WO2022269632A1 - Ensemble véhicule subaquatique modulaire et procédé de celui-ci - Google Patents

Ensemble véhicule subaquatique modulaire et procédé de celui-ci Download PDF

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Publication number
WO2022269632A1
WO2022269632A1 PCT/IN2022/050564 IN2022050564W WO2022269632A1 WO 2022269632 A1 WO2022269632 A1 WO 2022269632A1 IN 2022050564 W IN2022050564 W IN 2022050564W WO 2022269632 A1 WO2022269632 A1 WO 2022269632A1
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WO
WIPO (PCT)
Prior art keywords
load bearing
bearing member
underwater vehicle
primary load
assembly
Prior art date
Application number
PCT/IN2022/050564
Other languages
English (en)
Inventor
Krishnan BALASUBRAMANIAN
Prabhu Rajagopal
Vineet Upadhyay
Santhosh Ravichandran
Sreeram S A
Faisal N
Original Assignee
Indian Institute Of Technology Madras
Planys Technologies Pvt. Ltd.
Mazagon Dock Shipbuilders Ltd.
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 Indian Institute Of Technology Madras, Planys Technologies Pvt. Ltd., Mazagon Dock Shipbuilders Ltd. filed Critical Indian Institute Of Technology Madras
Publication of WO2022269632A1 publication Critical patent/WO2022269632A1/fr

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    • 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
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • 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
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • 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

