Abstract
An underwater vehicle is provided for cleaning, inspection and/or monitoring of underwater structures A. The vehicle includes at least one working equipment for cleaning, inspection and/or monitoring of underwater structures A. Several interconnected modules are also provided which can be oriented relative to each other. The modules are arranged one behind the other, and the underwater vehicle can be transitioned from an elongated movement configuration into a U-shaped, C-shaped, spiral and/or an annular working configuration and back.
Claims
1. An underwater vehicle for cleaning, inspection and/or monitoring of underwater structures A, the underwater vehicle comprising: at least one working equipment for cleaning, inspection and/or monitoring of the underwater structures A, several interconnected modules which can be oriented relative to each other, wherein the several interconnected modules are arranged one behind the other, wherein the underwater vehicle can be transitioned from an elongated movement configuration into a U-shaped, C-shaped, spiral and/or an annular working configuration and back.
2. The underwater vehicle as claimed in claim 1, further comprising at least one coupling device by which the underwater vehicle is fixable to an object to be inspected and/or is connectable to itself in the annular working configuration.
3. The underwater vehicle as claimed in claim 2, the coupling device has at least one magnet.
4. The underwater vehicle according to claim 1. wherein at least two modules have working equipment.
5. The underwater vehicle as claimed in claim 4, wherein the modules have different working equipment on at least two sides.
6. The underwater vehicle as claimed in claim 5, wherein the modules on one side have cleaning equipment as working equipment.
7. The underwater vehicle as claimed in claim 6, wherein the underwater vehicle is transitionable into at least two different working configurations, wherein in each of the working configurations a different side of the module is oriented towards a space surrounded by the underwater vehicle in the working configuration.
8. The underwater vehicle as claimed in claim 1, further comprising at least one means of repair.
9. The underwater vehicle as claimed in claim 1, wherein a distance between two modules is adjustable.
10. The underwater vehicle as claimed in claim 4, wherein at least the modules having working equipment are concave in an area in which the working equipment is arranged.
11. The underwater vehicle as claimed in claim 4, wherein at least the modules on which working equipment are arranged laterally have a cross-section transverse to a longitudinal extent direction of the modules with at least one straight section.
12. The underwater vehicle as claimed in claim 1, further comprising at least two propulsion elements which are arranged in and/or on a module and/or between two modules, and wherein at least two of these propulsion elements are effective in different spatial directions.
13. The underwater vehicle as claimed in claim 12, wherein the propulsion elements are effective in each case in one of three orthogonal spatial directions in a fully extended arrangement of the underwater vehicle.
14. The underwater vehicle as claimed in claim 12 wherein the propulsion elements can be individually controlled and/or oriented.
15. The underwater vehicle as claimed in claim 1, further including spacers arranged on at least two modules.
16. The underwater vehicle as claimed in claim 15, wherein the spacers are movable.
17. The underwater vehicle as claimed in claim 1, further including at least one camera.
18. The underwater vehicle as claimed in claim 17, wherein the camera can be moved and/or oriented by an adjusting device.
19. The underwater vehicle as claimed in claim 1, wherein at least one module is buoyant.
20. The underwater vehicle as claimed in claim 1, wherein at least one module has a ballast tank.
21. The underwater vehicle as claimed in claim 1, wherein the underwater vehicle is connected by a supply cable directly or indirectly to a land-based, airborne and/or sea-based control unit.
22. The underwater vehicle as claimed in claim 1, further comprising a control unit and a navigation unit with a data transmission connection to the control unit, wherein the control unit is set up for at least partially autonomous control of the underwater vehicle.
23. The underwater vehicle as claimed in claim 1, further comprising means for optical data transmission.
24. An underwater vehicle system comprising: an underwater vehicle as claimed in claim 1, and a carrier vehicle, wherein the carrier vehicle and/or the underwater vehicle has at least one fastening means for fixing the underwater vehicle to the carrier vehicle.
25. The underwater vehicle system as claimed in claim 24, wherein the carrier vehicle has a control unit which is set up to carry out at least partially autonomous operation of the carrier vehicle.
