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
  • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
• • 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
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
  • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
  • F16L1/12—Laying or reclaiming pipes on or under water
  • F16L1/20—Accessories therefor, e.g. floats or weights
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
  • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
  • F16L1/12—Laying or reclaiming pipes on or under water
  • F16L1/20—Accessories therefor, e.g. floats or weights
  • F16L1/235—Apparatus for controlling the pipe during laying
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
  • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
  • F16L1/26—Repairing or joining pipes on or under water
• • 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
  • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

• TITLE Underwater automotive system circulating on a pipeline
• the present invention relates generally to the field of underwater activities and in particular to the laying of underwater pipes. It relates, more particularly, to an underwater automotive system intended to circulate on a pipe in open water, that is to say not placed on the seabed or buried in the seabed. It can be applied to any aquatic environment: ocean, sea, lake, river... and the term underwater must be taken in the general sense of a liquid/hydric environment.
• the system of the invention is mainly used to communicate in real time to the vessel laying the pipe information making it possible to know in particular the position of the pipe at different altitudes (from the bottom), its angulation, possibly images of the burial, and any other useful information for the installation.
• the present invention proposes a simple solution while ensuring good stability of the system and using widely used rolling means such as wheels with tires on rims.
• the proposed system allows the realization of a train consisting of a chaining of systems and which can also circulate on the pipe.
• the invention relates to an underwater automobile system comprising:
• - mobility means allowing it to move along the outer surface of a pipe, coaxially with said pipe, the pipe being extended longitudinally along a pipe axis,
• At least one lateral articulated arm carrying at least one of the support members to allow mobility of this support member transversely to the axis of the body, between, on the one hand, an open position allowing the installation of the system on the pipe with the other support members resting against the pipe and, conversely, the uninstallation of the system, on the other hand, a service position in which said at least one support member carried by said at least a lateral articulated arm is folded down in abutment against the pipe to achieve with the other support members said movable connection of the body on the pipe, said at least one lateral articulated arm being held in the service position by at least one locking member,
• an underwater automobile system comprising rolling means allowing it to move in a stable manner. along the outer surface of a pipe, coaxial with said pipe, the pipe being extended longitudinally along a pipe axis, the system comprising a body elongated along a body axis, the body having an end front and a rear end, the body comprising on the driving side and towards each of the two ends of said body, respectively a front wheel and a rear wheel, allowing the body to roll at least parallel to the pipe on the surface of said pipe, the front wheel and the rear wheel being arranged in the same plane containing the axis of the body, the body comprising between its two ends two articulated lateral arms terminated by two lateral wheels, the two lateral wheels being able to ant be brought against or away from the surface of the pipe by movements of the two lateral articulated arms, each wheel being of circular shape defining a circular plane and having an axis of rotation perpendic
• point of wheel application corresponds in practice to a portion of the running surface of the wheel, that is to say an area of a certain extent given that the wheel is not not in practice an absolutely flat and non-deformable disc but has a certain thickness and preferably a certain flexibility so that the wheel applies in practice to a certain surface of the pipe.
• This rolling surface is of substantially cylindrical shape and is perpendicular to the circular plane of the wheel.
• a driving section plane is a plane transverse to the driving and therefore perpendicular to the driving axis and, also, the front and rear wheels apply along the same generatrix of the surface of the driving and the two side wheels are applied along two other generatrices of the driving surface.
• the axis of the body may be inclined relative to the pipe axis, in particular if it is desired that the body moves helically along and around the pipe or to change its angular position. around the pipe, at least one of the wheels being able to be directional to allow control of the direction of mobility of the body on the pipe.
