EP2330027A1 - Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable - Google Patents

Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable Download PDF

Info

Publication number
EP2330027A1
EP2330027A1 EP09178230A EP09178230A EP2330027A1 EP 2330027 A1 EP2330027 A1 EP 2330027A1 EP 09178230 A EP09178230 A EP 09178230A EP 09178230 A EP09178230 A EP 09178230A EP 2330027 A1 EP2330027 A1 EP 2330027A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
cable
vehicle according
remotely operated
tether
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Withdrawn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
EP09178230A
Other languages
German (de)
English (en)
Inventor
Andrew Hunt
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.)
Soil Machine Dynamics Ltd
Original Assignee
Soil Machine Dynamics Ltd
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 Soil Machine Dynamics Ltd filed Critical Soil Machine Dynamics Ltd
Priority to EP09178230A priority Critical patent/EP2330027A1/fr
Publication of EP2330027A1 publication Critical patent/EP2330027A1/fr
Withdrawn legal-status Critical Current

Links

Images

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

Definitions

  • the present invention generally relates to underwater vehicles such as remotely operated vehicles (ROVs) for underwater applications, and relates particularly, but not exclusively, to a remotely operated vehicle having an adjustable tether mounting terminal for operation in high-speed and low-speed water flows.
  • ROVs remotely operated vehicles
  • ROVs Remotely operated vehicles, generally referred to as ROVs, are tethered underwater robots mainly used in the offshore industry and for marine research. ROVs are unoccupied, maneuverable and operable by a user aboard a vessel or platform.
  • Typical work-class ROVs have a buoyancy block or system that is mounted to a rigid frame to which several independently driven and controlled thrusters are attached.
  • the ROV is connected to the vessel or platform by means of a tether or umbilical cable through which power, information signals and control signals are passed.
  • Some tethers or umbilicals may also contain hoses for delivery of hydraulic or pneumatic services etc.
  • ROVs may be equipped with cameras, lights, sonars, magnetometers, tooling manipulators and/or cutting arms, water samplers and other instruments for measuring, for example, water clarity, light penetration and temperature.
  • FIG. 1 An example of a typical work-class ROV is shown in Figure 1 .
  • a buoyancy tank or block 2 is mounted to a frame 3 and adapted to provide sufficient buoyancy for the ROV 1 .
  • Thrusters 4 are mounted to the frame 3 allowing the ROV 1 to maneuver underwater.
  • Tooling 5 such as manipulators and grabbers can be used for carrying equipment and for performing maintenance tasks and are located at one end of the frame 3.
  • the ROV 1 is connected to the vessel or platform (not shown) by means of a tether or umbilical cable 6 that is usually attached to a top-side terminal 7 of the frame.
  • Figure 3 shows a typical work-class ROV 1 when operating in low-flow conditions, i.e. substantially no water flow or water flow significantly less than 2 knots ( ⁇ 1 m/s), with only forces F C , F d , F t and F rd acting on the ROV 1.
  • Preferred embodiments of the present invention seek to overcome one or more of the above disadvantages of the prior art.
  • a remotely operated submersible vehicle comprising:
  • This provides the advantage that the towing force to the tether cable is always in a hydro-dynamically optimal position for the vehicle (ROV), therefore minimizing any additional forces that may affect the position of the vehicle due to cable drag in high-flow conditions and weight/cable slack in low-flow conditions.
  • ROV hydro-dynamically optimal position for the vehicle
  • a position at which a towing force is applied by a cable to the apparatus may include at least one first position above the centre of gravity of the vehicle in use.
  • a position at which a towing force is applied by a cable to the apparatus may also include at least one second position upstream of the centre of gravity of the vehicle when in use in the direct flow of fluid in which the vehicle is submerged
  • the vehicle may further comprise detachment means for enabling remote detachment of a tether cable.
  • the positioning means may comprise at least one thruster and/or at least one hydrofoil and/or at least one variable buoyancy chamber.
  • At least one said hydrofoil may be remotely controllable.
  • At least one said thruster may be positioned adjacent an edge region of the housing
  • a combination of advantageously positioned and remotely controllable thrusters, hydrofoils, variable buoyancy chambers and weight provide the advantage that the manoeuvrability of the remotely operated submersible vehicle is maximized allowing more accurate operations.
  • the remotely operated submersible vehicle may further comprise at least one tool.
  • At least one said tool may comprise at least one manipulator.
  • At least one said tool may be adapted to be located downstream of the centre of gravity of the vehicle in use in the direction of flow of fluid in which the vehicle is submerged.
  • the remotely operated submersible vehicle may further comprise a protection frame adapted to provide protection to at least one hydrofoil and/or at least one thruster.
  • the remotely operated submersible vehicle may further be adapted for operation without using a tether cable.
  • a remotely operated submersible vehicle 100 embodying the present invention comprises a hydrodynamic chassis 102 that houses the components making up the vehicle 100.
  • the components may also include a structural frame, motors, pumps, valve packs, control equipment, tooling packages, attachments for payloads etc. within the streamlined shape.
  • hydrofoils 104, 106, 108 are located at various positions around the vehicle 100 to control not only the gross position of the vehicle 100 in the water column but also its orientation.
  • high power steerable thrusters 110 may be orientated in such a way to enable control of the gross position of the vehicle 100 in the water column, or to provide lift capacity for payloads carried by the vehicle 100. Also, in low-flow mode, which is used when operating the vehicle in water flow with flow speeds significantly less than about 2 knots (1 m /s), the high-power steerable thrusters 110 would primarily be used for manoeuvring the vehicle 100 in conjunction with the vertical 112 and vectored horizontal thrusters 114.
  • Additional vertical thrusters 112 and vectored horizontal thrusters 114 are fitted to augment the vehicle's gross and fine position
  • Two variable buoyancy tanks 122 maybe provided on the vehicle 100, which are adapted to provide a variable weight to the vehicle 100 by either filling or emptying the tanks 122 using a suitable pump and valve system (not shown).