26. The underwater vehicle system as claimed in claim 24, wherein the carrier vehicle has multiple interconnected modules which can be oriented relative to each other.
27. The underwater vehicle system as claimed in claim 26, wherein the carrier vehicle can be transitioned from an elongated movement configuration to at least an annular deployment configuration.
28. The underwater vehicle system as claimed in claim 27, wherein the carrier vehicle has connecting means by means of which the carrier vehicle can be connected to itself in the annular deployment configuration.
29. The underwater vehicle system as claimed in claim 24, wherein the carrier vehicle has at least one energy storage means.
30. The underwater vehicle system as claimed in claim 24, wherein the carrier vehicle and/or the underwater vehicle have equipment for light-based communication.
31. The underwater vehicle system as claimed in claim 24, wherein the carrier vehicle comprises a tether management system, wherein the underwater vehicle and the carrier vehicle are connected to each other by a connecting cable.
32. The underwater vehicle system as claimed in claim 24, wherein the carrier vehicle has equipment for in particular satellite-based communication and/or positioning.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0043] Reference is now made more particularly to the drawings, which illustrate the best presently known mode of carrying out the invention and wherein similar reference characters indicate the same parts throughout the views.
[0044] FIG. 1 shows schematically an underwater vehicle according to an example embodiment of the invention.
[0045] FIG. 2 shows schematically the underwater vehicle according to FIG. 1 in a movement configuration and in a working configuration.
[0046] FIG. 3 shows schematically the underwater vehicle from FIG. 1 in an annular working configuration around an underwater structure.
[0047] FIGS. 4a through 4f show schematically an underwater structure enclosed by the underwater vehicle according to an example embodiment of the invention according to FIG. 1.
[0048] FIGS. 5a through 5b show schematically the arrangement of the propulsion elements on the underwater vehicle according to FIG. 1.
[0049] FIGS. 6a through 6c show schematically the possible directions of movement of the underwater vehicle according to FIG. 1.
[0050] FIG. 7 shows schematically the use of the propulsion elements during the transition of the underwater vehicle from a movement configuration to a working configuration.
[0051] FIG. 8 shows schematically the arrangement of cameras on the underwater vehicle according to FIG. 1.
[0052] FIG. 9 shows schematically a module according to an example embodiment of the invention of the underwater vehicle according to FIG. 1 with the spacers in an unfolded position and a folded position.
[0053] FIG. 10a shows schematically a longitudinal section through a module ac-cording to an example embodiment of the invention.
[0054] FIG. 10b shows schematically a cross-section of a module of the underwater vehicle according to FIG. 1 with a ballast tank.
[0055] FIGS. 11a through 11d show schematically an underwater vehicle according to an example embodiment of the invention and according to FIG. 1 in different floating states.
[0056] FIG. 12 shows schematically a launch and recovery system for an underwater vehicle according to an example embodiment of the invention and according to FIG. 1.
[0057] FIG. 13 shows schematically an alternative embodiment of a launch and recovery system for an underwater vehicle according to FIG. 1.
[0058] FIG. 14 shows schematically an alternative application of an underwater vehicle according to FIG. 1.
[0059] FIG. 15 and FIG. 16 show schematically further examples of possible applications of an underwater vehicle according to FIG. 1.
[0060] FIGS. 17a through 17e show schematically a carrier vehicle of an underwater vehicle system.
[0061] FIGS. 18a through 18b show schematically an underwater vehicle system with a carrier vehicle according to FIG. 17 and an underwater vehicle according to FIG. 1.
DETAILED DESCRIPTION OF THE INVENTION
[0062] Parts acting the same or similarly are provided with identical reference characters, provided that this is useful. Individual technical features of the examples described below can be combined with the features of individual exemplary embodiments described above to form objects according to the invention.