• the support member or at least one of the support members mounted/arranged on the body to take a rolling mobile support is a wheel
• the support member or at least one of the support members mounted on the body for take a rolling mobile support is an endless belt type caterpillar
• the endless belt type caterpillar comprises at least two wheels
• the support member or at least one of the support members mounted on the body to take a sliding mobile support is a pad
• the support members are four in number and are four runners, the system comprising a front runner and a rear runner arranged in the same plane containing the body axis, the system comprising two lateral articulated arms terminated by two lateral runners ,
• the support members are four in number and are a wheel and three runners, the system comprising a front wheel and a rear runner arranged in the same plane containing the body axis, the system comprising two lateral articulated arms terminated by two side skids,
• the support members are four in number and are a wheel and three runners, the system comprising a front runner and a rear wheel arranged in the same plane containing the body axis, the system comprising two lateral articulated arms terminated by two side skids,
• the support members are four in number and are two wheels and two runners, the system comprising a front wheel and a rear wheel arranged in the same plane containing the body axis, the system comprising two lateral articulated arms terminated by two side skids,
• the support members are four in number, the system comprising a front support member and a rear support member arranged in the same plane containing the body axis, the system comprising two lateral articulated arms terminated by two lateral support members, the two lateral support members being able to be brought against or away from the surface of the pipe by movements of the two lateral articulated arms, each lateral support member and the assembly consisting of the two aligned front and rear support applied to the pipe surface in radial directions angularly offset around the pipe axis, and the points of application of the two lateral support members on the surface of the pipe are included in an intermediate pipe section plane, the point of application of the front support member on the surface of the pipe being included in a section plane front pipe, the point of application of the rear support member on the surface of the pipe being included in a rear pipe section plane, the intermediate pipe section plane is, along the pipe, in an intermediate position between the forward pipe section plane and the rear pipe section plane,
• the support members are four in number and are wheels
• the system comprising a front wheel and a rear wheel arranged in the same plane containing the body axis, the system comprising two lateral articulated arms terminated by two lateral wheels , the two side wheels being able to be brought against or away from the surface of the pipe by movements of the two side articulated arms, each wheel being of circular shape defining a circular plane and having an axis of rotation perpendicular to the said circular plane and passing through the center of said circular plane, and in which, when the two front and rear wheels and the two side wheels are applied against the pipe, the two side wheels are applied to the surface of the pipe in radial directions angularly offset around the driving axis and distinct from each other and from the radial direction of application of the front and rear wheels, and the points of application of the two side wheels on the driving surface are included in an intermediate driving section plane, the point of application of the front wheel on the driving surface is included in a front driving section plane, the point of application of the rear wheel to the pipe surface
• the intermediate pipe section plane is, along the pipe, in an intermediate position located at an equal distance between the front pipe section plane and the rear pipe section plane,
• the lateral articulated arms comprise means ensuring at least one of the following capacities: retractable, telescopic, pivotable,
• each wheel comprises a tire mounted on a rim, the tire comprising a running surface substantially perpendicular to the circular plane of the wheel,
• the tires are solid tires
• At least the lateral articulated arms and their lateral support members comprise an inclination adjustment device intended to place the support plane of each lateral support member substantially tangent to the surface of the pipe when the two the front and rear support and the two lateral support members are applied against the pipe,
• At least the lateral articulated arms and their lateral wheels comprise a wheel inclination adjustment device intended to place each circular wheel plane in a plane radial to the axis of the pipe so that the rolling surface is substantially tangent to the driving surface when the two front and rear wheels and the two side wheels are applied against the driving,
• At least one of the two lateral articulated arms comprises, beyond its lateral support member, a retractable connecting profile intended to achieve, when the two front and rear support members and the two lateral support members are applied against the pipe, a direct removable connection between the two lateral support members in order to encircle the pipe,
