EP4282747A1 - Unterwasserkabelroboter - Google Patents

Unterwasserkabelroboter Download PDF

Info

Publication number
EP4282747A1
EP4282747A1 EP22382506.8A EP22382506A EP4282747A1 EP 4282747 A1 EP4282747 A1 EP 4282747A1 EP 22382506 A EP22382506 A EP 22382506A EP 4282747 A1 EP4282747 A1 EP 4282747A1
Authority
EP
European Patent Office
Prior art keywords
boat
frame
floating barge
cables
robot
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.)
Pending
Application number
EP22382506.8A
Other languages
English (en)
French (fr)
Inventor
Damien Salle
Maria de la O Rodríguez Mijangos
Jose Gorrotxategi Txurruka
Arkaitz Oyarzabal Marzal
David Culla Irastorza
Pierre-Elie Herve
Arantxa Apaolaza Arroyo
Angel San Román Prado
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.)
Fundacion Tecnalia Research and Innovation
Original Assignee
Fundacion Tecnalia Research and Innovation
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 Fundacion Tecnalia Research and Innovation filed Critical Fundacion Tecnalia Research and Innovation
Priority to EP22382506.8A priority Critical patent/EP4282747A1/de
Priority to PCT/EP2023/064004 priority patent/WO2023227700A1/en
Publication of EP4282747A1 publication Critical patent/EP4282747A1/de
Pending legal-status Critical Current

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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
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/02—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling
    • B63C7/04—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling using pontoons or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways

Definitions

  • the present invention relates to an underwater cable robot adapted to carry out underwater works, such as: rescue, repair and preferably for seabed cleaning, being capable of selectively and efficiently removing small and large debris from the seabed and the water column, with minimal impact on the marine ecosystem.
  • ML Marine Litter
  • fishermen also lift litter as diverse as bikes, households, tyres, paint containers, nets, polystyrene and so much more.
  • Approximately 80% of ML comes from land-based sources, however, in some regions, sea-based sources (maritime works, shipping, fisheries) are very important. ML impacts not only the marine organisms and environment in many ways, but it also carries a risk to human health. It affects negatively vital economic sectors such as tourism, fisheries, aquaculture or energy supply.
  • the estimated damage cost from ML across the 21 Pacific Rim economies is €949 million annually in total, €273 million for the fishing industry, €209 million for the shipping industry and €467 million for marine tourism.
  • the total quantified cost of ML ranges from €259 million to €694.7 million.
  • the invention is defined in the attached independent claim, and satisfactorily solves the above-described drawbacks of the prior art, by the provision of a cable-based underwater robot installed and operated from any suitable floating platform, such as: a barge, a boat, a catamaran, a vessel, or a pontoon, and fitted with suited tools to the task to be carried out.
  • a cable-based underwater robot installed and operated from any suitable floating platform, such as: a barge, a boat, a catamaran, a vessel, or a pontoon, and fitted with suited tools to the task to be carried out.
  • the cable underwater robot is adapted for seabed cleaning, thus, it is provided with selective cleaning tools that allows the removal of large items on the seabed in a harmless way for the marine ecosystem, as well as floating plastics in the lower water column.
  • an aspect of the invention refers to an underwater cable robot that comprises a floating platform such as a barge or boat, having a passing through opening providing access to a water column below the floating barge or boat and to the seabed.
  • the floating barge or boat includes a submergible frame fitted with a tool, which can be for example one of the followings: a gripper hydraulically or electrically operated, a drudge hose and head, or a robotic arm fitted with an end effector, so that the tool can collect, pick, grip, cut or suction debris underwater.
  • a tool which can be for example one of the followings: a gripper hydraulically or electrically operated, a drudge hose and head, or a robotic arm fitted with an end effector, so that the tool can collect, pick, grip, cut or suction debris underwater.
  • the floating barge or boat further comprises at least three motor driven winches attached to the floating barge or boat either directly or indirectly, preferably on the upper surface of the floating barge or boat, and a system of cables or tendons extending or extendable through the opening of the floating barge or boat, connecting the winches with the submergible frame through a set of pullies.
  • the winches and the system of cables are arranged such that the frame can be kept suspended by the systems of cables below the floating barge or boat, when the frame is submerged, or above the floating barge or boat for configuring or maintenance of the frame, and during the barge or boat transportation.
  • the opening is formed in a central area of the floating barge or boat.
  • the opening has a rectangular configuration and there are four motor driven winches, such that, each winch is placed at a corner or nearby a corner of the rectangular opening.
  • the floating barge or boat includes a control unit adapted for controlling the operation of the winches in a coordinated manner, such that by winding and unwinding the cables from the winches, that is, by varying the length of the cables between the frame and the winches, the frame can be moved within a three-dimensional workspace and with at least six degrees of freedom below the floating barge or boat, for collecting debris from the seabed and from the water column or for performing any other required task.
  • the floating barge or boat comprises eight motor driven winches grouped in pairs
  • the system of cables comprises a pair of cables for each pair of winches such that each cable of the same pair of cables, is individually winded in one of the winches of the same pair of winches. A free end of each one of the cables is connected to the robot's frame.
  • the floating barge or boat comprises a supporting structure for each one of the winches, so that there are at least three supporting structures and preferably four supporting structures.
  • the supporting structures are mounted on the floating barge or boat, wherein each supporting structure has a carriage movably mounted therein, such that each carriage can be moved up and down relative to the floating barge or boat.
  • Each carriage is provided with at least one pulley, and each cable of the system of cables run on a pulley, so that, by moving the carriages up and down relative to the barge or boat, the system of cables can be elevated or lowered with respect to the barge or boat, so that the underwater cable driven robot can be operated in two configurations namely: parking and working position, thus, the operability of the cable robot is improved in that it is easy to: assemble, set-up and maintain while it is out of the water during the translation of the floating barge or boat to different hot spots (parking position), and having the submergible frame inside the water for ML removal operations (working position).
  • the supporting structures and the system of cables are configured such that the submergible frame, can be pulled upwards through the opening and be placed above the floating barge or boat or just above water for assembling and/or maintenance of the cable robot's frame, and during the translation of the floating barge or boat to different working areas.
  • the control unit is further adapted for controlling the movement of the carriages in a coordinated manner with the winches.
  • each of the four supporting structures is arranged at the corner of a rectangular area parallel to the floating barge or boat, and they extend upwards from the upper surface of the floating barge or boat which is generally flat.
  • the robot's frame is additionally fitted with at least one of the following items: a submergible camera adapted for capturing images of the robot's tool, a sensor for measuring the speed of the robot's frame underwater, a sensor for measuring the altitude of the robot's frame with respect to the seabed, an Inertial Measuring Unit for measuring displacements and orientation of the robot frame, and a depth sensor for measuring the depth of the robot's frame.