[0063] FIG. 1 shows an underwater vehicle 2 with eight modules 4. An underwater vehicle 2 according to the invention may also have more or fewer modules 4. The modules 4 of the underwater vehicle 2 according to FIG. 1 can each be oriented relative to each other. The modules 4 have working equipment 6 arranged on opposite sides of each module, wherein different working equipment 6 is arranged on the two sides of mod-ules 4 facing away from each other. On the one side, the working equipment 6 is designed as inspection equipment 8. On the other side, the working equipment 6 is implemented as cleaning equipment 10. The working equipment 6 can also be arranged on other sides of the modules 4. Likewise, further working equipment 6 can be arranged on the modules 4.
[0064] The underwater vehicle 2 has coupling devices 12 which are arranged in the present case on the first (not shown) and last module 4 of the underwater vehicle 2. The last module 4 of the underwater vehicle 2 is the module at which the supply cable 26 ends. The underwater vehicle according to the embodiment is thus an ROV. An underwater vehicle according to the invention may also be in the form of an AUV.
[0065] The underwater vehicle 2 also has cameras 20. Propulsion elements 16 are aranged between the modules and in the modules (not shown). Furthermore, the modules 4 each have 6 spacers 18 arranged next to the working equipment. The underwater vehicle 2 can also have other cameras 20, for example on other modules 4.
[0066] FIG. 2 shows an underwater vehicle 2, which is moved in an elongated movement configuration towards an underwater structure A. The vehicle 2 is then transitioned to a U-shaped working configuration. The orientation of the modules relative to each other can be carried out either by appropriate orientation devices of the modules themselves or by appropriate actuation of the propulsion elements 16. In the working configuration of the underwater vehicle 2, the spacers 18 are shown unfolded. These serve to prevent or cushion a collision of the underwater vehicle 2 with the underwater structure A in order to avoid damage to the underwater vehicle 2, in particular the working equipment 6.
[0067] FIG. 3 shows the underwater vehicle 2 in an annular working configuration, in which the underwater vehicle 2 surrounds the underwater structure A, which is formed here by a support pillar of an offshore wind turbine. The unfolded spacers 18 establish an even distance of the individual modules 4 of the underwater vehicle 2 from the underwater structure A to be examined. The underwater vehicle 2 can now be guided vertically along the length of the underwater structure A, which is columnar in the present case, and can carry out cleaning, inspection and/or maintenance work.
[0068] FIGS. 4a) to 4f) show how the underwater vehicle 2 is guided around a columnar underwater structure to be examined and transitioned from the elongated movement configuration to an annular working configuration. The spacers 18 are unfolded, while the underwater vehicle 2 is guided around the underwater structure A to be examined. By means of the coupling device 12, the underwater vehicle 2 is connected to itself in the annular working configuration to form a ring. In this annular working configuration, underwater vehicle 2 surrounds the underwater vehicle A to be examined. This prevents the underwater vehicle 2 from being removed from the underwater structure A to be examined, for example by currents. The subsequent examinations are therefore particularly easy and reliable to carry out.
[0069] FIGS. 4c) and 4d) show an adaptation of the underwater vehicle 2 in the annular working configuration to the circumference of the underwater structure A. For this purpose, the distance of the individual modules 4 of the underwater vehicle 2 from each other can be changed. For this purpose, 4 connecting elements, the longitudinal dimensions of which can be changed, are inserted between the modules. In this exemplary embodiment, these are each realized by a cam gear that translates rotational movements into longitudinal movements. The distance between individual modules 4 can be increased or reduced. Thus, underwater structures A with slightly different diameters can be examined with an underwater vehicle 2. In the same way, underwater structures A with a changing diameter can be better examined, in that the underwater vehicle 2 in the annular working configuration can be continuously adapted to the currently existing diameter.
[0070] If underwater structures A with a significantly different diameter are then to be examined, the number of modules 4 can be varied or modules 4 with different longitudinal dimensions can be inserted into the underwater vehicle 2. Such a modular underwater vehicle 2 can thus be adapted for a variety of inspection tasks. FIGS. 4e) and 4f) show the underwater vehicle 2 in the annular working configuration, in which the ex-amination of the underwater structure A to be examined is carried out. Here, the underwater vehicle 2 can be moved not only along the longitudinal extent of the underwater structure A, but also in the circumferential direction. This ensures that the entire area of the underwater structure A to be examined is easily examined with an underwater vehicle 2.
