EP4424580A1 - Inspection d'infrastructure sous-marine critique - Google Patents

Inspection d'infrastructure sous-marine critique Download PDF

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Publication number
EP4424580A1
EP4424580A1 EP24158755.9A EP24158755A EP4424580A1 EP 4424580 A1 EP4424580 A1 EP 4424580A1 EP 24158755 A EP24158755 A EP 24158755A EP 4424580 A1 EP4424580 A1 EP 4424580A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
underwater
underwater vehicle
connecting element
surface vehicle
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
EP24158755.9A
Other languages
German (de)
English (en)
Inventor
Peter Hauschildt
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.)
ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
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 ThyssenKrupp AG, ThyssenKrupp Marine Systems GmbH filed Critical ThyssenKrupp AG
Publication of EP4424580A1 publication Critical patent/EP4424580A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/18—Control of attitude or depth by hydrofoils
    • 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
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical

Definitions

  • the invention relates to a system for the particularly autonomous inspection of an underwater structure, for example a pipeline or an underwater cable.
  • the events of 2022 have shown the vulnerability of underwater infrastructure in particular, such as a gas pipeline. This has shown the need to be able to monitor such underwater structures.
  • underwater infrastructure such as a gas pipeline.
  • Another challenge is that satellite-based geopositioning is not possible underwater.
  • currents in the water lead to a difficult-to-detect offset, making navigation underwater more difficult.
  • the object of the invention is to create a system which is able to efficiently monitor large underwater structures, for example pipelines, and thus to check large distances by means of a visual control in particular and thus to be able to detect threats.
  • the system according to the invention for monitoring underwater structures consists of a surface vehicle and an underwater vehicle.
  • the underwater vehicle can preferably also be picked up and set down by the surface vehicle.
  • the system is an unmanned system. This means that both the underwater vehicle and the surface vehicle are unmanned. This makes monitoring possible in an efficient manner, especially since the time spent at sea is not limited by people.
  • the system can work both autonomously and remotely and, if necessary, also have manual control for special operations. Wiped operating modes are also possible, for example autonomous monitoring until a suspicious object is found. In this case, the system then switches from autonomous monitoring to remote-controlled monitoring, for example. Such mixed operation is particularly preferred if the system has effectors.
  • the mixed operation can, for example, include manual approach to the underwater structure and departure from the underwater structure if a manual control station is available. For these special trips, one person is then on board, but this person only has one comparatively short stay time.
  • the surface vehicle has an energy generation device.
  • An energy generation device is understood to be a device for providing energy in a usable form, for example a diesel generator which generates electrical energy (through the combustion of a fuel and thus from chemical energy). In addition to electrical energy, energy can also be provided via a hydraulic system, for example. However, the generation of electrical energy, for example through a combustion process or electrochemical processes, is preferred.
  • the underwater vehicle has at least one first observation device. Any device that allows observation/monitoring under water is suitable as an observation device within the meaning of the invention.
  • an observation device can be a camera, in particular a camera in the visible range of light. This enables visual monitoring, which is particularly useful for identifying suspicious objects on or near the underwater structure.
  • An observation device can also be sound-based, for example a sonar system. This has the advantage that it allows a greater range of observation even in very limited visibility conditions under water. However, any other suitable observation technology can also be used accordingly.
  • the surface vehicle and the underwater vehicle are connected to one another by a connecting element.
  • the connecting element has a power supply line for supplying the underwater vehicle via the surface vehicle.
  • the underwater vehicle therefore does not need its own energy generation device and can also do without an energy storage device, for example an accumulator, or an energy storage device can be correspondingly small.
  • the connecting element also has a data line for data transmission from the underwater vehicle to the surface vehicle.
  • the data line can also be used bidirectionally.
  • the underwater vehicle also has at least one first control device.
  • a control device in the sense of the invention is any device that enables a targeted movement of the underwater vehicle.
  • a rudder can be a corresponding control device.
  • the rudder can be a fixed rudder or a thruster. It is important that the underwater vehicle can influence the direction of movement using the control device alone.
  • the overall system consisting of a surface vehicle with an energy generation device and a controllable underwater vehicle for precise monitoring, which is unmanned, also makes it possible to monitor large underwater structures, such as pipelines or underwater cables in particular, since both speed and energy supply are less critical here. This makes it possible to enable monitoring within a reasonable framework and not just a selective check for maintenance requirements or the like.
  • the system according to the invention thus differs from devices for inspecting, for example, the underwater structure of an oil rig (not a large extension along the earth's surface, locally limited) or an exploration of the seabed for mineral resources (large area, but without sufficient resolution for monitoring critical infrastructure).
  • the connecting element is a pull cable.
  • the underwater vehicle is thus pulled over the connecting element and therefore does not require a primary drive. It can still have a steering drive which serves as a steering corrective, but the underwater vehicle is preferably driveless.
  • the first control device of the underwater vehicle is a rudder.
  • an underwater vehicle that is only pulled and has no rudder could practically not follow a pipeline. If the pipeline bends, the surface vehicle is already away from the pipeline due to the offset caused by the connecting element and will thus move the underwater vehicle away from the pipeline. The underwater vehicle can only follow the pipeline if the underwater vehicle can change its direction independently and deviate from the direct pulling direction of the connecting element using a rudder.
