GB2528871A

GB2528871A - Improvements in or relating to ROVs

Info

Publication number: GB2528871A
Application number: GB1413629.5A
Authority: GB
Inventors: Ross James Lamonby
Original assignee: Reece Innovation Centre Ltd
Current assignee: Reece Innovation Centre Ltd
Priority date: 2014-07-31
Filing date: 2014-07-31
Publication date: 2016-02-10
Also published as: GB201413629D0

Abstract

A crawling remotely operated vehicle (ROV) for cleaning and/or inspecting hulls is provided. The ROV comprises an electrically-driven, on-board hydraulic power unit (HPU). The ROV may further comprise support means for providing adhesion and traction on a hull. The support means may comprise one or a plurality of magnetic members; the or each member comprising an elastomeric coating or pad which contacts a hull in use. A steel crawling ROV having tracks comprising magnet blocks and having electrical power provided by an umbilical cable is disclosed. A crawling ROV having support means for providing adhesion and traction on a hull and formed from a plurality of magnetic members with an elastomeric coating is also disclosed

Description

Improvements In Or Relating To ROVs The present invention relates generally to remotely operated vehicles (R.OVs) and particularly, although not exclusively, to a class of ROVs known as crawlers. Such S ROYs can be used for a variety of purposes, including cleaning and/or inspection of marine vessel hulls.

There are a number of ROVs used to perform in-water hull cleaning, the majority of which are modified or specially tooled free flying type ROYs. Some are designed to be driven across the surface of a hull (and a small portion of these can also swim', manoeuvring themselves in the water onto a hull surface), adhering to the surface of the hull in a number of different manners, such as by suction, subsea thrusters, or magnets.

Current hull cleaning and inspection ROYs are underpowered and incapable of removing the same density of fouling in comparison to diver operated systems such as that known in the art as a brush cart.

The current crawling systems, as with diver operated hull cleaning equipment tend to be hydraulically driven, supplied either by a hydraulic umbilical or individual hoses connected to each function.

When electrical power has been used to drive on-board motors, it has tended to be either by on-board batteries or low voltage (under 30Y) electrical connection with a remote power supply. Umbilical drag is the largest force acting on the steel crawling R.OV, which means the diameter should to be minimised. Providing high hydraulic power through a long umbilical leads to a significantly large hose diameter requirement to reduce pressure drops and maintain a workable hydraulic pressure at the vehicle.

S The present invention seeks to provide improvements in or relating to crawling ROVs.

According to an aspect of the present invention there is provided a crawling remotely operated vehicle (ROY) for cleaning and/or inspecting hulls, comprising an electrically-driven, on-board hydraulic power unit (HPU).

The electric drive may be supplied from an electricity source remote from the ROY.

Alternatively or additionally electric drive may be supplied from an on-board electricity source.

The on-board HPU motor may drive a water pump supplying a water jetting cleaning head.

In some embodiments the HPU hydraulic output is used to drive a water pump via a hydraulic motor.

In some embodiments where a water pump directly intakes fluid in which steel crawling ROY is submerged in.

The present invention also provides a steel crawling ROY comprising: a chassis utilising multiple sets of tracks for both adhesion and traction onto the surface of a ferritic material, where track block elements comprise electromagnetic or permanent magnet blocks or elements; and an on-board electrically driven HPU, where electrical power is provided via an umbilical or cable from a power supply remote to the vehicle, the on-board HPU used to supply hydraulic fluid to track drive motors and/or S additional on-board system.

The present invention also provides a crawling ROY for cleaning and/or inspecting hulls, comprising one or more tracks for providing adhesion and traction on a hull, the track comprising a plurality of magnetic elements.

The advantage of using magnets over suction or subsea thrusters, is that the ROY can climb above the waterline to perform out of water cleaning and/or inspections, as well as being able to be launched directly from on deck without lowering into water The magnetic elements may comprise block magnets.

The magnetic elements may comprise and elastomeric coating or pad which contacts the hull in use.

In some embodiments the track magnet elements are encased within a housing, with a 0.2mm -5mm thick layer of material separating the face of the magnetic element from the ferritic surface to which the steel crawling ROY is attached. The 0.2mm -5mm thick plate, pad, or coating that contacts the surface to which the ROY is attached may be an elastomeric material or paint The ROY may comprise a hydrodynamic fairing covering the chassis to minimise drag forces.

The ROY may comprise one or more cameras to relay live video to a surface control console.

In some embodiments vehicle motive and auxiliary systems are controlled by an on-board PLC, using onboard sensors and operator inputs, with data communication to surface control console via optical Ethernet connection.

The ROV may comprise modular cleaning elements, with different modules allowing cleaning of surface to be done by a number of processes, including but not limited to brushes with rotational axis normal to the surface, brushes with rotational axis parallel to the surface, or water jetting.

