RU102590U1 - SUBMERSIBLE PLATFORM-TRANSFORMER AND ROBOTIC COMPLEX FOR IMPLEMENTATION OF UNDERWATER WORKS - Google Patents

Abstract

 1. Immersible transformer platform, characterized in that it is a structure made of modules of a basic design, a set of which allows the platform to be mounted with a given configuration, and functional modules attached to this structure, each module containing either a motor on one end , or a manipulator, or a rotary mechanism that provides changes in the geometric shape of the design of the transformer platform, as well as a system for controlled changes in the buoyancy of this module, the used functional modules are selected from the group consisting of at least rotary and rotary folding mechanisms, tracked track engines, habitable control capsule, propulsion-steering complex, power supply system, navigation complex, detection system, communication means system, ballast-leveling system, hydraulic / mechanical manipulators, plug-in modules for technical work, on-board computer system, information-measuring system, ship / shore second control unit, the onboard control unit system, wherein the power supply system is a dispensing device located in the cavity the support platform. ! 2. The transformer platform according to claim 1, characterized in that it is a modular self-propelled frame structure. ! 3. The transforming platform according to claim 1, characterized in that it is made with the possibility of marching or in the process of technological or control operations changes its geometric shape. ! 4. Transforming platform

Description

The technical solution relates to the field of remote survey of the seabed and underwater structures located at the bottom in the water areas of natural and man-made objects, as well as carrying out preventive, repair, tripping, rescue and similar operations with physical impact on the object.

In addition, the invention can be applied in the field of inspection, maintenance, repair and installation of underwater oil and gas field and hydraulic infrastructure and equipment.

The developed devices belong to the field of remote-controlled / autonomous ones, with the possibility of conversion into inhabited underwater robotic complexes, providing for survey work, including the use of non-destructive testing methods, photo-video shooting and underwater - and technical work, namely:

1. Inspection of objects and stationary structures to determine and clarify the degree and nature of the required repair and maintenance, as well as the site and place of technical work; accurate measurements and inspection of objects, including non-destructive testing and three-dimensional surface restoration;

2. Underwater technical and transport operations, including the delivery of technical equipment, equipment, machinery, mechanisms, structures and materials to the bottom of the work site; self-preparation of the design to achieve the most convenient location of technical equipment at the place of work and installation / dismantling of the required attachments; installation of the platform at the bottom or fixing it to underwater facilities for technical work; installation, installation and fastening of delivered goods (means) in the place of underwater technical work; cleaning the required surface of underwater objects to be repaired (serviced); complex mechanical work on the repair of equipment (facilities) of infrastructure elements, equipment replacement; performing operations on slinging (strapping) of objects and structures for their lifting to the surface; moving objects (objects) at the bottom; mechanical and sandblast cutting, grinding, grinding, underwater welding and other types of processing work; carrying out installation and welding works, performing heavy energy-intensive types of work with respect to the fixed fixing base.

Known (US patent 3559607) is a device for detecting and automatically lifting a sunken ship, comprising an underwater vehicle equipped with an electronic unit and an actuator — a winch with a cable, at the end of which a buoy is fixed.

A disadvantage of the known apparatus is limited functionality: the apparatus cannot perform horizontal movement under water, and its vertical movement is not sufficient. In addition, the known apparatus cannot be transformed during work when immersed with a change in the functions of the actuator.

Known ("Underwater technology for offshore oil fields." - L., Sudostroenie, 1980, p.116-118) a remote-controlled inspection underwater vehicle containing a housing in the cavity of which are placed engines, a television camera, illuminators and an electronic unit for receiving control signals and transmitting television and measuring information. Power and control signals are supplied via cable, while its coil is placed on a movable carrier frame, immersed on the bottom soil.

A disadvantage of the known apparatus is limited functionality - the apparatus is intended only for inspection of underwater objects. In addition, the known apparatus does not contain actuators and cannot be transformed in the process.