  • the rudder can preferably be used for both horizontal and vertical control. It can therefore be a cross or an X-rudder, for example. This not only enables the targeted following of a pipeline, for example, at a bend, but also adjustment when the ground changes in height.
  • This combination has another advantage. While the underwater vehicle can thus carry out small course corrections for steering, the control of the surface vehicle takes place along the underwater structure detected by the underwater vehicle. The underwater vehicle thus detects the underwater structure and thus changes in direction of the underwater structure. The underwater vehicle can then make a short-term course correction using the first control device in order to continue to follow the underwater structure. At the same time, this is transmitted to the surface vehicle, which can also adjust its course to follow the underwater structure and thus enables longer-term tracking of the underwater structure.
  • the combination of a towed underwater vehicle, which is capable of limited changes in direction, with a towing surface vehicle thus results in a system that is particularly suitable for inspecting underwater structures.
  • the underwater vehicle is therefore semi-active, i.e. can only follow the course of the underwater structure to a limited extent, but is able to influence the course of the surface vehicle directly or indirectly.
  • the underwater vehicle is designed to control the surface vehicle. This allows the towed underwater vehicle to directly ensure that it can follow the underwater structure.
  • the surface vehicle has a variable-length traction cable and a detection device for detecting the length of the variable-length traction cable. It can be provided that the speed of the surface vehicle is controlled depending on the length of the variable-length traction cable. For example, it can be provided that the speed is reduced when a predetermined length is exceeded. By reducing the As the surface vehicle speeds up, the towed underwater vehicle sinks and can be pulled towards the surface vehicle using the variable-length tow cable. This ensures that the maximum length of the variable-length tow cable is not exhausted and that there is always a residual length to compensate for course changes or downstream currents. This makes it possible to track the underwater structure even in the event of unforeseen events.
  • the connecting element can be changed in length. If, for example, the underwater structure bends, the surface vehicle, which is moving ahead of the underwater vehicle due to the towing process, cannot immediately follow the change in direction. In this case, it is advantageous if the connecting element is lengthened so that the underwater vehicle can follow the underwater structure better. Once the surface vehicle is back in position, i.e. in particular above the underwater structure, the connecting element can be shortened again.
  • the towing cable on the underwater vehicle has two end pieces, the length of the two end pieces being variable.
  • the underwater vehicle such as a kite
  • the underwater vehicle itself has a suitable shape or has, for example, fixed fins.
  • the underwater vehicle has both fixed elements, for example fins, and variable elements, for example rudders.
  • the fixed elements can, for example, be used to prevent the underwater vehicle from rotating about its own axis.
  • the underwater vehicle has a drive device.
  • the drive device is supplied with energy via the connecting element by the energy generation device.
  • the drive device is used to correct the course of the underwater vehicle and can thus enable better relative positioning to the underwater structure.
  • the connecting element is also used for data and energy transmission.
  • the propulsion device thus makes it possible to adapt the course of the underwater vehicle to the underwater structure, the main propulsion is generated via the connecting element and thus ultimately by the surface vehicle.
  • the propulsion device can therefore be a transverse thruster, for example.
  • the underwater vehicle has at least one diving cell.
  • a diving cell is used to adjust the buoyancy and thus the diving depth. This makes it easier to follow an underwater structure even when the height of the ground changes and to safely maintain the depth.
  • the surface vehicle has a remote communication device.
  • the remote communication device is used, for example, to transmit suspicious objects that have been found and to identify them at another location, for example an operations center.
  • Remote control can also be carried out using the remote communication device, for example depending on the situation or permanently.
  • remote control can be used to use effectors.
  • the remote communication device can be based on radio and/or satellite communication, for example.
  • the remote communication device preferably has at least two different communication channels, with the communication channel with the higher bandwidth being selected in each case.
  • the first observation device is a camera.
  • the underwater vehicle additionally has a lighting device, wherein the beam direction of the lighting device is preferably aligned with the detection range of the camera.
  • the underwater vehicle has a second observation device.
  • the second observation device is a sonar.
  • it can be a side-scan sonar or a multi-beam echo sounder.
  • the sonar can be used to track the further course of the underwater structure, such as a pipeline, and the underwater vehicle can be controlled accordingly. The actual monitoring is then carried out using a camera, for example.
  • the sonar data can also be used, or even used exclusively, to detect potential anomalies, for example to detect divers working on the underwater structure without authorization.
  • the surface vehicle has a sonar.
  • the sonar of the surface vehicle can also be used for route planning and for detecting obstacles (shoals, other ships, trawl nets).
  • the surface vehicle has a receiving/delivery device, for example a winch, for the connecting element.
  • a receiving/delivery device for example a winch
  • the receiving/delivery device can also be designed to lift the underwater vehicle out of the water and onto the surface vehicle.
  • the surface vehicle has a control station for manual control.
  • a control station for manual control. This can be used to enable manual control either in an emergency, in special cases (e.g. entering the harbor) or for legal reasons.
  • This enables manual control in difficult environments, such as a harbor, with many other road users, where automation is (currently) still prone to errors.
  • remote-controlled or autonomous operation is then possible in the area of the underwater structure.
  • the underwater vehicle has a position sensor.
  • the position sensor serves to enable the surface vehicle to determine the position of the underwater vehicle, for example by means of sonar.