In some embodiments the primary surface cleaning elements of the steel crawling ROY comprise of a number of rotating brushes, whose combined potential power output may be in excess of, for example, 3kW.

Bio fouling and cleaning debris may be collected by the ROY, and either returned to the surface via an umbilical, or stored on-board.

The ROY may comprise thrusters which allow the ROY to swim in water, allowing the ROY to manoeuver itself in water to a ferritic surface and attach.

The ROY may comprise thrusters or impellers to increase hold down force when crawler is submerged in water.

Rotating brushes may be provided for cleaning and may incorporate an impeller.

S

In some embodiments an inspection module can be attached or is integrated into the chassis, which can carry out none destructive testing, including but not limited to coating thickness measurement, crack detection, and plate thickness measurement The present invention provides an on-board electrically driven HPU powered, for example, via an umbilical or individual electrical cores. By using a high voltage electrical supply, the core diameter required to supply high power over long lengths is minimised (the diameter requirement is more than halved based on sending I I kW across 300 VAC rather than hydraulically along a 250m length umbilical). The use of high voltage 3-phase power being used to power a subsea HPU via a long umbilical is common place on larger subsea trenching vehicles.

The steel crawler ROY can offer higher cleaning power than current crawler type ROYs, and also be able to offer a far greater length and simpler single piece umbilical (far fewer cores), with a smaller diameter than a hydraulic umbilical capable of delivering the same power The steel crawler ROY system may use tracks constructed from magnets to adhere to the vessel hull, and has elastomeric coating/pads on the face of the block magnets contacting the hull, which is a feature not apparent on prior art crawlers which also utilise simple block magnets to form the track block. This is used to protect the hull coating in addition to increasing friction coefficient between contacting surfaces.

The steel crawler ROY system may use a hydrodynamic hiring to reduce drag forces, S which helps it to operate in higher currents or in conjunction with higher vessel speeds.

In some embodiments the crawler is directly deployable from the deck of a vessel, or alongside from a support boat, and does not require a free flying ROY (which together with personnel required for its operation can be expensive) for its operation. In some embodiments the ROV is a dedicated standalone cleaning and inspection system, rather than as an accompaniment to other systems such as a free flying ROY.

Some applications of the ROY are: Underwater Hull Inspection of ships; Underwater Inspection of FPSO; Underwater Hull Cleaning; Hull thickness measurement.

Further embodiments are disclosed in the dependent claims attached hereto.

Different aspects and embodiments of the invention may be used separately or together.

Further particular and preferred aspects of the present invention are set out in the accompanying independent and dependent claims.

Features of the dependent claims may be combined with the features of the independent claims as appropriate, and in combination other than those explicitly set out in the claims.

S The present invention will now be more particularly described, by way of example, with reference to the accompanying drawings, in which: Figure I is a perspective view of an ROY formed according to an embodiment of the present invention; Figure 2 is a front view of the ROV of Figure I; Figure 3 is a side view of the R.OV of Figure I; Figure 4 is an underplan view of the ROY of Figure I; Figure 5 is a perspective view of the ROY of Figure I shown with a fairing removed; Figure 6 is a further perspective view of the ROY body of Figure 5; Figures 7 and 8 are front and side views of an ROY formed according to an embodiment and shown with example dimensions; Figure 9 is a perspective view of an ROY formed according to an alternative embodiment; and Figures 10 and I I show ROYs formed according to alternative embodiments, and having different fairings/casings/covers.

The ROY of Figures I to 6 includes the following features: -A light weight chassis.

-Hydrodynamic fairing.

-Track units used to provide both adhesion and traction onto surface of ferritic material.

-Track block assembly's use permanent Neodymium block magnets.

-Rubber or other elastomeric pad used to cover face of magnet in contact with hull.

-Hydraulic motors used to drive both track and cleaning brushes for reliability.

-On-board 3-phase YAC HPU.

-Simple umbilical construction with high 3-phase YAC, 12-24V DC, and single or double fiber optic.

-Twin cleaning brushes, with potential power output in excess of 6kW.

-PLC with Ethernet connection.

-Ethernet switch for connecting Cameras, PLC, and future intervention/inspection tooling or sensors.

-Ethernet to optic convertor.

-Hydraulic control manifold.

-Subsea electronics pod.

-Level, proximity, and rotary sensors/encoders.

-Front and rear lighting.

-Front and rear video cameras.

Other embodiments of the ROY (for example a steel crawler unit) may incorporate one or more of the following features: -Thrusters to allow crawler to swim in water, allowing the crawler to navigate itself onto a surface if deployed into water, rather than having to be directly attached to a ship's hull.

