to the surface. Frame structure of the base module is fixed to the housing, which contains hydraulic unit, electric-distribution and control systems and battery unit. On each side of the housing, left and right, radially pivoting around articulation, are two mechanisms of the locomotor organs for seabed works, driven by hydraulic cylinders. Every organ contains hydraulic cylinders for driving each of its segments.

Out of many possible modular systems, the invention contains three presented altematives.The first alternative is a system made of 4 base modules and 4 superstructure modules on top of the base modules. Each base module is fixed to the housing of the locomotor organs. On the front and rear ends of the system a hydraulic unit is installed to provide submarine motion of the system and maintenance of its stability in diving and motion towards the surface. The second presented alternative includes a large number of base modules in row and superstructure modules mounted on top of them. A turbine unit is mounted on the first and the last modules in a row for motion of the system under water and maintenance of its stability in diving or motion towards surface. The third alternative includes an operator aboard the mother ship. Self-adhesive electrodes are fitted onto the operator's skin providing his feedback link with the control system, which is connected to the modular system consisting of four separate sub-systems with eight modules each, by a power cable and a multiple-conductor cable for transfer of data (in both directions) and orders.

The invention is intended for easy raising of the sunken objects from depths over 120 m in all weather and extreme underwater conditions (high hydrostatic pressure, water streams, etc), regardless their weight, volume and shape, when human work is highly restricted due to divers' physiological constraints. Hydrostatic pressure and limited time of staying underwater prevent divers from performing some more complicated and difficult works, such as shifting large objects, sawing, etc.

The invention-manipulating robotized modular system for raising parts of vessels or equipment from large depths-, according to this patent application, has a number of advantages, including: o Safe and secure technical and technological way of raising the sunken ships or equipment, from depth greater than 120m, in all extreme underwater work conditions; o Applicable to sunken vessels of all kinds, sizes and weights; o Simple for control and servicing; o Control is performed from the surface mother ship for logistics; o Virtually, indefinite life time; o Practical and reliable. Brief Description of Drawings

For easy understanding of the invention and presentation of its application in practice, the applicant refers to the enclosed drawings, where

Figure 1 Base module of manipulating robotized modular system for raising parts of vessel or equipment from large depths, in accordance with the invention; axonometric projection

Figure 2 Base module from Fig.1, with housing and locomotor organs; vertical section

Figure 3 An alternative of modular system with 4 modules in the base and 4 superstructure modules; axonometric projection

Figure 4 Modular system from Fig. 3, front view

Figure 5 Modular system from Fig. 3, side view

Figure 6 An alternative of modular system with a base module and a superstructure module arranged in row

Figure 7 Modular system from Fig.6, vertical section

Figure 8 Spatial view of a modular system operation: an alternative from the invention

Figure 9 Block diagram of cable links from control ship to modular system

Figure 10 Block diagram of modular system control.

Detailed Description

Manipulating robotized modular system for raising sunken vessels, their parts or equipment from deep sea, in accordance with the invention and Figs. 1 and 2, is basically consisted of minimum one base module 1 with ballast for immersion or surfacing, with a housing 12 underneath and attached locomotor organs 13 for seabed works.

Base module 1 , Figure 1, is a parallelepiped made of reinforced frame structure, with vertical and horizontal supports 2, and two oblique and diagonally crossed supports 2' on side ends of the parallelepiped. On the front and rear ends of the base module 1, two supports 3, 3' are mounted, perpendicular to each other, dividing the structure into four equal areas. Axially within these areas are ballast tanks 5 (e.g. water), liquid fuel tanks 8 and compressed air tanks 10 for smaller diving depths. Nodes 4 are fixed in the corners of module 1 or at the joints of supports 2, 2', with holes in the nodes to interconnect and fix the base and superstructure modules. Horizontal cylindrical ballast tanks 5 are mounted within the support 2 of the base module frame structure 1 , Figure 2, along the longer axis of each of the four areas. On the upper part of ballast tank shell 5 a valve 6 is fitted for pressure control in the tanks and on the bottom part of the shell a two-way valve 7 is installed to intake water for module immersion and discharge water when the module moves towards surface. In the bottom part of each area between the tanks 5 and supports 3, 3', a cylindrical liquid fuel tank 8 is installed, contacting the tank 5 and vertical/horizontal supports 3, 3'. In each upper part of these areas, a cylindrical compressed air tank 10 is mounted. Thus, adjacent to each ballast tank 5, and parallel to it, is a liquid fuel tank 8, connected to the tank 5 directly via valve 9, which discharges liquid fuel exhausts. Adjacent to each ballast tank 5 and parallel to it is also the compressed air tank 10. It is connected to the tank 5 via valve 11 for relief of compressed air. Tanks 10 are used for raising the objects from smaller depths.