• each of the two lateral articulated arms comprises, beyond its respective lateral support member, a retractable connecting profile intended to produce, when the two front and rear support members and the two lateral support members are applied against the pipe and when the two sections are joined together, a direct removable connection between the two lateral support members in order to encircle the pipe,
• only one of the two lateral articulated arms comprises, beyond its lateral support member, a retractable connecting profile intended to achieve, when the two front and rear support members and the lateral support members are applied against the pipe and when the profile is joined to the other lateral support member, a direct removable connection between the two lateral support members in order to encircle the pipe,
• At least one of the two articulated side arms comprises, beyond its side wheel, a retractable connecting profile intended to produce, when the two front and rear wheels and the two side wheels are applied against the pipe, a direct removable connection between the two side wheels in order to encircle the driving,
• each of the two lateral articulated arms comprises beyond its respective lateral wheel a retractable connecting profile intended to achieve, when the two front and rear wheels and the two lateral wheels are applied against the pipe and when the two profiles are joined together, a direct removable connection between the two side wheels in order to encircle the pipe,
• only one of the two lateral articulated arms comprises beyond its lateral wheel a retractable connecting profile intended to achieve, when the two front and rear wheels and the two lateral wheels are applied against the pipe and when the profile is joined to the the other side wheel, a direct removable connection between the two side wheels in order to encircle the driving,
• the connecting profile(s) are adjustable in length, in order to allow adjustment of the system according to the diameter of the pipe,
• the lateral articulated arm(s) are adjustable in length, in order to allow adjustment of the system according to the diameter of the pipe,
• the retractable connecting profile or at least one of the two retractable connecting profiles comprises means ensuring at least one of the following capacities: retractable, telescopic, pivotable,
• the bearing members have a fixed orientation once the two front and rear bearing members and the two lateral bearing members are applied against the pipe, that is to say that they are not directional ,
• the wheels have a fixed orientation once the two front and rear wheels and the two side wheels are applied against the driving, i.e. they are not directional, the circular planes of wheels cannot swing,
• At least one of the support members is directional to allow control of the direction of mobility of the body on the pipe
• At least one of the wheels is directional, the circular wheel plane being able to pivot,
• the means of mobility include motorization
• the motorization drives at least one of the support elements
• the motorization drives at least one of the wheels
• the motorization is provided by a propeller or turbine thruster arranged on the body of the system,
• At least one of the support members is motorized to allow controlled movement of the body on the pipe
• the system is configured so that the body moves with at least one mobility along the direction of the body axis
• system is further configured so that the body moves with mobility in a direction orthoradial to the body axis
• the support members are wheels and the system comprises a front wheel and a rear wheel arranged in the same plane containing the body axis, at least one of the front wheel and the rear wheel being motorized,
• At least one of the wheels is motorized in order to allow movement of the body along the pipe when the two front and rear wheels and the two side wheels are applied against the pipe,
• the driven motorized wheel comprises an electric motor
• the driven motorized wheel does not include an electric motor, a transmission being arranged between the wheel and the electric motor,
• the transmission is ensured by one or more of a rigid or flexible or articulated transmission shaft, gears, a pressure roller applied to the wheel,
• the system includes a motorized wheel slip detector
• the system includes rechargeable electric batteries
• At least one of the front and rear wheels comprises a braking device
• ABS Advanced Driver Assistance Systems
• the braking components use the electric motor in electric generator mode
• the electric motor in electric generator mode is also used to recharge the system's rechargeable electric batteries
• shock absorbers At least the front and rear wheels are mounted on shock absorbers
• the lateral articulated arms are mounted on the body via shock absorbers,
• each lateral articulated arm is held in the service position by at least one blocking member, said at least one blocking member being a jack also serving to articulate the articulated arm,
• each lateral articulated arm includes an emergency release device intended to stop the service position by releasing the encirclement of the pipe and allowing the system to be released from the pipe,
• the lateral articulated arm blocking device includes an emergency release device intended to stop the service position by releasing the encirclement of the pipe and allowing the system to be released from the pipe,
• the emergency release device is remote-controlled directly, i.e. without going through system equipment, the remote control being carried out in particular by acoustic waves,