[0071] FIGS. 5a) and 5b) show schematically the orientation of the different propulsion elements. FIG. 5a) shows that the propulsion elements 16 can point in different directions. FIG. 5b) shows that the propulsion elements 16 in a fully extended underwater vehicle 2 are aligned in one of three orthogonal spatial directions X, Y and Z. This arrangement of the propulsion elements 16 allows an underwater vehicle 2 which can be easily moved in different directions. For this purpose, individual propulsion elements are integrated into the modules, while other propulsion elements 16 are arranged between two modules.
[0072] Alternatively or additionally, it is also conceivable to arrange propulsion elements 16 in an orientable manner so that they can be oriented in operation in such a way that they are effective in the desired spatial direction. For this purpose, the propulsion elements can be controlled independently of each other in order to enable even complex movements of the underwater vehicle 2, such as the transition from an elongated movement configuration to a U-shaped, c-shaped, spiral or annular working configuration supported by the propulsion elements 16.
[0073] FIGS. 6a) to 6c) show exemplary possible arrangements of the propulsion elements 16 on the underwater vehicle 2 which act in different spatial directions. FIG. 6a) shows the propulsion elements 16 acting in the direction of the longitudinal extent, which are mainly used for horizontal movements in the direction of the longitudinal extent of the underwater vehicle 2. FIG. 6b) shows the arrangement of propulsion elements acting in a vertical direction on the underwater vehicle 2. These can be used, for example, to move the underwater vehicle 2 in a working configuration past the underwater structure A to be examined. FIG. 6c) shows the arrangement of the propulsion elements 16 acting in a lateral direction. This allows the underwater vehicle 2 to be moved in appropriate lateral directions. These are necessary in the pre-sent embodiment, especially for the transition of the underwater vehicle 2 from an elongated movement configuration to a U-shaped, c-shaped, spiral and/or annular working configuration, as shown in FIG. 7 for a U-shaped and an annular working con-figuration. For this purpose, the propulsion elements acting in a lateral direction are controlled to varying degrees and act in different directions. While the propulsion elements 16 arranged at the centre of the underwater vehicle 2 generate outwards propulsion, the propulsion elements 16 arranged at the ends of the underwater vehicle 2 are used to generate inward propulsion towards the space to be surrounded by the underwater vehicle 2 in the working configuration. This happens until the under-water vehicle 2 is transitioned, for example, into an annular working configuration and is connected to itself in this configuration by the coupling device 12.
[0074] FIG. 8 shows on the basis of the exemplary embodiment possible arrangements of cameras 20 on the underwater vehicle 2. In this exemplary embodiment, cameras 20 are arranged on the first and last module 4 of the underwater vehicle 2. These cameras 20 allow on the one hand a recording of the environment when moving the underwater vehicle 2 and on the other hand the monitoring of a coupling process of the underwater vehicle 2 to underwater structures A or to itself. In addition to the cameras 20, light sources are arranged that can illuminate the area to be captured by the cameras 20. Cameras 20 are arranged on central modules 4, which can be oriented or displaced by an adjusting device 22. In particular, the camera 20 can be transferred by the adjusting device 22 in the exemplary embodiment to a position spaced apart from the module 4 on which the camera 20 is fixed by the adjusting device 22. The camera 20 can thus be transported compactly on the underwater vehicle 2. In the position spaced apart from the module 4 to which the camera 20 is fixed, the camera 20 can capture a wide area and, for example, can look past the module 4 so to speak. Likewise, the camera 20 can also capture the module 4 to which it is fixed, and thus allows a check of the position of the module 4 of the underwater vehicle 2, for example relative to an underwater structure A and/or the monitoring of a cleaning or inspection process.