On the frame structure of the base module 1 , especially with the systems consisting of a large number of modules, a turbine unit is installed in front and back ends of module 1 , for submarine motion of the module in water and maintenance of its stability in diving and raising towards surface. To simplify the drawings and designs, these turbine units are not presented in Figures 1 and 2, but are clearly shown in Figures 3 and 6, which give some alternatives of the modular systems 20, 30.

Frame structure made of supports 2, 3, 3', of the base module 1 with tanks 5,8,10, Fig. 2, is mounted on the housing 12 containing a hydraulic unit, an electric-distribution and control system and a battery for that base module. Housing 12 is not only intended for the base module 1 but, also, for a superstructure module to be installed on the base module. The hydraulic unit, electric-distribution and control system and battery, in housing 12, will not be explained in details being beyond the scope of this invention. Attached to each left and right side of housing 12 are two mechanisms of locomotor organs 13, 13^* for seabed works. Organs 13, 13' are fixed to the housing 12, radially pivoting around articulation, and driven by hydraulic cylinders 14, 14'. Organs 13, 13' contains hydraulic cylinders to drive each segment in operation and gripping of the sunken object.

Subject to the size and weight of the sunken vessel, and also to its location and depth in water, modular system is calculated and formed of minimum one base module and one superstructure module. It means that the length, width and number of the base and superstructure modules vary depending on the object to be lifted.

One of the alternatives from Figures 3, 4 and 5, is a modular system 20 with 8 modules, four of which are base modules 21 and four superstructure modules 21'. Superstructure modules are mounted on the top surface of the base modules 21 , and fixed to them by nodes 4. In this alternative with four base modules, each module will have a housing 12 with locomotor organs 13, 13', where organs 13 are on the free side end of the right housing, and organs 13' are on the free side end of the left housing 12. In this way, according to this alternative, modular system 20 will consist of eight organs 13, 13', where four organs 13 are on the right and four organs 13' on the left side, which is sufficient to grip and lift, the over-all or cross section of the smaller sunken objects. Motion of the system 20 underwater and maintenance of its stability in diving or motion towards surface is provided by two turbine units 22, 22' located on the font and rear ends of the system. All other system elements are equal to those described for the base module, and require no further details at this point.

Another alternative, Figures 6 and 7 is a modular system 30 with a large number of the base modules 31 in a row, and the superstructure modules 31' installed on top of the modules 31. Superstructure modules 31' are fixed to the main modules 31 by nodes 4. In this altemative with one base module 31, each module will have a housing 12 with locomotor organs 13, 13'. According to this alternative, modular system 30 will have a series of organs 13, 13', sufficient to grip and lift the vessels of longer length and smaller diameter (width) from the seabed. Underwater motion of the system 30 and maintenance of its stability in diving or motion towards surface are provided by two turbine units 32, 32' located on font and rear ends of the system, or on the first and last module in a row. All other system elements are equal to those described for the base module, and will not be given in details.

Modular systems for raising the vessels, their parts or equipment from deep seabed, according to the invention, function simply. However, according to the invention, the modular system is intended for all depths and underwater conditions. When moving towards the seabed or from there towards the surface, the system acts like a remotely controlled submarine. On the surface, as a passive pontoon, it can be towed or loaded on the bigger vessels. Based on the prior underwater photography of a vessel to be lifted (from the seabed) out and appropriate calculations, a modular system is built of the base modules, superstructure modules and a housing with locomotor organs.

Modular system 43 formed as above, representing one of the alternatives, with four separate systems 43a, 43b, 43c, 43d, is towed or immersed in water from low deck. Similar to all other operations of raising the sunken objects 42, Fig.8, a mother ship 40 on the sea surface is linked with and communicating to each modular system 43a, 43b, 43c, 43d, via a joint cable 41 , which is sometimes coiled on the winch, when raising operation is performed by four systems 43a, 43b, 43c, 43d, each made of eight modules (Alternative from Figure 3). Control system is simplified in Figure 9 (e.g. for the modular system 43b). The operator onboard the mother ship 40 makes a feedback loop with the control system UP, where this feedback is provided by the self-adhesive electrodes EO. The control system UP is connected to the modular system 43b(MS) via power cable 41a and multi-strand conductor cable 42b for transfer of data (in both directions) and orders. The cables 41a, 41b, security cable 41c and multi-strand braided wire are all closed in one cable 41 , whose other end is connected to the modular system 43b (MS).