Definitions

  • the field of invention generally relates to underwater vehicle assembly. More specifically, it relates to a modular and optimized underwater vehicle assembly which uses pressure vessels for load transmission, thus reducing the number of parts required in the vehicle design.
  • ROVs Remotely Operated Vehicle
  • Typical ROVs are remotely controlled by humans, although some may be semi- or fully autonomous.
  • Such vehicles are further classified into observation class, mid-sized, work class and special use vehicles.
  • the observation class and mid-sized vehicles are primarily visual inspection vehicles with limited abilities for sophisticated inspections.
  • the work class vehicles are larger vehicles with abilities for intervention and heavy operations even in deep environments.
  • special use vehicles are specially designed for a particular application i.e., either inspection related or intervention operations.
  • the observation class vehicles are easier to transport, setup and operate, and thus are generally less expensive to operate.
  • the heavy work class vehicles are difficult to operate, and often require a support vessel to operate, because of which, are very expensive.
  • all of these vehicles have a similar mechanical construction.
  • the major mechanical components involved in the construction of underwater vehicles include a frame, pressure vessels, buoyancy members and propulsion systems.
  • the frame is typically made of a metal or a polypropylene plastic depending on the weight and size of the underwater vehicle.
  • the heavier and larger underwater vehicles such as the work-class vehicles are made of an aluminum frame, whereas smaller and lighter observation class vehicles are made of a polypropylene frame with or without metallic frame members.
  • the vehicle design typically uses the frame as a central component, onto which all other components and parts of the vehicle are mounted.
  • the principle object of this invention is to provide a compact and weight optimized underwater vehicle assembly that requires minimal parts in its construction.
  • a further object of the invention is to provide a modular underwater vehicle assembly that utilizes existing components of the vehicle for effective load transmission such that the requirement of a frame or chassis is eliminated.
  • Another object of the invention is to provide a modular underwater vehicle assembly that allows easy assembling and disassembling of the components of the vehicle irrespective of the size of the vehicle.
  • Another object of the invention is to provide an underwater vehicle assembly that effectively transmits internal and external loads encountered by the vehicle through pressure vessels, i.e., primary load bearing members.
  • Another object of the invention is to provide an underwater vehicle assembly that effectively withstands high hydrostatic pressures encountered by the vehicle at higher depths, by using pressure vessels as primary load bearing members.
  • a further object of the invention is to provide a modular underwater vehicle assembly that improves the vehicle performance and reduces the overall cost of the vehicle.
  • FIG. 1 depicts a front view of a conventional design of an underwater vehicle.
  • FIG. 1 depicts a front view of another conventional design of an underwater vehicle.
  • FIG. 1 depicts an exemplary modular underwater vehicle, in accordance with an embodiment.
  • FIG. 1 depicts a load transmission representation of a modular underwater vehicle, in accordance with an embodiment.
  • FIG. 1 depicts an exemplary modular underwater vehicle with two primary load bearing members, in accordance with an embodiment.
  • FIG. 1 illustrates a method for configuring a modular underwater vehicle, in accordance with an embodiment.
  • the present invention discloses a modular underwater vehicle assembly which does not require a frame or chassis, and is thus weight optimized.
  • the underwater vehicle assembly comprises at least one primary load bearing member, at least one buoyancy member and at least one secondary load bearing member.
  • the primary load bearing members are interconnected together for efficient load transmission.
  • the primary load bearing members are configured and connected in such a way that it eliminates the need for an additional frame structure component.
  • the primary load bearing members are cylindrical shaped components which are configured to withstand the pressures encountered by the vehicle.
  • the cylindrical shaped components may comprise pressure vessels, camera enclosures, and other components that withstand pressures inside the water.
  • the buoyancy member is placed on top of the at least one primary load bearing member to provide upward thrust.
  • the at least one secondary load bearing member are configured to externally interconnect the buoyancy member and the at least one primary load bearing member.
  • the secondary load bearing members are interconnecting structures which may comprise one or more of bars, rods, struts, beams, crosspieces etc.
  • the secondary load bearing members are configured to transmit internal and external loads encountered by the vehicle across the buoyancy member and the primary load bearing members.
  • a method for configuring a modular underwater vehicle assembly comprises the steps of determining a number of primary load bearing members for an underwater vehicle assembly. Further, the determination of a number of secondary load bearing members is carried out. Next, the primary load bearing members are placed to interconnect together. Subsequently, a buoyancy member is placed on top of the primary load bearing members. Further, the buoyancy member and the primary load bearing members are externally connected using the determined secondary load bearing members. Finally, the internal and external loads encountered by the vehicle are transmitted through the vehicle by the secondary load bearing members.
  • the present invention discloses a compact and optimized underwater vehicle assembly which utilizes existing components of the vehicle instead of a frame structure
  • the underwater vehicle of the invention comprises a compact configuration with optimized weight.
  • the underwater vehicle configuration allows the components of the vehicle to be easily assembled and disassembled irrespective of the type and size of the vehicle.
  • the modular underwater vehicle configuration provides an effective load transmission through load bearing components of the vehicle at high depths under the water.
  • the modular unmanned underwater vehicle described in the invention is applicable either to remotely operated vehicles (ROVs) or to autonomous underwater vehicles (AUVs).
  • ROVs remotely operated vehicles
  • AUVs autonomous underwater vehicles
  • the underwater vehicle 100 depicts a front view of a conventional underwater vehicle 100.
  • the underwater vehicle 100 of is a simple and widely adapted construction in the industry.
  • the configuration of the vehicle 100 mainly comprises a frame 102, a pressure vessel 104, a buoyancy member 108 and a pair of thrusters 110/1 and 110/2.
  • the vehicle 100 configuration comprises the frame 102 which is typically constructed in a closed framework configuration.
  • the pressure vessel 104 is mounted and enclosed inside the frame 102 through a pressure vessel clamp 106.
  • the pair of thrusters 110/1 and 110/2 are coupled to the frame 102 where the thrusters 110/1 and 110/2 are mounted and enclosed inside the frame 102 through a thruster clamp 112.
  • the pair of thrusters 110/1 and 110/2 are placed on adjacent sides of the pressure vessel 104.
  • the buoyancy member 108 is coupled to the upper connecting part of the frame 102 to provide upward thrust.
  • the frame 102 is made of either metallic material or polypropylene plastic depending on the application area.
  • the frame 102 can comprise reconfigurable elements which can be easily and quickly used to construct the frame 102 configuration.
  • the pressure vessel 104 may include a watertight housing to enclose multiple modules such as control electronics, batteries, sensors, cameras, thruster motors etc. that assist in the operation of the underwater vehicle 100.
  • FIG. 200 depicts a front view of another conventional underwater vehicle 200.
  • the vehicle 200 is depicted with the frame 102 on which various other components such as a camera 202 and additional thrusters are mounted.
  • the vehicle 200 is a different sized vehicle configured to accommodate more components for a specific application when compared to the vehicle 100 of .
  • the configuration of vehicles 100 and 200 involve use of the frame 102 for support and rigidity of the vehicle which may add additional weight to the overall vehicle.
  • the modular vehicle 300 mainly comprises a primary load bearing member 302, plurality of secondary load bearing members 304/1, 304/2, 304/3 and 304/4, a buoyancy member 108, an upper connecting part 306 and a lower connecting part 308.
  • the primary load bearing member 302 is connected to the upper connecting part 306 and the lower connecting part 308 of the vehicle 300 through the plurality of secondary load bearing members 304/1, 304/2, 304/3 and 304/4.
  • the primary load bearing member 302 is connected to the lower connecting part 308 through external attachment or removable attachment, such that there is no change in pressure transmission through the secondary load bearing members 304.