[0075] FIG. 9 shows a module 4 of an underwater vehicle 2. In this figure, on the one hand, a flow channel for a propulsion element 16 arranged in module 4 can be seen. Furthermore, it can be seen that the module 4 comprises working equipment 6 on two sides, wherein on one side the working equipment 6 is implemented as inspection equipment 8 and on the other side is implemented as working equipment 10. The sides of the module 4 with the working equipment 6 are concave and each have a straight section in a cross-section transverse to a longitudinal extent direction of the module 4. As a result, the working equipment 6 in a working position of the underwater vehicle 2 can act better on an underwater structure A to be examined if it is an underwater structure A with a round cross-section or rounded sections. Furthermore, spacers 18 are arranged adjacent to the working equipment 6, which are shown in an unfolded position and in a folded position. The spacers 18 preferably also have damping means. The spacers 18 can thus not only serve to keep the working equipment 6 at a predetermined distance from the underwater structure A to be examined, but also to dampen movements of the underwater vehicle 2 or the module 4 relative to the underwater structure A and thus to avoid damage to the module 4 or the working equipment 6. The movable spacers 18 enable a compact underwater vehicle 2. The spacers 18 are only extended when they are needed.
[0076] FIGS. 10a) and 10b) show sections through a module 4 of an underwater vehicle. In the longitudinal section (FIG. 10a), a data collection unit connected to the inspection device 8 is shown. This is where the data of the inspection equipment 8 are recorded.
[0077] Furthermore, a motor is arranged in the module. As a result, the individual modules 4 can be oriented relative to each other and/or can be changed in their distance from each other. Likewise, the propulsion elements 16 can be driven by such a motor. In a cross-section (FIG. 10b)) of the module, a ballast tank 24 can be seen. The modules 4 are designed to be buoyant. The ballast tank 24 is filled with a gaseous and compressible medium. The water surrounding the module can be introduced into the ballast tank 24 and the gaseous medium compressed. The water can also be removed from the ballast tank 24. This enables the net buoyancy of module 4 to be precisely adjusted.
[0078] FIGS. 11a) to 11d) show the different orientations that an underwater vehicle according to the invention can assume by clever ballasting of ballast tanks 24, which are present in each module 4 of the underwater vehicle 2 in this exemplary embodiment. The ballast tanks 24 can be filled at the same time, so that the underwater vehicle orients horizontally in the water (FIG. 11a)). However, the ballast tanks 24 of individual modules can also be filled differently. In the extended movement configuration of the underwater vehicle 2, the underwater vehicle 2 can thus deviate from the horizontal orientation and, if necessary, can dive up or down faster under the action of the propulsion elements 16 (FIGS. 11b) and 11c)). Individual ballast tanks 24 may also be fluidically connected to each other, for example by flexible connections, so that at least one fluid can be transferred from one ballast tank 24 to another ballast tank 24 to allow trimming, i.e. a certain orientation of the underwater vehicle.
[0079] In an annular working configuration, the orientation of the ring can be changed by the different ballasting of the ballast tanks 24 of the modules 4 (FIG. 11d)). On the one hand, the ring can be oriented horizontally. In this orientation, the underwater vehicle 2 is particularly suitable for the inspection of vertical structures, such as support pillars of wind turbines. With different ballasting, the underwater vehicle is vertically oriented in the annular working configuration. In this orientation, the underwater vehicle 2 is particularly suitable for investigating horizontally arranged underwater structures A, such as pipelines. However, the underwater vehicle 2 is not limited to use on horizontally or vertically oriented underwater structures A. Especially in the annular working configuration, it can be guided along arbitrarily oriented structures such as flexible undersea pipes.
[0080] FIG. 12 shows a launch and recovery system for an underwater vehicle 2 according to the invention. The launch and recovery system can be based on a ship. It is also conceivable to use a launch and recovery system that moves the underwater vehicle close to the application site, wherein the launch and recovery system remains close to the application site and the underwater vehicle 2 is used with the launch and recovery system. For this purpose, the launch and recovery system can be equipped with a tether management system (TMS) (FIG. 13)). Such a tether management system ensures that the supply cable 26 functions perfectly in deeper waters, restricts the maneuverability slightly and does not get tangled, for example.