-Adjustable ballast

-Thrusters or impellers to increase hold down force when submerged in water (Acting to push crawler toward surface it is attached). Rotating brushes could incorporate an impeller.

-Bio fouling and cleaning debris collection, either through an umbilical back to surface collection, or on-board storage.

-Additional or alternative cleaning modules, including but not limited to water jetting, scrappers or cavitation. High pressure water supply for water jetting could be either from a remote source via an umbilical, or from an on-board water pump powered by an electric motor (optionally directly connected to on-board H PU).

-Sensor or inspection modules such as, including but not limited to, coating thickness measurement, crack detection, plate thickness measurement, and 3D imaging.

Although illustrative embodiments of the invention have been disclosed in detail herein, with reference to the accompanying drawings, it is understood that the invention is not limited to the precise embodiments shown and that various changes and modifications can be effected therein by one skilled in the art without departing from the scope of the invention as defined by the appended claims and their equivalents.

Claims

CLAIMSI. A crawling remotely operated vehicle (ROV) for cleaning and/or inspecting hulls, comprising an electrically-driven, on-board hydraulic power unit (HPU).S
2. An ROY as claimed in claim I, in which the electric drive is supplied from an electricity source remote from the ROY.
3. An ROY as claimed in claim I, in which the electric drive is supplied from an on-board electricity source.
4. An ROY as claimed in any preceding claim, where the on-board HPU motor drives a water pump supplying a water jetting cleaning head.
5. An ROY as claimed in any preceding claim, where the HPU hydraulic output is used to drive a water pump via a hydraulic motor.
6. An ROY as claimed in any preceding claim, where a water pump directly intakes fluid in which steel crawling ROY is submerged in.
7. A steel crawling ROY comprising: a chassis utilising multiple sets of tracks for both adhesion and traction onto the surface of a ferritic material, where track block elements comprise electromagnetic or permanent magnet blocks or elements; and an on-board electrically driven HPU, where electrical power is provided via an umbilical or cable from a power supply remote to the vehicle, the on-board HPU used to supply hydraulic fluid to track drive motors and/or additional on-board system.
8. A crawling ROV for cleaning and/or inspecting hulls, comprising support means S for providing adhesion and traction on a hull, the support means comprising one or a plurality of magnetic members, the or each member comprising an elastomeric coating or pad which contacts a hull in use.
9. An ROY as claimed in claim 8, in which the support means comprises a track.
10. An ROY as claimed in claim 8 or claim 9, in which the magnetic members comprise or include block magnets.
I. An ROY as claimed in claim 8, in which the magnetic members comprise or include rollers, wheels or other rolling support means.
12. An ROY as claimed in any of claims 8 to I I where the magnetic members are encased within a housing, with a 0.2mm -5mm thick layer of material separating the face of the magnetic element from the ferritic surface to which the steel crawling ROY is attached.
13. An ROV of claim 12 where the 0.2mm -5mm thick plate, pad, or coating that contacts the surface of what the ROY is attached is an elastomeric material or paint 14. An ROY as claimed in any of claims I to 7 in combination with an ROY as claimed in any of claims 8 to 13.IS. An ROY as claimed in any preceding claim, including a hydrodynamic fairing S covering the chassis to minimise drag forces.16. An ROY as claimed in any preceding claim, including a number of cameras to relay live video to the surface control console.17. An ROV as claimed in any preceding claim, where the vehicle motive and auxiliary systems are controlled by an on-board PLC, using onboard sensors and operator inputs, with data communication to surface control console via optical Ethernet connection.18. An ROV as claimed in any preceding claim, comprising modular cleaning elements, with different modules allowing cleaning of surface to be done by a number of processes, including but not limited to brushes with rotational axis normal to the surface, brushes with rotational axis parallel to the surface, or water jetting.19. An ROY as claimed in any preceding claim, where the primary surface cleaning elements of the steel crawling ROY comprise of a number of rotating brushes, whose combined potential power output is in excess of 3kW.20. An ROY as claimed in any preceding claim, where bio fouling and cleaning debris is collected by the ROY, and either returned to the surface via an umbilical, or stored on-board.21. An ROV as claimed in any preceding claim, including thrusters which allow the ROY to swim in water, allowing the ROY to maneuver itself in water to a ferritic surface and attach.22. An ROY as claimed in any preceding claim, including thrusters or impellers to increase hold down force when crawler is submerged in water.23. An ROY as claimed in any preceding claim, in which cleaning means are provided in the form of rotating brushes 24. An ROY as claimed in claim 23, in which the rotating brushes incorporate an impeller.25. An ROY as claimed in any preceding claim, where an inspection module can be attached or is integrated into the chassis, which