  • the underwater vehicle has a gyrocompass. Using the gyrocompass, the underwater vehicle can determine its position when traveling underwater and transmit this position to the surface vehicle.
  • the invention relates to a method for monitoring an underwater structure using an unmanned system consisting of a surface vehicle and an underwater vehicle.
  • the monitoring method according to the invention differs from conventional inspection methods. An inspection is usually very thorough and not very time-critical. It is therefore not necessary to record large structures in a short time. Monitoring is more about recording large structures quickly and usually not examining the structure itself (for example for cracks, as in an inspection), but rather for unauthorized objects (listening devices, explosive charges, illegal extraction devices and the like). The starting point for monitoring is therefore completely different from that for inspection. However, this also means that monitoring must take place in a very short period of time so that the time window between two observations of the same location of an underwater structure does not become so long that effective monitoring is no longer possible.
  • the surface vehicle supplies the underwater vehicle with energy via a connecting element. This means that energy can be generated on board the surface vessel and thus in contact with the air, i.e. in particular by means of a combustion process.
  • the underwater structure is recorded by the underwater vehicle. In particular, the immediate environment, for example to detect explosive charges arranged in the immediate vicinity. The route for the surface vehicle along the underwater structure is determined from the data recorded by the underwater vehicle.
  • the underwater vehicle automatically recognizes characteristic markings or properties of the underwater structure and assigns the position of the marking to a geographical position.
  • the system can either calibrate its own position or compare the recognized marking with its own position and a target position and thus determine deviations or changes in the position of the underwater structure.
  • the underwater vehicle is towed by the surface vehicle by means of the connecting element.
  • the surface vehicle thus takes over the main propulsion power.
  • the underwater vehicle makes lateral movements by means of the at least one first control device.
  • the underwater vehicle also changes the diving depth with the aid of a rudder and/or a thrust nozzle.
  • the at least one diving cell can also be used to change the diving depth.
  • the towed underwater vehicle can thus follow the underwater structure, thereby enabling greater freedom of movement for the surface vehicle, which in turn enables a higher overall speed.
  • the length of the connecting element is extended if the underwater structure does not run along the direction of travel of the surface vehicle. This is particularly the case if, for example, a bend is detected in the underwater structure. This makes it easier for the underwater vehicle to follow the new direction of the underwater structure.
  • the underwater vehicle controls the surface vehicle.
  • the underwater vehicle which detects the direction of travel of the underwater structure, can thus advise the surface vehicle to change direction Since the underwater vehicle is towed, this depends on the direction of travel of the surface vehicle.
  • the underwater vehicle is first brought to the starting point on board the surface vehicle and then set down by the surface vehicle at the starting point.
  • the connecting element makes it easier to pick up again. At the same time, this allows for a very quick and easy approach. This also makes it possible to monitor several adjacent underwater structures in a sea area and to switch between them quickly and easily.
  • the surface vehicle initially travels without the underwater vehicle deployed and records the course of the underwater structure.
  • This first travel can also be carried out with human support, for example, and can be used to train an automatic course for the actual control.
  • the depth of the underwater structure and in particular neighboring shallows or other objects in which the connecting element could become caught are preferably recorded and these are also included in the route planning and optimization.
  • the surface vehicle sends a message if an anomaly is detected.
  • the inspection is carried out optically using a camera as the first observation device.
  • the underwater vehicle also records the further course of the underwater structure using a sonar as the second observation device. This enables better tracking of the underwater structure and also enables possible suspect areas to be identified, which can be examined more closely optically.
  • a pipeline or an underwater cable is selected as the underwater structure. It is precisely for this long and critical infrastructure that the need for monitoring for protection has become apparent in the year 2022. At the same time, due to its extreme spatial extent, this infrastructure cannot be efficiently monitored using conventional inspection methods and equipment.
  • the course of the underwater structure is known.
  • the surface vehicle follows the known course, so that the underwater vehicle only has to correct deviations from the known course or visual obstructions by relative positioning.
  • FIG. 1 Schematic representation of the system
  • FIG.1 an exemplary system according to the invention is shown schematically (not to scale).
  • a pipeline is shown here as an exemplary underwater structure 10. This will usually rest on the seabed or partially sink into it.
  • the pipeline is shown here on (unusual) stands.
  • the system for monitoring underwater structures 10 consists of an underwater vehicle 30, which is towed by a surface vehicle 20 via a connecting element 60.
  • the surface vehicle 20 has an energy generation device 40, for example a diesel generator.
  • the underwater vehicle 30 is also supplied with energy from the energy generation device 40 via the connecting element 60.
  • the surface vehicle 20 also has a remote communication device 90. This can be used to establish or maintain communication with an operations center, for example via satellite or radio.
  • the system can therefore be operated autonomously or remotely.
  • the underwater vehicle 30 has a first observation device 50, a camera, for optically monitoring the underwater structure 10.
  • the underwater vehicle 30 also has a second observation device 100, a side-scan sonar.
  • the underwater vehicle 30 has a control device 70, here a cruise rudder, and a drive device 80.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP24158755.9A 2023-03-01 2024-02-21 Inspection d'infrastructure sous-marine critique Pending EP4424580A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102023105058.3A DE102023105058A1 (de) 2023-03-01 2023-03-01 Inspektion kritischer Unterwasserinfrastruktur