  • a submergible camera adapted for capturing images of the robot's tool
  • a sensor for measuring the speed of the robot's frame underwater
  • a sensor for measuring the altitude of the robot's frame with respect to the seabed
  • an Inertial Measuring Unit for measuring displacements and orientation of the robot frame
  • a depth sensor for measuring the depth of the robot's frame.
  • An advantage of the invention is that due to the supporting structures with the vertically movable carriages, any type of floating barge or boat can be used because the operation of the cable robot is independent of the floating barge or boat height, and it would always allow two operational positions, namely: parking and working position.
  • the floating platform is a barge constructed using a set of standardized pontoons, that is, pontoons of the same shape and dimension, normally rectangular prismatic bodies, that allow a modular construction by properly arranging and anchoring the pontoons to configure a desired design of the barge.
  • the underwater cable robot described above features high efficiency in the seabed cleaning process, as the robot's frame can be moved accurately on the wavy seabed surface, with much higher motion capabilities (six degree of freedom controlled) than known underwater cleaning technologies, and in a selective manner to ensure environmental sustainability.
  • the cable robot's frame can be either remotely controlled by an operator that targets each identified marine litter (ML) item and decides when to activate the collection tool for grabbing the ML, thus, avoiding wiping the seabed indiscriminately.
  • ML marine litter
  • Figure 1 shows an underwater cable robot adapted as seabed cleaning platform (1) according to a preferred embodiment of the invention, wherein the platform (1) comprises a floating barge (2) having a passing through opening (3) providing access to a water column below the floating barge (2).
  • the floating barge (2) is formed by a set of commercially available pontoons (4) of standard shape and dimension, that allow a modular construction, so that by properly arranging and anchoring the pontoons (4), the desired configuration of the floating barge (2) is obtained.
  • the floating barge (2) is designed for still waters and sea operations, and its stability is ensured by anchor feet or wire anchors, depending on the depth of the seafloor to be cleaned.
  • the maximum depth of operation is directly correlated to the width of the floating barge (2).
  • the floating barge (2) can be transported from one working area to another by a tugboat, for example by means of a tug with azimuthal twin propeller propulsion that provide excellent navigational capabilities in internal waters close to the coastline.
  • the seabed cleaning platform (1) is fitted with an onboard propulsion system and position stabilization using Dynamic Positioning to avoid anchoring devices, using the tugboat only for precision navigation when required.
  • the seabed cleaning platform (1) further includes a submergible frame (11) fitted with tools (6) adapted for collecting debris underwater such as: a hydraulic or electric gripper for collecting large objects and an aspiration tool for collecting small debris, and at least three supporting structures (7a,7b,7c,7d) mounted on the upper surface of floating barge (2), and preferably extending upwards for example orthogonally, from the upper surface of the floating barge (2).
  • tools (6) adapted for collecting debris underwater such as: a hydraulic or electric gripper for collecting large objects and an aspiration tool for collecting small debris
  • at least three supporting structures (7a,7b,7c,7d) mounted on the upper surface of floating barge (2), and preferably extending upwards for example orthogonally, from the upper surface of the floating barge (2).
  • each supporting structure (7a,7b,7c,7d) is arranged at the corner of a rectangular area parallel or coplanar with the floating barge (2) as better shown in Figure 5 , wherein the opening (3) is rectangular and it is formed in an inner or central area of the floating barge (2).
  • Each supporting structure (7a,7b,7c,7d) is arranged nearby or at the corner of the rectangular opening (3).
  • the floating barge may have other configuration, for example a U-shape.
  • the seabed cleaning platform (1) includes four pairs of motor driven winches (8a,8b,8c,8d), such as each pair of winches is placed also at a corner of the rectangular opening (3), preferably mounted on the barge (2) or together with one supporting structure (7a,7b,7c,7d).
  • the seabed cleaning platform (1) includes a system of cables or tendons (9) that can extend through the opening (3) of the floating barge (2), connecting the pairs of winches (8a,8b,8c,8d) with the frame (11) through a set of pullies (17a,17b,17c,17d), such that the frame (11) can be kept suspended by the systems of cables (9) below the floating barge when the frame (11) is submerged for cleaning operations as shown in Figure 3 (working position), or above the floating barge (2) for assembling and/or maintenance of the frame (11), or while transporting the seabed cleaning platform (1), as show in Figure 1 (parking position). In the parking position, not only the frame (11) is out of the water, but also the tool (6) and the systems of cables (9).
  • the system of cables (9) comprises a pair of cables for each pair of winches (8a,8b,8c,8d), such that each cable of the same pair of cables is individually winded in one of the winches of the same pair of winches.
  • Each supporting structure (7a,7b,7c,7d) is provided with a carriage (10a,10b,10c,10d) movably mounted with the respective supporting structure (7a,7b,7c,7d), such that each carriage (10a,10b,10c,10d) can be moved up and down relative to the floating barge (2).
  • the supporting structure (7a,7b,7c,7d) and the respective carriage (10a,10b,10c,10d), are configured in a way that the carriages (10a,10b,10c,10d) can be moved down within the opening (3) right onto the water level.
  • each carriage (10a,10b,10c,10d) is fitted with a pair of pulleys (17a,17b,17c,17d), in a way that each pulley of the pair is associated with a winch of the respective pair of winches, so that one cable of the system of cables (9) is winded in a winch and runs on the respective pulley. Therefore, the system of cables (9) and in turn the frame (11), can be moved up and down relative to the floating barge (2) by moving up and down in a coordinated manner the carriages (10a,10b,10c,10d).