• the system also includes one or more connecting sections, at least one of these also includes an emergency release device,
• the front end and the rear end of the body comprise complementary coupling devices so that the adjoining ends of two bodies of two systems can be coupled together and in order to be able to form a train consisting of a chain of systems in which the systems are coupled together two by two,
• the additional coupling devices include removable locking means
• the system is a power car essentially comprising motor components with at least one motorized wheel,
• the system is an actuator intended to perform at least one action other than motricity
• At least one of the actuators is a thruster positioner in the water comprising a propeller or a turbine, said thruster positioner being intended to exert a force substantially transverse to the driving axis to move the driving in a plane substantially perpendicular to the driving axis,
• the system includes acoustic transmission means
• the system is equipped with an acoustic beacon making it possible to position the system by positioning means, in particular located on the surface, - the system includes sensors,
• the system includes an acoustic positioning beacon
• the system includes an acoustic communication modem
• the system includes an attitude unit
• the attitude unit is used to measure the angular position of the system and therefore of driving
• the system comprises servo means receiving the angular position of the system in order to orient the acoustic transmission means in a determined direction, in particular towards the surface or towards the laying vessel,
• the acoustic transmission means are arranged in an enclosure connected by a flexible cable to the system and the enclosure has a positive buoyancy causing it to orient upwards in the water in a substantially predictive manner once the system submerged and in order to orient the acoustic transmission means in a determined direction,
• the flexible cable is on a reel allowing to release or recover lengths of flexible cable
• the system comprises an attitude unit and acoustic transmission means comprising an acoustic positioning beacon and/or an acoustic communication modem, the attitude unit making it possible in particular to measure the angular position of the system, the system further comprising servo means receiving the angular position of the system in order to orient the acoustic transmission means in a determined direction, in particular towards the surface or towards the laying vessel,
• the system includes oceanographic sensors
• the system includes video means
• the actuator and/or explorer means are carried by the body of the system
• the actuator and/or explorer system comprises at least one motorized wheel
• the actuator and/or explorer system does not include a motorized wheel
• the train consists of a system which is a driving force and at least one actuator and/or explorer system,
• the system is both a motor and an actuator intended to perform an action other than motor skills and/or an explorer
• the front end and the rear end of the body further comprise complementary guide shapes intended to ensure centering and alignment of the two bodies when their respective extremities come together,
• the two complementary guide shapes are male and female cones
• the coupling also comprises means of electrical connection between systems, in particular power and/or data,
• the coupling also comprises means of optical connection between systems, in particular data,
• the hitch also comprises means of pneumatic connection between systems
• the hitch also comprises means of hydraulic connection between systems
• the front end and the rear end of the body comprise complementary electrical connectors, said electrical connectors being intended for data and/or electrical power supply,
• the systems comprise means of wireless data link between them, in particular optical and/or radioelectric and/or sound,
• the systems comprise means of wireless data link, in particular optical and/or radioelectric and/or sound, with third-party equipment, in particular a surface ship transceiver or a transceiver head of a cable introduced into pipe or installed on or in the pipe,
• the body comprises a chassis and at least one payload
• the system is arranged to be substantially symmetrical in shape with respect to a sagittal plane carried by the body axis and passing through the circular planes of the front and rear wheels,
• the system is arranged to be substantially symmetrical for weight distribution with respect to a sagittal plane carried by the body axis and passing through the circular planes of the front and rear wheels,
• the system has a positive inherent buoyancy
• the system has an overall length of 1230 mm
• the invention also relates to a train consisting of a set of systems according to the invention which are coupled together in pairs.
• FIG. 1 shows a side view of an installed system, in service position, on a pipe
• FIG. 2 shows a front view of the installed system, in service position, on the pipe
• FIG. 3 shows a top view of the installed system, in service position, on the pipe
• FIG. 4 shows a perspective view of the installed system, in service position, on the pipe
• FIG. 5 shows a side view of part of a train in the service position on the pipe, the train being made up of a set of systems according to the invention which are coupled together in pairs made up of a set of systems according to the invention which are hitched together in pairs.