  • the weight of the vehicle 100 may also be adjusted by other means such as adding/removing ballast.
  • a protection frame 124 is provided to minimise risk of damage to the hydrofoils 104, 106, 108 and high-power steerable thrusters 110.
  • Tooling and manipulators 126 may be fitted to the rear of the vehicle 100 in order to protect them, for example, from the full force of the water flow. The tooling or manipulators 126 may also be located at any of the other sides of the vehicle 100.
  • the tether cable 118 may either be a simple wire or fibre rope, providing the remotely operated submersible vehicle has onboard power, or an electrical lifting umbilical cable adapted to provide electrical power and allowing signal transfer or more complicated umbilical containing hoses as well as electrical cables.
  • the umbilical cable 118 may be detachable so the vehicle can be disconnected for autonomous operations or in case of an emergency.
  • the umbilical cable 118 can also be used to lift the vehicle 100 into and out of the water.
  • the position where the cable 118 is coupled to the vehicle 100 is adjustable to suit the mode of operation.
  • Figure 4 shows the present invention in high-flow mode, where the mounting apparatus 116 provides for the tether cable 118 to be positioned near the front of the vehicle 100 with regard to the flow direction of the vehicle 100, i.e. the front of the vehicle 100 faces the flow direction of the vehicle when pulled behind a vessel 200 or the flow of a water column 210 that is directed towards the vehicle 100.
  • the tether cable or umbilical cable 118 is coupled to the mounting apparatus 116 and a suitable single or a plurality of clump weights 120, or other means that are adapted to apply a downward force to the tether cable 118, is/are coupled to the tether cable 118 in order to assist the gross positioning of the tether cable 118 and subsequently the vehicle 100 in the water column.
  • Figure 5 shows the present invention in low-flow mode, where the mounting apparatus 116 provides for the tether cable or umbilical cable 118 to be located in a more conventional manner at the top-side of the vehicle 100, with regards to the operating position of the vehicle 100.
  • FIG. 6 A detailed example of a first mechanism 117 for the mounting apparatus 116 is shown in Figure 6 .
  • the umbilical cable 118 is attached to a chain or conveyor belt 126 that is moved by one or two hydraulically or electrically driven sprockets 128.
  • the chain or conveyor belt 126 may be supported by supporting rollers 130 or edge guides 131.
  • This bridle mechanism may be locked in position by a lock 132 in order to fix the umbilical cable 118 in the desired position.
  • FIG. 7 shows a detailed example of a second mechanism 119 of the mounting apparatus 116.
  • the umbilical cable is coupled to rollers 136 that run within a rail system 134 allowing movement along the housing 102 of the vehicle 100.
  • the rollers 136 are moved by a remotely controlled hydraulic arm 138 that may also lock the umbilical cable 118 in the desired position.
  • FIG 8 shows a detailed example of a third mechanism 121 of the mounting apparatus 116.
  • the umbilical cable is coupled to rollers 140 that run within a rail system 142 allowing movement along the housing 102 of the vehicle 100.
  • the rollers 140 are coupled to a first remotely controlled hydraulic ram 144 via a first cable 148 on one side of the rail 142, and to a second remotely controlled hydraulic ram 146 via a second cable 150 on the other side of the rail 142.
  • the rollers 140 may be moved into various positions along the housing 102 of the vehicle 100.
  • the remotely operated submersible vehicle 100 uses a combination of the high-power steerable thrusters 110, the vertical and vectored horizontal thrusters 112, 114, the tether cable's length and position, the hydrofoils 104, 106, 108 and the variable weight provided by the buoyancy tanks 122 and/or clump weight 120 to maintain the desired position in the water column.
  • the support vessel 200 is likely to maintain its position. However, the vehicle 100 may simply be towed behind the vessel 200 for, for example, survey operations.
  • the support vessel 200 could be any suitable structure in the tidal flow onto which the associated deck equipment for the vehicle 100 is installed.
  • the vehicle 100 is connected to a suitable tether winch 220 on the surface support vessel 200 or any other structure (not shown).
  • the clump weight's 120 position and its mass are adjusted to move the vehicle 100 in the desired position within the water column.
  • the mounting apparatus 116 moves the cable 118 towards the front of the vehicle 100 so that when the vehicle 100 is deployed into the water flow the drag force F drag is minimised.
  • the water flow has a tendency to align the vehicle 100 and tether cable 118 behind the surface support vessel 200.
  • the tether cable 118 is then paid out to the desired length and the vehicle operates its hydrofoils 104, 106, 108 to move the vehicle into the desired vertical and lateral position and orientation.
  • Any of the thrusters 110, 112, 114 and variable buoyancy tanks 122 may also be used in conjunction / or on their own to help positioning the vehicle 100.
  • Typical tasks may include (i) reversing and connecting onto a structure to deliver services, e.g. electrical, hydraulic, air etc., (ii) deploying payloads to an accurate location on the seabed, e.g. ACDP, (iii) manipulation work such as connecting electrical connectors or cleaning, or (iv) inspection.
  • Figure 10 shows an embodiment of the present invention during a typical operation in low-flow mode.
  • the remotely operated submersible vehicle 100 is connected to a suitable tether winch 220 on the surface support vessel 200.
  • the mounting apparatus 116 moves the cable position towards the top of the vehicle 100 like in a more conventional work-class ROV.
  • the tether cable 118 is then paid out to the desired length and the vehicle 100 operates its thrusters 104, 106, 108 and variable buoyancy tanks 122 to manoeuvre the vehicle into position.
  • Typical tasks may include (i) reversing and connecting onto a structure to deliver services, e.g. electrical, hydraulic, air etc., (ii) deploying payloads to an accurate location on the seabed, e.g. ACDP, (iii) manipulation work such as connecting electrical connectors or cleaning, or (iv) inspection.
EP09178230A 2009-12-07 2009-12-07 Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable Withdrawn EP2330027A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP09178230A EP2330027A1 (fr) 2009-12-07 2009-12-07 Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09178230A EP2330027A1 (fr) 2009-12-07 2009-12-07 Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable

Publications (1)

Publication Number Publication Date
EP2330027A1 true EP2330027A1 (fr) 2011-06-08

Family

ID=41651138

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09178230A Withdrawn EP2330027A1 (fr) 2009-12-07 2009-12-07 Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable

Country Status (1)

Country Link
EP (1) EP2330027A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014058177A (ja) * 2012-09-14 2014-04-03 Tokyo Institute Of Technology 潜水体
CN104155991A (zh) * 2014-08-25 2014-11-19 南京工程学院 水下机器人位姿控制方法
WO2015050977A1 (fr) * 2013-10-01 2015-04-09 Lockheed Martin Corporation Câble de remorquage à rigidité variable
GB2524272A (en) * 2014-03-18 2015-09-23 Bibby Marine Survey Services Ltd Underwater platform
CN107831679A (zh) * 2017-11-09 2018-03-23 深圳市终极进化科技有限公司 一种四足仿生机器人的人性化控制系统及其控制方法
EP3286074A4 (fr) * 2015-03-25 2019-01-16 David Dowling Système, véhicule sous-marin remorqué et station d'amarrage pour visite touristique ludique sous-marine remorquée
CN110239694A (zh) * 2019-05-08 2019-09-17 泰州市柯普尼通讯设备有限公司 海洋通讯遥控潜水器