can carry out none destructive testing, including but not limited to coating thickness measurement, crack detection, and plate thickness measurement 26. An ROY substantially as hereinbefore described with reference to, and as shown in, the accompanying drawings.27. A hull cleaning system substantially as hereinbefore described with reference to, and as shown in, the accompanying drawings.28. A hull inspection system substantially as hereinbefore described with reference S to, and as shown in, the accompanying drawings.CLAIMSI. A crawling remotely operated vehicle (ROV) for cleaning and/or inspecting hulls, comprising an electrically-driven, on-board hydraulic power unit (HPU), the ROV further comprising support means for providing adhesion and traction on a hull, the support means comprising one or a plurality of magnetic members, the or each member comprising an elastomeric coating or pad which contacts a hull in use.2. An ROV as claimed in claim I, in which the electric drive is supplied from an electricity source remote from the ROy.3. An ROV as claimed in claim I, in which the electric drive is supplied from an on-board electricity source.4. An ROV as claimed in any preceding claim, where the on-board HPU motor drives a water pump supplying a water jetting cleaning head. * *5. An ROV as claimed in any preceding claim, where the HPU hydraulic output is used to drive a water pump viaa hydraulic motor.6. An ROV as claimed in any preceding claim, where a water pump directly intakes fluid in which steel crawling ROV is submerged in.7. AnROV as claimed in any preceding claim and comprising: a chassis utilising multiple sets of tracks for both adhesion and traction onto the surface of a ferritic material.8. An ROY as claimed in any preceding claimin which electrical power is provided via an umbilical or cable from a power supply remote to the vehicle.9. An ROY as claimed in any preceding claim, in which the support means comprises a track 10. An ROY as claimed in any preceding claim, in which the magnetic members are track block elements comprising electromagnetic or permanent magnet blocks or elements. * .. * . . *.. . ** 15 II. An ROY as claimed in claim 10, in which the magnetic members comprise or * include block magnets. *** * * *12. An ROV as claimed in claim 10 or claim II, in which the magnetic members comprise or include rollers, wheels or other rolling support means.13. An ROV as claimed in any of claims 10 to 12 where the magnetic members are encased within a housing, with a 0.2mm -5mm thick layer of material separating the face of the magnetic element from the ferritic surface to which the steel crawling ROY is attached.
14. An ROV of claim 13 where the 0.2mm -5mm thick plate, pad, or coating that contacts the surface of what the ROV is attached is an elastomeric material or paint.
15. An ROV as claimed in any preceding claim, including a hydrodynamic fairing covering the chassis to minimise drag forces.
16. An ROV as claimed in any preceding claim, including a number of cameras to relay live video to the surface control console.
17. An ROV as claimed in any preceding claim, where the vehicle motive and auxiliary systems are controlled by an on-board PLC, using onboard sensors and operator inputs, with data communication to surface control console via optical Ethernet connection. ** 0 * * ** *:.
18. An ROV as claimed in any preceding claim, comprising modular cleaning * elements, with different modules allowing cleaning of surface to be done by a number * : of processes, including but not limited to brushes with rotational axis normal to the surface, brushes with rotational axis parallel to the surface, or water jetting.
19. An ROV as claimed in any preceding claim, where the primary surface cleaning elements of the steel crawling R.OV comprise of a number of rotating brushes, whose combined potential power output is in excess of 3kW.
20. An ROV as claimed in any preceding claim, where bio fouling and cleaning debris is collected by the ROY, and either returned to the surface via an umbilical, or stored on-board.
21. An ROY as claimed in any preceding claim, including thrusters which allow the ROY to swim in water, allowing the ROV to maneuver itself in water to a ferritic surface and attach.
22. An ROY as claimed in any preceding claim, including thrusters or impellers to increase hold down force when crawler is submerged in water.
23. An ROY as claimed in any preceding claim, in which cleaning means are provided in the form of rotating brushes S. *
24. An ROV as claimed in claim 23, in which the rotating brushes incorporate an 0* * * * * . * impeller. p.. * S:.e
25. An ROY as claimed in any preceding claim, where an inspection module can be attached or is integrated into the chassis, which can carry out none destructive testing, including but not limited to coating thickness measurement, crack detection, and plate thickness measurement
26. An ROV as claimed in any preceding claim, in which the on-board HPU is used to supply hydraulic fluid to track drive motors andlor additional on-board system.
27. An ROV substantially as hereinbefore described with reference to, and as shown in, the accompanying drawings.
28. A hull cleaning system substantially as hereinbefore described with reference to, and as shown in, the accompanying drawings.
29. A hull inspection system substantially as hereinbefore described with reference tot and as shown in, the accompanying drawings. * .. * * * *** *S fl. * . S. 55 * * * * * *. * . I *)I 5* S * I * * *1