• the system of the present invention is similar to a device that is at least tripod, and preferably quadruped, whose feet are support members allowing everyone to take a mobile, rolling or sliding support, on a pipe. so as to create a movable connection between the feet and said pipe and allowing the device to roll and/or slide in a stable manner in at least one direction parallel to the axis of the pipe.
• the system of the present invention is similar to a bicycle with two wheels, one front and one rear, with in addition two stabilizing side wheels at the end of two side articulated arms, these side wheels stabilizers being however arranged in an intermediate transverse plane between the front wheel and the rear wheel of the bicycle.
• the four wheel contact points are distributed in space since on the periphery of the pipe when the system is installed on said pipe.
• the system of the invention can move under water along the pipe, stably, but because it encircles/surrounds the pipe, this is only possible in zones of the pipe where the latter is in full water, free on all its faces, ie not yet laid on the bottom or even buried in the case of the laying of a pipe.
• the system comprises a means of mooring or locking in position to ensure the parking of the system in a fixed position on the pipe reel which is located on the pipe laying vessel. In the park position, the wheels of the system are free to rotate in order to allow the driving to circulate freely.
• This means of mooring or locking in position is removable so that the system can be released and can follow the unwound pipe and travel on this pipe.
• the system is motorized and is preferably energy self-sufficient with typically an electric motor and rechargeable electric batteries.
• a wired connection with a surface vessel for the transmission of data, including commands, and/or energy, in particular electricity.
• a surface vessel for the transmission of data, including commands, and/or energy, in particular electricity.
• one of the systems of the train can be connected by wire/cable to the surface ship, the other systems of the train sharing the data and/or the energy supplied by the wired connection thanks to a data and/or energy bus traversing the length of the train and resulting from the coupling by coupling of the various systems of the train.
• the system 1 is installed on the pipe 2 and encircles/surrounds it essentially at a distance, only the wheels 6, 7, 12, 13 coming into contact with the surface of the pipe.
• the wheels are clincher on rim.
• Pipe 2 is here cylindrical and elongated around a pipe axis 4.
• the system comprises a body 5 comprising any useful equipment for actuator means and/or explorers in addition to devices useful for the motorization and for the control and command of the system.
• the body 5 is here made up of individual blocks of equipment. In other modalities, other shapes of blocks are possible and a fairing can even be provided.
• the system 1 and in particular its body 5 are symmetrical with respect to a sagittal plane in order to balance the system and prevent it from tending to tilt to one side when the body is above. above the pipe, vertical to the pipe axis 4.
• the center of gravity of the system can be relatively high with respect to the pipe axis 4 depending on the weight of the body 5 with respect to the lateral articulated arms 10, 11, lateral wheels 12, 13 and the connecting profile(s) 14. Provision is therefore made, in other modalities, for additional weights towards the side wheels and/or the connecting profile(s) 14 and/or certain items of body equipment are planned to be lowered lower or even they are installed on the lateral articulated arms.
• the body is elongated, along a body axis 3, between a front end 21 and a rear end 22.
• the front end 22 and the rear end comprise coupling devices 19, resp. 20 complementary and guide shapes 9, 8 complementary.
• a front wheel 7 is installed towards the front end 21 and a rear wheel 6 is installed towards the rear end 22.
• the lateral articulated arms 10, 11 are arranged on the two lateral sides of the body 5 and the two lateral wheels 12, 13 are arranged at their lateral ends.
• positioning means allow the treads of the wheels 6, 7, 12, 13 to apply tangentially to the surface of the pipe and therefore the circular planes of the wheels to be carried by radial axes 16, 17 , 18, around the driving axis 4 as shown in FIG. 2.
• the arrangement of the wheels along the pipe in side view (FIG. 1) is preferably such that the intermediate pipe section plane 24 of application of the side wheels 12, 13 to the pipe is equidistant from the front pipe 23 of application of the front wheel 7 and of the rear pipe section plane 25 of application of the rear wheel 6.