Known (RU, patent 2387570) is a small-sized remote-controlled underwater vehicle containing a modular design frame, horizontal and vertical propulsion engines, durable airtight containers to accommodate the electronic part of the underwater vehicle, lights, surveillance and stationary video cameras, depth and temperature sensors, pressure compensators, buoyancy unit mounted in the upper part of the underwater vehicle, a manipulation module, including a manipulator provided with coverage and a sealed drive, the manipulator being installed n on the output shaft of this drive, a surface control module including a control panel, a power source, a video information display unit, and a communication cable connecting the underwater vehicle to the surface module. A video camera is additionally installed on the other end of the output shaft of the manipulator drive so that its axis of sight is constantly directed to the grip center of the manipulator, the underwater vehicle is equipped with a removable perforated container for collecting samples mounted in the upper part of the underwater vehicle coaxially with its vertical axis, and the overview video camera is installed by bracket above the buoyancy unit in the diametrical plane of the underwater vehicle in its aft.

A disadvantage of the known apparatus can be recognized as the impossibility of changing the shape of its design in order to achieve controllability in marching mode, including in the process of carrying out work.

The applicant does not know the design of a robotic underwater vehicle made with the possibility of transformation during immersion and work in the water or on the seabed, as well as a robotic complex for underwater operations using the above-mentioned robotic underwater vehicle - platform.

The technical problem solved by the proposed technical solution is to develop a design of a robotic underwater vehicle made with the possibility of changing shape, as well as a robotic complex for underwater operations using the above-mentioned robotic underwater vehicle - a platform.

The technical result obtained by the implementation of the developed technical solution is to increase the safety, time and efficiency of conducting deep underwater technical and survey exploration, as well as survey work on stationary underwater structures for various purposes and flooded objects at the bottom of the water area.

To achieve the specified technical result, it is proposed to use a submersible platform with variable geometry of the proposed design. It is a tool made of modules of the basic design, a set of which provides the ability to mount the platform of a given configuration, and functional modules attached to this design. Moreover, each module of the basic design contains at one end either an engine, or a manipulator or a rotary mechanism, providing changes in the geometric shape of the platform, as well as a system for controlled changes in the buoyancy of this module. The functional modules used are selected from the group consisting of at least rotary and rotary folding mechanisms, if necessary tracked propulsors, if necessary an inhabited control capsule, propulsion-steering complex, power supply system, navigation complex, detection means system, communication means system, ballast-leveling system, hydraulic / mechanical manipulators, replaceable modules for technical work, on-board computer system, information-measuring th system, ship / shore control unit, airborne control system unit. Preferably, the transforming platform is a modular self-propelled frame structure, made with the possibility in marching mode or in the process of technological or control operations to change its shape. Preferably, it is a carrier base for devices, technical devices and devices, manipulators, stops and grips, telescopic and / or hydraulic devices, which are independent easily replaceable, including modules installed on the platform at the work site. However, the configuration of the transformer platform, depending on the tasks it solves, may be different. Mostly, it is a multi-section stackable frame structure, on which various modules are installed. Moreover, it is made with the possibility of changing the configuration and size, both on the carrier vessel and at the place of work execution at the bottom using its own mechanical manipulators installed on the transformer platform. To carry out the movement, a rotor is preferably installed on it - stator motors of the rim-driven type. Mostly it is made with the possibility of horizontal movement in water due to the rotation of the movers relative to the frame structure and / or changes in traction and tilt of the platform due to the difference in the stop force of its movers in the direction of movement. Typically mounted on the platform modules with manipulators are made with the possibility of the angle of their horizontal rotation relative to the frame on which it is mounted. Typically, plug-in modules, which are actuators, are installed on the platform. In the basic embodiment, the platform structurally consists of separate modules of the basic structure, of which the platform itself is assembled, as well as of separate functional modules fixed on the plane of the modules of the basic structure, each module containing either a motor or a manipulator or a rotary mechanism at one end forms of construction.