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3024757A (en) * 1959-08-24 1962-03-13 Vare Ind Underwater towed vehicle
US3137264A (en) * 1961-11-15 1964-06-16 Braincon Corp Underwater towed vehicle
US3613626A (en) * 1970-03-20 1971-10-19 Raymond E Kelly Remote operated lift control device
US4030434A (en) * 1975-03-15 1977-06-21 British Aircraft Corporation Limited Vehicles of the submersible type
US4350111A (en) * 1980-05-30 1982-09-21 Boyce Ii William D Laterally and vertically controllable underwater towed vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3024757A (en) * 1959-08-24 1962-03-13 Vare Ind Underwater towed vehicle
US3137264A (en) * 1961-11-15 1964-06-16 Braincon Corp Underwater towed vehicle
US3613626A (en) * 1970-03-20 1971-10-19 Raymond E Kelly Remote operated lift control device
US4030434A (en) * 1975-03-15 1977-06-21 British Aircraft Corporation Limited Vehicles of the submersible type
US4350111A (en) * 1980-05-30 1982-09-21 Boyce Ii William D Laterally and vertically controllable underwater towed vehicle

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014058177A (ja) * 2012-09-14 2014-04-03 Tokyo Institute Of Technology 潜水体
WO2015050977A1 (fr) * 2013-10-01 2015-04-09 Lockheed Martin Corporation Câble de remorquage à rigidité variable
US9701168B2 (en) 2013-10-01 2017-07-11 Lockheed Martin Corporation Variable rigidity tow cable
GB2524272A (en) * 2014-03-18 2015-09-23 Bibby Marine Survey Services Ltd Underwater platform
WO2015140526A1 (fr) * 2014-03-18 2015-09-24 Bibby Marine Survey Services Limited Plateforme sous-marine
CN104155991A (zh) * 2014-08-25 2014-11-19 南京工程学院 水下机器人位姿控制方法
CN104155991B (zh) * 2014-08-25 2017-11-07 南京工程学院 水下机器人位姿控制方法
EP3286074A4 (fr) * 2015-03-25 2019-01-16 David Dowling Système, véhicule sous-marin remorqué et station d'amarrage pour visite touristique ludique sous-marine remorquée
CN107831679A (zh) * 2017-11-09 2018-03-23 深圳市终极进化科技有限公司 一种四足仿生机器人的人性化控制系统及其控制方法
CN107831679B (zh) * 2017-11-09 2021-01-01 深圳市终极进化科技有限公司 一种四足仿生机器人的人性化控制系统及其控制方法
CN110239694A (zh) * 2019-05-08 2019-09-17 泰州市柯普尼通讯设备有限公司 海洋通讯遥控潜水器

Similar Documents

Publication Publication Date Title
AU2009324302B2 (en) Subsea well intervention module
EP2330027A1 (fr) Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable
EP3055201B1 (fr) Système permettant des opérations sous-marines
KR101416141B1 (ko) 수중 로봇의 작업지원 플랫폼 및 그 방법
US6390012B1 (en) Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
US11845521B2 (en) Marine structure comprising a launch and recovery system
EP2366866A1 (fr) Module d'intervention de puits sous-marin
CN106133251B (zh) 用于在大深度处从海床采集矿藏并将所述矿藏输送至浮船的水下采矿运载工具和方法
WO2021049949A1 (fr) Station de mise à quai intermédiaire pour des véhicules sous-marins
US20240025524A1 (en) Underwater snake robot with extreme length
US20240025523A1 (en) Underwater snake robot with passive joints
US20220227467A1 (en) Deployment of Unmanned Underwater Vehicles
JP2003291888A (ja) 水中航走体
US4333414A (en) Submersible twin-hull watercraft
GB2027396A (en) Submersible twin-hull watercraft
JP2004166434A (ja) 海底布設長尺体防護管の被着方法および装置
WO2022119447A1 (fr) Système de gestion d'amarre pour des opérations sous-marines
CA3148872A1 (fr) Systeme et procede de nettoyage de coque

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20111207