  • the seabed cleaning platform (1) can incorporate a crane (13) mounted on the floating barge (2) for hoisting a basket (14).
  • the crane (13) lands the basket (14) on the seabed and the tool (6) of the frame (11) carry out the fine manipulation of the litter to be deposited in the basket (14), and when full, the basket is lifted onto the floating barge (2).
  • the frame (11) has a main structure (5), such a free end of each one of the eight cables of the system of cables (9) is connected to the robot's frame (11) at distant connection points (B1, B2, B3, B4, B5, B6, B7, B8) of the main structure (5), preferably placed at the vertex of the main structure (5).
  • the system of cables (9) is arranged in a cross-configuration as better show in Figure 5 , wherein the term cross-configuration means that each cable of the system of cables (9) intersects, from a top plan view as shown in Figure 5 , with one of the consecutive cables of an adjacent supporting structure (7a,7b,7c,7d).
  • a set of sensors and cameras for manual, automatic and teleoperated operations are also attached to the frame (11).
  • the frame (11) integrates: the water-vacuum hose (12) that allow removal of small debris on the seabed as well as floating plastics in the lower water column. No filtering will be performed by the robot frame (11), as water flow will be directed to the platform where the filtering can be carried out at thew filtering cage (18). Water, sand, seaweed, shells are thrown overboard back to the water.
  • the frame (11) also integrates a tool (6) in this case consisting of a hydraulic or electric gripper that allow removal of large items such as: bikes, households, tyres, paint containers, nets, polystyrene and similar objects.
  • a tool (6) in this case consisting of a hydraulic or electric gripper that allow removal of large items such as: bikes, households, tyres, paint containers, nets, polystyrene and similar objects.
  • the frame (11) is fitted with underwater perception sensors that allow visual-feedback to the operator for the teleoperated robot control.
  • the frame (11) and its main structure (5) features a compact size to avoid collisions with any object (rocks, etc.) while it moves on the seabed, and it has an excellent capability to balance off-centred to withstand water current forces at different depths of the water column and at seabed.
  • the supporting structures (7a,7b,7c,7d) are instrumented with RTK-GPS, force sensors for the cables, and inclinometers/IMU to measure the oscillatory effect of the swell.
  • the frame (11) is designed as a compact but heavy structure in order to be used in harsh outdoor and maritime environment, protecting all the devices attached to it, and with the centre of gravity at its bottom area or as close as possible, to withstand forces due to sea currents at different depths of the water column and at the seabed.
  • the seabed cleaning platform (1) has a control unit (not shown) adapted for controlling the operation of the winches (8a,8b,8c,8d) in a coordinated manner, such that by winding and unwinding the cables from the winches, that is, by controlling the length and tension of the cables, the frame (11) can be moved within a three-dimensional workspace below the floating barge (2) with at least six degrees of freedom in an accurate and stable fashion, for collecting debris from the seabed and from the water column, as represented in Figure 9 .
  • the control unit is also adapted for controlling the operation of the carriages (10a,10b,10c,10d), so that when the carriages are in their elevated position, the frame (11) is placed above the floating barge (2) through the opening (3), and when the carriages are in their lower position, the frame (11) is submerged for cleaning work.
  • the above-described configuration of the seabed cleaning platform (1) maximizes the three-dimensional working space of the frame (11).
  • the working space is defined by a set of positions (displacements in the cartesian axes: X, Y, Z and rotations: Rx, Ry, Rz) that can be reached for the frame (11) once contact points (A's) and connection points (B's) ( Figure 1 ), the cable arrangement and the maximum cable tensions to support external forces, have been defined.
  • contact points (A1, A2, A3, A4, A5, A6, A7, A8) also called drawing points, are the points of last contact between cables and pullies (as there is relative movement between cables and associated pully).
  • Connection points (B1, B2, B3, B4, B5, B6, B7, B8), are attachment points between the cables and the robot's frame (11). Cable arrangement is the distance between A and B points in each cable.
  • the working space also depends on the size of the floating barge (2). Having four supporting structures (7a,7b,7c,7d) for fixing eight pullies in pairs, means that a working space with a prismatic rectangular shape is created. Location of A and B points and cable arrangements have been established with the aim of maximizing the working space of the cable robot. Maximizing means having the best ratio between the footprint of the cable robot (physical location of the A points) and the extreme locations of the frame (11) in the workspace.
  • the B points of the upper side of the robot's frame (11) can be at minimum aprox 1.5 m distanced from the A points.
  • the robot's frame (11) cannot go higher from this position, because in that case the cable tensions would be over limit established.
  • the height of the supporting structures (7a,7b,7c,7d) is defined taking into account the maximum cable tension and the location of the robot's frame (11) with respect to the floating barge (2).
  • the platform (1) can work in two modes, manual teleoperated mode, and semi-autonomous teleoperated mode, as described below:
  • Figure 9 shows the seabed cleaning platform (1) while cleaning the seabed. This task can be performed in different modes, namely: aspiration in the water column, aspiration on the seabed and cable robot performing in pre-defined trajectories on the seabed.
  • the operation procedure of the seabed cleaning platform (1) is as follows:
  • the main purpose of the platform (1) is collecting marine litter, it could also be used for rescue operations or repair works underwater.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning In General (AREA)
EP22382506.8A 2022-05-26 2022-05-26 Unterwasserkabelroboter Pending EP4282747A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22382506.8A EP4282747A1 (de) 2022-05-26 2022-05-26 Unterwasserkabelroboter
PCT/EP2023/064004 WO2023227700A1 (en) 2022-05-26 2023-05-25 Underwater cable robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22382506.8A EP4282747A1 (de) 2022-05-26 2022-05-26 Unterwasserkabelroboter