  • at least one buoyancy member 108 is attached to the upper connecting part 306 of the vehicle 300 to provide upward thrust.
  • the primary load bearing members 302 utilized may comprise cylindrical shaped components in particular to withstand hydrostatic pressures of the vehicle 300.
  • the hydrostatic pressures are external water pressures encountered by the vehicle 300 at higher depths.
  • a plurality of primary load bearing members 302 may be utilized and interconnected together to form as a frame structure of the vehicle 300.
  • the cylindrical shaped components which may act as primary load bearing members 302 for the underwater vehicle assembly may comprise plurality of pressure vessels. Therefore, the primary load bearing members 302 considered may be pressure vessels that act as active members for load transmission.
  • the primary load bearing members 302 may comprise any other shape which can efficiently bear the load transmission in the underwater vehicle assembly.
  • the pressure vessels may enclose multiple sub components such as control electronics, batteries, sensors, cameras, lights, thruster motors, and other components that are necessary for the operation of the vehicle 300. Further, empty pressure vessels may also be utilized and connected to the vehicle 300 in order to provide additional buoyancy if needed. Moreover, the pressure vessels considered by the vehicle 300 may be manufactured using either plastic or aluminum or any other material that supports and aids the modularity of the vehicle 300 and withstands loads encountered by the vehicle 300.
  • cylindrical shaped components which may act as primary load bearing members 302 for the underwater vehicle 500 may comprise camera enclosures as well as any other enclosures required according to the application of the underwater vehicle assembly.
  • the buoyancy member 108 is coupled to the vehicle 300 onto the top of the primary load bearing member 302.
  • the buoyancy member 108 and the plurality of primary load bearing members 302 are externally connected together using a plurality of secondary load bearing members 304.
  • the secondary load bearing members 304 transmit internal and external loads across the primary load bearing members 302.
  • the external loads comprise hydrostatic pressures from the environment which are experienced by the primary load bearing members 302 i.e., cylindrical shaped components / pressure vessel.
  • the internal loads comprise the pressures generated within the vehicle 300 such as torsional, bending, tension or compression pressures.
  • the external loads experienced by the primary load bearing members 302 may also be forces felt due to an impact of the underwater vehicle assembly with external bodies such as underwater concrete structures etc., In this scenario, the primary load bearing members 302 experience two types of external loads, namely hydrostatic pressure load as well as impact load due to collision.
  • the external and internal loads are simultaneously experienced by the primary load bearing members 302.
  • the external and internal loads are distributed along the upper connecting part 306 and lower connecting part 308 of the vehicle 300 through the secondary load bearing members 304 from the primary load bearing members 302.
  • the primary load bearing members 302 are interconnected together to form as a frame structure, additional frame structure is not required in the construction of the vehicle 300.
  • the interconnection of the primary load bearing members 302 with the secondary load bearing members 304 themselves provide support and rigidity to the overall vehicle 300, thus, eliminating the requirement for an additional external frame structure. Therefore, the vehicle 300 is configured with existing components and thus the overall weight of the vehicle 300 is reduced which in turn leads to the reduction of the overall cost of the vehicle 300.
  • the secondary load bearing members 304 are multiple interconnecting structures.
  • the interconnecting structures are made of either metal or other material which is strong enough to transmit loads across the buoyancy member 108 and the at least one primary load bearing member 302. Further, the interconnecting structures may comprise one or more of bars, rods, struts, beams, and crosspieces, among other components used to externally interconnect the primary load bearing members 302.
  • the secondary load bearing members 304 are detachable members where the secondary load bearing members 304 may detachably interconnect the at least one primary load bearing member 302 and the buoyancy member 108.
  • This detachable connection enables easy assembling and disassembling of the vehicle 300.
  • the detachable connection further allows for easy access of a particular component of the vehicle 300 without disturbing the other adjacent components of the vehicle 300.
  • FIG. 400 depicts a load transmission representation of a modular underwater vehicle assembly 400.
  • an illustration of a typical load path is depicted in the on the underwater vehicle assembly while the vehicle 400 is being lifted. It can be observed that the load paths of the vehicle which are shown in arrows passes through the primary load bearing member 302 as proposed.
  • the primary load bearing member 302 i.e., a cylindrical shaped pressure vessel is an active member in the underwater vehicle assembly to transmit the loads within the frame structure.
  • the vehicle 500 is configured with a first primary load bearing member 302/1, a second primary load bearing member 302/2, plurality of secondary load bearing members 304/1, 304/2, 304/3, a buoyancy member 108, a lower connecting part 308 and plurality of thrusters 502.
  • the vehicle 500 as mentioned in above embodiments comprises two primary load bearing members 302/1 and 302/2.
  • the vehicle 500 may further extendable by adding multiple primary load bearing members 302.
  • the primary load bearing members 302/1 and 302/2 are externally connected together using the secondary load bearing members 304.
  • the first primary load bearing member 302/1 is connected to the buoyancy member 108 and the lower connecting part 308 through the plurality of secondary load bearing members 304.
  • the secondary load bearing members 304/1 and 304/2 are used for connecting the first primary load bearing member 302/1.
  • multiple secondary load bearing members 304 may be utilized for achieving the connection.
  • the second primary load bearing member 302/2 is connected to the lower connecting part 308 through the plurality of secondary load bearing members 304/3.
  • multiple secondary load bearing members 304 may be utilized achieving for the connection.
  • the secondary load bearing members 304 externally connect the primary load bearing members 302/1 and 302/2 and the buoyancy member 108 together.
  • the plurality of thrusters 502 are connected to the attachment means of the primary load bearing members 302/1 and 302/2.
  • the vehicle configuration as a whole withstands the pressure loads inside the water without requirement of the additional external frame.
  • the method begins with determining a number of required primary load bearing members for an underwater vehicle assembly, as depicted at step 602. Subsequently, the method 600 discloses determining a number of required secondary load bearing members, as depicted at step 604. Further, the method 600 discloses interconnecting the determined primary load bearing members by using the secondary load bearing members, as depicted at step 606.
  • the method 600 discloses externally interconnecting a buoyancy member and the primary load bearing members by using the determined secondary load bearing members, as depicted at step 608.
  • the primary load bearing members are detachably connected together by using the secondary load bearing members, thus obtaining a modular underwater vehicle assembly. Further, internal and external loads encountered by the vehicle are transmitted through the vehicle by the secondary load bearing members, as depicted at step 610.
  • the advantages of the current invention include a compact and weight optimized underwater vehicle assembly with a reduced number of required parts, where the vehicle construction requires only minimal components.
  • the construction of the proposed vehicle configuration uses existing components of the vehicle and eliminates requirement of an additional external frame.
  • the additional advantage is that the modular underwater vehicle assembly further allows for easy assembling and disassembling of the components irrespective of the size of the vehicle. Moreover, the modular underwater vehicle assembly also effectively transmits the internal and external loads encountered by the vehicle using the primary and secondary load bearing members. Thus, the modular underwater vehicle assembly improves the overall vehicle performance and reduces the overall cost of the vehicle.
  • Applications of the current invention include underwater vehicles such as Remotely Operated Vehicles (ROVs) or Autonomous Underwater Vehicles (AUVs) which are used in subsea applications, deep ocean research, onsite intervention and inspection tasks under water etc.
  • ROVs Remotely Operated Vehicles
  • AOVs Autonomous Underwater Vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Pressure Vessels And Lids Thereof (AREA)