Publications (1)

Publication Number Publication Date
EP4424580A1 true EP4424580A1 (fr) 2024-09-04

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ID=90038409

Family Applications (1)

Application Number Title Priority Date Filing Date
EP24158755.9A Pending EP4424580A1 (fr) 2023-03-01 2024-02-21 Inspection d'infrastructure sous-marine critique

Country Status (2)

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EP (1) EP4424580A1 (fr)
DE (1) DE102023105058A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4421049A (en) * 1977-07-18 1983-12-20 Institut Francais Du Petrole Submerged device, carrying oceanography apparatuses, with automatic depth control
US6474255B2 (en) * 1999-07-19 2002-11-05 Nova Marine Exploration, Inc. Arcuate-winged submersible vehicles
US9669912B2 (en) * 2012-03-30 2017-06-06 Atlas Elektronik Gmbh Underwater working system and method for operating an underwater working system
US10065715B2 (en) * 2016-08-09 2018-09-04 Li Fang Flying underwater imager with multi-mode operation for locating and approaching underwater objects for imaging
US20200241162A1 (en) 2019-01-25 2020-07-30 Shimadzu Corporation Subsea Structure Detection Device, Subsea Structure Detection System, and Subsea Structure Detection Method
EP4122812A1 (fr) 2020-03-19 2023-01-25 Kawasaki Jukogyo Kabushiki Kaisha Navire submersible

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4421049A (en) * 1977-07-18 1983-12-20 Institut Francais Du Petrole Submerged device, carrying oceanography apparatuses, with automatic depth control
US6474255B2 (en) * 1999-07-19 2002-11-05 Nova Marine Exploration, Inc. Arcuate-winged submersible vehicles
US9669912B2 (en) * 2012-03-30 2017-06-06 Atlas Elektronik Gmbh Underwater working system and method for operating an underwater working system
US10065715B2 (en) * 2016-08-09 2018-09-04 Li Fang Flying underwater imager with multi-mode operation for locating and approaching underwater objects for imaging
US20200241162A1 (en) 2019-01-25 2020-07-30 Shimadzu Corporation Subsea Structure Detection Device, Subsea Structure Detection System, and Subsea Structure Detection Method
EP4122812A1 (fr) 2020-03-19 2023-01-25 Kawasaki Jukogyo Kabushiki Kaisha Navire submersible

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