When the systems 43a, 43b, 43c and 43d come approximately above the location of the sunken object and after immersion into water, valves 7 on the ballast tanks 5 of the modular system 43b are opened from ship 40, and water flows into tanks filling them up. At the same time, valves 6 open to outlet the air from the tank. Then, the whole system 43b sinks slowly, synchronised with other systems 43a, 43c, 43d, while controlled from the mother ship, as a controlled submarine vessel, driven by its turbine units 22, 22'. To locate a sunken object accurately, modular system 43b can use an active sonar, lights or video link to the control ship. After locating the object, the modular system is brought above it, and with its locomotor organs 13, 13' it grips (like with fingers) the submarine object 42 and holds it firmly. At this point, control on ship 40 is activated to ignite the liquid fuel in tanks 8 electrically. Chemical composition and the method of fuel ignition in the tanks (beyond the scope of this invention) depend on the intended depth. For example, dimethyl-hydrazine [(CH3)2N-NH2] can be used as a fuel at a large depth, and compressed air is sufficient at a small depth. Combustion of fuel results in rapid raise of the pressure in tank 8 and opening of valve 9 which discharges exhausts to the ballast tank 5. Pressure in t,anks 5 raises rapidly reaching the values higher than the ambient pressure. At that point valves 7 open discharging water from ballast tanks 5. When the whole quantity of water and gas surplus are discharged from the tank 5, valves 7 and 9 close, and tanks 5 are filled with liquid fuel exhausts from tank 8. At that point, the ambient hydrostatic pressure is exerted on the whole modular system 43a, 43b, 43c and 43d, and the entire robotized system, together with the sunken object, moves towards surface Pressure in ballast tanks 5 is maintained approximately 3 bars higher than the hydrostatic ambient pressure during the motion towards the surface, which is regulated by the pressure valves 6 on the ballast tanks 5. At smaller depths, the same procedure is used for water displacement from ballast tank 5, but with compressed air from tankslO. In this case, a signal from the mother ship opens valves 11 to discharge air.

Control of the modular system 43a, 43b, 43c and 43d, or of each separate sub-system is given in the principle block diagram, Fig.10, although is beyond the scope of this patent application. Self-adhesive electrodes 44 (EO) adhere to the skin of the operator OP, whose muscles are used to control the system on the seabed. The pulses are transmitted to the host computer RS by the computer systems for modulation and pulse amplification RM and from the control console 45 (UP). Sensor pulses SE are also transmitted to the host computer RS. The sensor can be a location detector (ultrasound) unit. Then, host computer RS transmits the pulses via an actuator IS to the electric distributing unit ERJ or central hydraulic unit- CHJ, and to the modular systems 43a,43b, 43c, 43d (MS) to control the valves 6, 7, 9, and 11 on the tanks 5,8and10, and the locomotor organs 13, 13' on the housing 12. A transmitter (feedback loop) PS is located between the actuator IS and electric distributing unit ERJ.

Materials for base modules have to be of the highest physical and mechanical specification and appropriate technological characteristics for works at large depths, under high pressures and with large weights of the submarine vessels.

Industrial and Other Applications

The operating principle of the invention is explained in the preceding descriptions and enclosed drawings, and requires no further explanations. Method of application is clear from the above text and for successful industrial use of the reported invention no special knowledge; instructions or experience are required. Average knowledge and skills related with the subject field are sufficient to apply this invention using the explanations herewith contained.

This patent application is considered to cover all design modifications or improvements in geometry of the presented invention, intended for its better performance.