Publications (1)

Publication Number Publication Date
EP4282747A1 true EP4282747A1 (de) 2023-11-29

Family

ID=81940755

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22382506.8A Pending EP4282747A1 (de) 2022-05-26 2022-05-26 Unterwasserkabelroboter

Country Status (2)

Country Link
EP (1) EP4282747A1 (de)
WO (1) WO2023227700A1 (de)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5787786A (en) * 1980-11-21 1982-06-01 Nakamura Tekkosho:Kk Submarine sightseeing boat
US20160264223A1 (en) * 2013-11-05 2016-09-15 Subsea 7 Limited Tools and Sensors Deployed by Unmanned Underwater Vehicles
US20170129749A1 (en) * 2015-11-06 2017-05-11 Fundacion Tecnalia Research and Innovation Application and method for positioning and orientating a load
CN109715490A (zh) * 2016-09-20 2019-05-03 沙特阿拉伯石油公司 用于水下载具的浮力控制的可重复使用浮力模块
CN107719591B (zh) * 2017-10-09 2019-05-31 中国石油大学(华东) 水下设备运输及安装就位作业船
EP3268583B1 (de) * 2015-03-11 2020-01-08 Van Oord Dredging And Marine Contractors B.V. Unterwassergreifsystem und meeresfahrzeug mit solch einem unterwassergreifsystem

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5787786A (en) * 1980-11-21 1982-06-01 Nakamura Tekkosho:Kk Submarine sightseeing boat
US20160264223A1 (en) * 2013-11-05 2016-09-15 Subsea 7 Limited Tools and Sensors Deployed by Unmanned Underwater Vehicles
EP3268583B1 (de) * 2015-03-11 2020-01-08 Van Oord Dredging And Marine Contractors B.V. Unterwassergreifsystem und meeresfahrzeug mit solch einem unterwassergreifsystem
US20170129749A1 (en) * 2015-11-06 2017-05-11 Fundacion Tecnalia Research and Innovation Application and method for positioning and orientating a load
CN109715490A (zh) * 2016-09-20 2019-05-03 沙特阿拉伯石油公司 用于水下载具的浮力控制的可重复使用浮力模块
CN107719591B (zh) * 2017-10-09 2019-05-31 中国石油大学(华东) 水下设备运输及安装就位作业船

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