Abstract

La présente invention concerne un véhicule subaquatique modulaire (500). Le véhicule subaquatique modulaire (500) comprend principalement au moins un élément de support de charge primaire (302/1, 302/2), une pluralité d'éléments de support de charge secondaires (304/1, 304/2, 304/3, 304/4) et un élément de flottabilité (108). L'au moins un élément de support de charge primaire (302/1, 302/2) et l'élément de flottabilité (108) sont reliés entre eux à l'aide de la pluralité d'éléments de support de charge secondaires (304/1, 304/2, 304/3, 304/4). La configuration modulaire globale avec les éléments de support de charge primaires (302/1, 302/2) et la pluralité d'éléments de support de charge secondaires (304/1, 304/2, 304/3, 304/4) forme une structure de cadre et élimine ainsi le besoin d'un cadre externe supplémentaire, ce qui à son tour entraîne un poids optimisé du véhicule (500).
PCT/IN2022/050564 2021-06-23 2022-06-20 Ensemble véhicule subaquatique modulaire et procédé de celui-ci WO2022269632A1 (fr)

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IN202141028276 2021-06-23
IN202141028276 2021-06-23

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2525773B2 (es) * 2014-10-20 2015-04-28 Universidad Politécnica de Madrid Robot submarino modular
WO2015148729A1 (fr) * 2014-03-25 2015-10-01 O-Robotix Llc Dispositif modulaire sous-marin

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015148729A1 (fr) * 2014-03-25 2015-10-01 O-Robotix Llc Dispositif modulaire sous-marin
ES2525773B2 (es) * 2014-10-20 2015-04-28 Universidad Politécnica de Madrid Robot submarino modular

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