Claims

PATENT CLAIMS

1. Manipulating robotized modular system for raising parts of the vessel or equipment from large sea depths, characterised in that, it consists of minimum one base module (1, 21, 31) mounted on the housing (12) with locomotor organs (13, 13') for sea bottom works; the base module (1, 21,31) of parallelepiped form built as a frame structure with supports (2, 2', 3, 3'); with four ballast tanks (5), four liquid fuel tanks (8) and four compressed air tanks (10) within the frame structure of module (1); where the tanks (5) are equipped with valves (6,7) and the ballast tanks (5) are connected to the tanks (8, 10) via valves (9,11); and with the front end and rear ends of the base module (1 ) or system (20,30) equipped with turbine unit (22, 22', 32, 32') for submarine motion and maintenance of stability in diving or motion towards the surface; and with nodes (4) on the intersection points of the module frame structure (1, 21, 21', 31 , 31').

2. Manipulating robotized modular system per claim 1 , characterised in that, it's module frame structure (1,21 , 21 ',31, 31') consists of vertical and horizontal supports (2) and two diagonally crossed oblique supports (2') on each side end of the module (1,21, 21 ',31, 31'); and with two perpendicular supports (3,3') fixed to the front and rear ends of the module frame structure (1,21, 21 ',31, 31') or to the front and rear ends of the module (1,21 ,21 ',31 ,31').

3. Manipulating robotized modular system per claims 1 and 2, characterised in that, on the intersection points of modules (1 ,21 ,21',31 ,31'), or within the support joints (2,2'), nodes (4) are mounted, having holes for interconnection and fixing of base modules (1,21,31) and superstructure modules (21', 31').

4. Manipulating robotized modular system per claims 1 and 2, characterised in thai, with fixed cylindrical ballast tanks (5) in the area between supports (2) and supports (3,3'), in the longer axis; and with a pressure relief valve (6) on the upper part of the tank shell (5), on its left and right sides, for pressure control in tanks (5); and with a water inlet/discharge valve (7) on the bottom part of the tank shell (5), on its left and right sides.

5. Manipulating robotized modular system per any of the above claims, characterised in that, in the area between tank shells (5) and supports (3,3'), in axial direction, cylindrical tanks (8) with liquid fuel and cylindrical tanks (10) with compressed air are installed; where in each bottom part of the above areas a cylindrical tank (8) with liquid fuel is installed, and in each upper part of these areas a cylindrical tank (10) with compressed air is installed.

6. Manipulating robotized modular system per requests 1 and 4, characterised in that, with a liquid fuel tank (8) installed adjacent and parallel to a ballast tank (5), where tank (8) is connected to tank (5) via valve (9) for discharge of liquid fuel combustion exhausts, and where adjacent and parallel to each ballast tank (5) is an air tank (10) installed and connected to tank (5) via valve (11) for compressed air relief.

7. Manipulating robotized modular system per claim 1 , characterised in that, with the frame structure of base module (1 ,21 ,31) fixed to housing (12) containing hydraulic unit, electric-distribution and control system and battery; where each left and right side end of the housing (12) has two mechanisms of locomotor organs (13, 13 ') for operation on the sea bottom, which are driven by hydraulic cylinders (14,14'), where these organs (13,13') are equipped with hydraulic cylinders for operation of each individual segment of the organs (13,13').

8. Manipulating robotized modular system per any above claim and the first alternative, characterised in that, has a modular system (20) consisting of 4 base modules (21) and 4 superstructure modules (21') on top of the base modules (21), fixed to the base modules by nodes (4), where each base module (21) is fixed to the housing (12) containing locomotor organs (13,13'), where organs (13) are on the free side end of the right housing (12) and organs (13') are on the free side end of the left housing (12); where a turbine unit (22, 22') is installed on the front and rear ends of the system (20), intended for motion of the system (20) under water and maintenance of its stability in diving or motion towards the surface.

9. Manipulating robotized modular system per claims from 1 to 7 and the second alternative, characterised in thai, has a modular system (30) made of a large number of base modules (31) arranged in a row, and superstructure modules (31') on top of the base modules (31), fixed to the base modules by nodes (4), where each base module (31) is fixed to a housing (12) containing locomotor organs (13,13'), where a turbine unit (32, 32') is installed on each front or rear end of the system (30) or on the first and last modules (31 ,31') in row for motion of the system (30) under water and maintenance of its stability in diving or motion towards the surface.

0. Manipulating robotized modular system per any above claim and the third alternative, characterised in that, has an operator OP on the mother-ship (40), who makes a feedback loop via self-adhesive electrodes EO with the control system UP, which is connected to the modular system (43b) by a power cable (41a) and multi-strand conductor cable (42b) for transmission of data (in both directions) and orders.