The developed complex is characterized in that:

a) the transforming platform is a modular self-propelled frame structure, driven and held in the underwater space by onboard propulsion;

b) the platform is executed of any standard sizes depending on the nature of the required task;

c) the platform is converted into a habitable system by installing a spherical capsule with a crew capacity of two people;

d) the platform in marching mode can change its shape to improve the parameters of the control object of the control system, transforming into an underwater remote-controlled / autonomous apparatus of a familiar form;

e) a transforming platform in various modifications may be part of a self-propelled surface carrier to support work remotely from the base support vessel, and to bring the platform to the point of work;

f) the transformer platform is the carrier base for various devices, technical devices and devices, manipulators, stops and grips, telescopic (hydraulic) devices for various purposes, which are independent easily replaceable, including modules installed on the platform at the place of work;

g) the platform is a multi-section stackable frame structure, on which various modules are installed;

h) the platform is configured and scaled in preparation for the implementation of underwater missions depending on the tasks, both on the carrier vessel and at the place of work at the bottom, using its own mechanical manipulators, which allows you to create the required stable design that ensures the full range of work without intermediate platform lifts on a carrier vessel for module installation.

Rotor-stator motors (rim-driven type) can be installed on the platform.

The number of propulsors installed depends on the degree of load on the platform and the requirements for the rate of climb of the platform.

Horizontal movement of the platform in the water can be achieved by rotating the propulsors relative to the frame structure and / or changing the traction and inclination of the platform due to the difference in the stop force of its propulsors in the direction of movement.

With horizontal movement, the platform, by using a special rotary central mechanism and folding in its central part, is converted into a conveniently controlled habitual type and design of an underwater remote control device with buoyancy elements located in the upper part.

Independent modules as part of a submersible transformer platform:

- manipulator (executive) module (hydraulic / electromechanical manipulator, control system, pump station, if necessary, power unit);

- control and computing modules (providing telemetry, control and on-board computing necessary to solve low-level problems of motion control and propulsion system control)

- research modules (measuring-informational and survey equipment)

- propulsion and steering module (control and marching electric motors)

- ballast-leveling module (cargo system, buoyancy elements, water displacing installations and other buoyancy control solutions)

- module for technical work (welding, cutting, grinding, and other types of work)

- main composite rotary module

- additional rotary bending module

- other swing-out mechanisms

- habitable capsule if necessary

- caterpillar tracks if necessary

In a preferred embodiment, the structural elements of the ballast-leveling system are configured to control their buoyancy. This allows you to use the complex in water with different densities, which ensures the use of the complex in both sea and river water and other liquids.

The on-board industrial computer can be connected to the power supply system through a switchgear. However, in some implementations, it can be connected to an autonomous on-board power supply system, which will ensure its operation in case the complex is disconnected from external power.

The information-measuring complex used includes at least non-destructive testing means, laser systems and television systems. However, this list does not limit the possible composition of the information-measuring complex.

The structural elements are discussed in more detail below.

The platform is a rigid, integral body element that carries all the other structural nodes. The platform is assembled from several parts for the possibility of arranging other elements in its internal part. Assembly is carried out through the use of rotary transforming fasteners. All switching of energy and control channels is carried out by sealed connectors.

Structurally, the platform consists of separate modules - the basic design, from which the platform itself is assembled in any necessary configuration; (main beam elements (modules), basic rotary modules, additional rotary-bending modules, other transforming modules, rotary manipulator beams) and individual functional modules fixed on the plane of the basic design modules (mounted modules).

Each module can have at one end either a motor or a manipulator or a rotary mechanism to change the shape of the structure.

For each module, a system for changing the buoyancy of this module can be installed.

Modules with a manipulator at one end with the other end are inserted into the rotary mechanism, allowing them to move along their longitudinal axis, that is, either lengthen or shorten the lever and rotate relative to the other module.

The carrier modules are also interconnected by rotary mechanisms, which allows you to change the shape of the frame.

The propulsion and steering complex contains marching and steering propulsion. Marching engines can be fixed rigidly and not rotate relative to the platform frame. In this case, the mover itself can be an engine, for example, when using a rotor-stator engine (type RIM-Driven). A device may have several engines for maneuvering.