• Adjustment devices 15, preferably with damping, make it possible to adjust the positions and lengths of the lateral articulated arms 10, 11 and of the connecting section(s) 14 in order in particular to bring them to the service position.
• the adjustment devices 15, which here are cylinders, also allow the locking in position and length of the lateral articulated arms 10, 11 and of the connecting section(s) 14 and they thus also constitute locking members.
• the system is configured to open and be able to be removed from the pipe, typically by opening the connecting profile 14 and by moving the side wheels 12, 13 apart by action on the side articulated arms 10, 11.
• Closing and the opening of the system can be manual but controllable actuating members, in particular jacks, can be used to control the lateral articulated arms 10, 11 and the connecting profile(s) 14 in order to open and close the system.
• each lateral articulated arm comprises an emergency release device making it possible to leave the service position and the opening of the arms, when it is activated, in particular from the surface, thanks to an acoustic signal in order to release the pipe and to allow the system to rise to the surface and float there, the system with positive buoyancy.
• each emergency release device when it is activated and releases the arms, causes a balloon to be inflated by a gas, the balloon being connected to the system, the balloon being for example of the “airbag” type. ". It is understood that in the case where the system also comprises one or more connecting sections, at least one of these also comprises an emergency release device allowing it to be opened by means of the acoustic signal.
• Figure 3 in a bird's eye view from above, allows to visualize, in addition to the body 5, the two side wheels 12, 13 at the end of their respective articulated side arms 10, 11.
• FIG. 4 in a rear perspective view, the rear end 22 of the body 5 is better visualized and in particular the female guide form 8 in the form of a cone which is complementary to the male guide form 9 which is on the other hand at the front 21 of body 5.
• the systems 1 can be coupled and hitched two by two thanks to the coupling devices 19, 20, which are complementary in order to form a train of systems 1 . Provision can be made during this coupling for automatic electrical connections, in particular for power and/or data, or even for fluids, including gas and/or hydraulics, in order to form corresponding buses along the train.
• the two systems 1 represented are in the process of being coupled because the two guide shapes 8, 9 are not completely coupled and the complementary coupling devices 19, 20 have not yet come into contact, the contact ensuring the locking between the two systems.
• Each of the modules can be remote-controlled in the event that a wired connection is not provided with a surface ship.
• the system can be used for the inspection of pipes or submarine cables in areas where they are free, it is essentially useful in the field of the laying of pipes or submarine cables because at this time a large part of the pipe is not yet laid or buried on the bottom, this part extending from the surface vessel carrying out the laying. Indeed, the system is configured to surround the cable or pipe.
• the main application of the system is the precise positioning of the point of contact of the pipe with the bottom.
• one or more steerable wheels are advantageously implemented, preferably the front wheel and/or the rear wheel, in order to control the rotational positioning of the system around the axis of the pipe.
• one or more actuators of the system it is also advantageous for one or more actuators of the system to be thruster positioners in the water in order to be able to move the pipe in a plane substantially perpendicular to the pipe axis.
• the system it is advantageous for the system to include sensors and in particular an attitude unit as well as acoustic transmission means, in particular acoustic positioning beacon and/or acoustic communication modem.
• the attitude unit makes it possible in particular to measure the angular position of the system and therefore of the pipe, and this angular position is valuable information to communicate to the surface and the laying vessel because it helps to know the behavior of the pipe in train to be asked.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Aviation & Aerospace Engineering (AREA)
• Ocean & Marine Engineering (AREA)
• Manipulator (AREA)

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• 2021
  • 2021-02-12 FR FR2101345A patent/FR3119794B1/fr active Active
• 2022
  • 2022-02-11 EP EP22703685.2A patent/EP4291484A1/de active Pending
  • 2022-02-11 US US18/546,058 patent/US20240116611A1/en active Pending
  • 2022-02-11 WO PCT/EP2022/053411 patent/WO2022171817A1/fr not_active Ceased

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