Additionally, modules for dynamic positioning (small-sized propulsion systems) can be installed on the frame.

Due to this, the complex has the ability to maneuver in space in 6 degrees of freedom.

The energy supply system in the case of a telecontrolled version is a switchgear (of the “crab” type) and a developed network of conductors that diverges from it, which supplies all systems. "Crab" is located in the cavity of the carrier platform, in the rear of it. The input element of the “crab” is an energy control submarine cable that connects to the rear of the platform. In autonomous and manned habitable mode, power is supplied by high-capacity on-board batteries.

Ballast-leveling system is a set of structural elements involved in creating a buoyancy apparatus close to zero. The main elements of the system are parts from the syntax of a streamlined shape, located in the upper part of the platform and inside its cavity. Separate modules for buoyancy control are ballast water displacing systems and water-filled or inflatable elastic elements, including for lifting goods from the bottom to the surface.

The on-board computer system (VBS) is located in the cavity of the carrier platform in a sturdy hydrostatic spherical sealed enclosure and is, in fact, at least one industrial computer with a real-time operating system and on-board software installed, where the motion and execution control program is executed automatic robot actions. VBS power supply is provided from the distributor (“crab”). In turn, the power supply and external control signals are supplied to the on-board distributor (“crab”) by means of an energy-information cable connected to the power supply and external control unit of shore or ship based. With VBS, all systems are controlled through sealed control links, namely:

information-measuring complex, propulsion system, lighting, manipulator, etc., in addition, VBS provides for the collection, storage and transmission of collected information to an external control panel. For heat removal, the system is equipped with a developed radiator of a large surface area in contact with the water mass.

The ship / shore control unit in telecontrol mode is connected to the underwater part of the system via an energy-information underwater sealed cable, which consists of two components: information and control optical fiber and power cable. The information-control optical fiber is connected to the control part of the coastal control unit (control unit) - an industrial computer with a real-time operating system (RTOS) and preinstalled software for exchanging collected information, providing feedback to the machine operator, displaying current information and collecting information from information and measuring complex. The power cable is connected to the power part of the onshore control unit - the supply transformer.

A set of device detection tools is a system of beacons and transponder beacons: in the upper part of the structure, a sonar transponder beacon, a light-pulse beacon and a radio beacon are rigidly fixed. Lighthouses are used to provide navigation under water, to carry out emergency operations on the surface in conditions of poor visibility and to search for the device in emergency situations.

The navigation complex is located in a durable case of the device and is a set of tools for navigating and positioning the device. A three-component ferromagnetic compass combined with a fiber-optic gyrocompass allows you to obtain information about the position of the device at Euler angles. Positioning by linear coordinates is carried out inertially (thanks to the system of time reckoning sensors and the Doppler (or turntable) lag, as well as using the coordinate grid specified by underwater markers or using the underwater navigation system. Therefore, the navigation complex is closely connected and depends on the complex of communication tools. serve as an underwater video navigation system that calculates the position of the device relative to the surface based on image changes in frames television image.

The information-measuring complex is the main information system of the device. It contains at least:

- means of NDT (non-destructive testing)

- sonars

- acoustic profilers

- magnetic armature locator

- ultrasound tomography system for concrete elements

- ultrasonic system for determining the thickness of the metal

- radiographic systems (gamma and X-ray radiation)

- systems of vibrodynamic research

- laser systems

- stereo television and thermal imaging systems

- photo-video systems

- samplers

- other systems on demand

The transformer platform may additionally contain an inspection system, including large cylindrical large-diameter and areal underwater sections of infrastructure facilities, placed on board.

This includes the use of radiographic systems (gamma and X-ray radiation) when examining objects due to the possibility of arranging sensors and receivers on opposite sides of the platform frame (scanning function).

For example, it becomes possible radiographic inspection by covering the pipelines and the bases of submersible oil and gas platforms having a rounded shape or cable - cable power connections or oil and gas pipelines.

The survey complex may also additionally contain a set of mechanical means and systems for carrying out engineering work at a depth such as:

- contact-cleaning system such as a circular brush and non-contact cavitation water gun

- underwater welding system

- underwater cutting system

- underwater sanding system

- other machining systems.

The proposed system differs from the known ones, first of all, the high ability to change configurations and the ability to create a rigid fixed base on an underwater object to perform complex technical tasks that require accurate positioning and maintaining the initial position during the task.

The proposed complex operates as follows. The carrier transporter in a controlled or remote controlled mode is suitable for the area of work with a transformer platform configured on board. By opening part of the hold and using hoisting winch devices, the platform descends under water. At the same time, it can descend both at the docking station and independently, depending on the depth of the location of the objects for examination and repair. By adjusting the thrust of the platform propulsors, as well as its direction and buoyancy, the platform approaches the object. In marching mode, the platform moves in the folded state and is a familiar frame remote control / autonomous apparatus with buoyancy elements located in the upper part. The transformation by folding the middle frame module is carried out to ensure the speed, maneuverability and controllability of the platform. In the case of installing a habitable crew capsule on an apparatus, the platform moves in a manned aboard mode and is a highly efficient inhabited underwater robotic apparatus. The capsule is located in the central part of the frame and has high-strength portholes to provide visual observation during movement and work. When approaching the bottom, the marching movers are turned off to avoid raising the suspension and bottom sediments, and additional movers of dynamic positioning begin to work. At the same time, at any load on the frame of the transformer platform, its buoyancy is automatically regulated at the bottom at a level close to zero before landing on the bottom or infrastructure object, then it can change due to the nature of the work. At the bottom, the frame undergoes reverse transformation by rotary and sliding mechanisms to give the necessary spatial shape to the platform frame. The lift is carried out in the reverse order. In the case of scanning extended cylindrical objects (pipelines), the platform, taking the form “P”, is placed on the object vertically, perpendicular to its longitudinal axis. So in this way passive and active elements of buoyancy, as well as movers are located in the upper part. Optional caterpillar tracks translate the scanner along an object by direct contact.

Laser sensors can be located on the frame for preliminary surface measurement in order to prepare an initiating map of the surface to be examined (base maps, that is, the base on which current surface surveys are superimposed, allowing to analyze changes in the surface under study).

The system provides for the function of sampling at the site of the survey and the function of testing structures. These devices are placed on the system case.

The acoustic ultrasonic examination system used on the platform is an array (phased array) of ultrasonic underwater sensors with pointed contact elements located independently from each other on a fixed base.

The platform is controlled by the speed vector by the operator from the shore / ship control unit, which is a computer system with a real-time operating system with connected system controls (trackball, joystick). Turning on / off various modes and systems, as well as setting tasks in automatic mode, is carried out from the keyboard. The shore / ship unit display shows information about the modes of the complex, energy consumption, state of the blocks and information from the information-measuring complex. This information is a continuous video image from underwater cameras with the ability to visualize the received information from other systems of the complex. This information can be superimposed in real time on a preloaded map of an extended underwater object. Saving, archiving and documentation is automatic.

All transmission of control signals from the coastal / shipboard control unit and information from the mobile platform in full-duplex mode is carried out by means of a thin optical fiber, which is part of a sealed high-voltage cable of neutral buoyancy, whose function is to supply the underwater part of the complex from the coastal power supply unit. The power supply is a step-down / step-up transformer depending on the specific application of the complex (power supply from the port system / ship system, use of an external diesel generator, etc.). Neutral buoyancy of the cable is provided by buoyancy elements located on the cable with a frequency of several meters or using special braiding materials.

Fields of application of the invention: search and inspection of sunken and stationary located underwater objects, performing technical work on welding, machining, mounting-dismantling, lowering and lifting various structures, trimming and other works. The objects of work can be: manifolds, shutoff valves, sunken objects (including those that pose a threat to chemical, radiation and other environmental contamination), stationary and floating objects of oil and gas field infrastructure, objects of hydraulic infrastructure, oil and gas pipelines, etc.

Claims (13)

1. Immersed transformer platform, characterized in that it is a structure made of modules of a basic design, a set of which allows the platform to be mounted with a given configuration, and functional modules fixed to this structure, each module containing either a motor on one end , or a manipulator, or a rotary mechanism that provides changes in the geometric shape of the design of the transformer platform, as well as a system for controlled changes in the buoyancy of this module, the used functional modules are selected from the group consisting of at least rotary and rotary folding mechanisms, tracked track engines, habitable control capsule, propulsion-steering complex, power supply system, navigation complex, detection system, communication means system, ballast-leveling system, hydraulic / mechanical manipulators, plug-in modules for technical work, on-board computer system, information-measuring system, ship / shore second control unit, the onboard control unit system, wherein the power supply system is a dispensing device located in the cavity the support platform. 2. The transformer platform according to claim 1, characterized in that it is a modular self-propelled frame structure. 3. The transforming platform according to claim 1, characterized in that it is made with the possibility of marching or in the process of technological or control operations changes its geometric shape. 4. The transforming platform according to claim 1, characterized in that it is a base carrier of devices, technical devices and devices, manipulators, stops and grips, telescopic and / or hydraulic devices, which are independent easily replaceable, including in place carrying out work by the modules installed on it. 5. The transformer platform according to claim 1, characterized in that it is a multi-section stackable frame structure on which various modules are installed. 6. The transformer platform according to claim 1, characterized in that it is made with the possibility of changing the configuration and size, both on the carrier vessel and at the place of work on the bottom using its own mechanical manipulators installed on the platform of the transformer. 7. The transformer platform according to claim 1, characterized in that rim-driven rotor-stator motors are installed on it. 8. The transformer platform according to claim 1, characterized in that it is made with the possibility of horizontal movement in water due to the rotation of the movers relative to the frame structure and / or change of traction and tilt of the platform due to the difference in the stop force of its movers in the direction of movement. 9. The transformer platform according to claim 1, characterized in that the modules mounted on the platform with manipulators are configured to have a horizontal angle of rotation of 340 ° relative to the frame on which it is mounted. 10. The platform transformer according to claim 1, characterized in that it is equipped with removable modules, which are actuators. 11. The transformer platform according to claim 1, characterized in that it structurally consists of individual modules of the basic structure, of which the structure itself is assembled, as well as of individual functional modules fixed to the surface of the modules of the basic structure, each module containing at one end or an engine, or a manipulator, or a rotary mechanism for changing the shape of a structure. 12. A robotic complex for carrying out underwater operations, characterized in that it comprises a self-propelled surface vehicle-conveyor of a robotic platform and a submersible transformer platform with a docking station, the transformer platform being a structure made of basic design modules, the set of which makes it possible mounting a platform of a given configuration, and functional modules mounted on it, while each module of the basic design contains at one end or an engine l, or a manipulator, or a rotary mechanism that provides changes in the geometric shape of the transformer platform, as well as a system for controlled changes in the buoyancy of this module, the used functional modules are selected from the group consisting of at least rotary and rotary folding mechanisms, if necessary tracked track propulsion systems, if necessary a habitable control capsule, propulsion and steering complex, energy supply system, navigation complex, detection system, means of control ides, ballast-leveling system, hydraulic / mechanical manipulators and plug-in modules for technical work, on-board computer system, information-measuring system, ship / shore control unit, on-board control system unit, while the power supply system is a switchgear located in the cavity of the carrier platform, and a self-propelled surface vehicle carrier of the robotic platform is a U-shaped floating self-propelled vehicle, carrying onboard power plants, hoisting winch devices, control cabin and remote control systems for the possibility of providing remote work with control from the board of the support base vessel, while at least an immersed docking station is located in the cavity of the U-shaped structure of the vessel. 13. The robotic complex according to claim 12, characterized in that the surface conveyor of the robotic platform contains a broadband radio access system on board to provide remote control of the entire range of operations from the base carrier vessel or from the shore when performing underwater operations in hazardous areas .