[0081] FIG. 14 shows an alternative application scenario for an underwater vehicle 2 which is fixed to a temporary auxiliary structure to monitor a process carried out underwater, such as drilling a borehole. The underwater vehicle 2 can also monitor another underwater structure that is different from the underwater structure to which it is fixed.
[0082] FIG. 15 shows the use of the underwater vehicle for the inspection of flexible pipelines.
[0083] FIG. 16 shows the use of such a system in the monitoring of connections to an underwater borehole termination. Here too, the underwater vehicle 2 can indirectly monitor an underwater structure which is different from the underwater structure to which it is fixed. In this case, the underwater vehicle 2 must operate in a spatially limited environment. In such an environment, the underwater vehicle 2 according to the invention is particularly flexible to use, since it is introduced in the elongated movement configuration to the point to be inspected and only there is transitioned into the U-shaped, C-shaped, spiral or annular working configuration.
[0084] FIGS. 17 a) to e) show a carrier vehicle 32 of an underwater vehicle system 30 in different positions. FIG. 17 a) is a view from above. FIG. 17 b) shows a side view without the underwater vehicle 2. FIG. 17 c) shows the carrier vehicle 32 in a side view with an underwater vehicle 2. The underwater vehicle 2 is fixed to the carrier vehicle 32 by fastening means 34 of the carrier vehicle 32. FIG. 17 d) shows the carrier vehicle 32 with the underwater vehicle 2 fixed to it by the fastening means 34 in a view from below. FIG. 17 e) shows a cross-section through the carrier vehicle in a view according to FIG. 17 b).
[0085] The carrier vehicle 32 is constructed similarly to the underwater vehicle 2 of multiple interconnected modules which can be oriented relative to each other. The modules are connected to each other in an articulated manner by linkage sections 33 with linkage arrangements 35. The carrier vehicle of the exemplary embodiment has a control module 36, two drive modules 38 with drive devices 40, a battery module 42 and a TMS module 44 with a tether management system 46. The tether management system 46 comprises the supply cable 26, with which the underwater vehicle 2 is connected to the carrier vehicle 32. The carrier vehicle 32, like the underwater vehicle 2, can be transitioned into an annular configuration in which it is connected to itself by connecting devices 48. The connecting devices 48 are arranged on the control module 36 and on the rear of the two drive modules 38. In particular, mechanical and/or (electro-)magnetic fixing of the carrier vehicle 32 to itself in an annular working configuration or to a structure in the water is carried out by means of the connecting devices 48.
[0086] Contact blocks 50, by means of which the underwater vehicle 2 is brought into contact with the carrier vehicle 32, are formed on the TMS module 44 and on the battery module 42. The contact blocks 50 serve to avoid possible damage to the carrier vehicle 32 and the underwater vehicle 2 when separating the underwater vehicle 2 and in particular when recovering the underwater vehicle 2 by the fastening means 34 of the carrier vehicle 32.
[0087] In the cross-section according to FIG. 17 e) it can be seen that an accumulator 43 is arranged in the battery module 42. An additional accumulator 45 is arranged in the TMS module 44 in addition to the tether management system 46 with the supply cable 26. A control unit 51, various sensors, in particular navigation sensors 52 such as a compass, depth gauge and/or sonar device and means 54 for in particular satellite-based positioning and/or communication are arranged in the control module 36. The position of the carrier vehicle 32 can be determined accurately by means for in particular satellite-based positioning, in particular on the basis of GPS, Galileo, Beidou and/or Glonass. By means for in particular satellite-based communication, the carrier vehicle 32 remaining on the water surface or near the water surface can serve as a communication node in a communication link with the underwater vehicle 2 in use.
[0088] Furthermore, a camera system 56 with a camera and lighting equipment is arranged in the control module 36.
[0089] FIGS. 18 a) and b) show the underwater vehicle system 30, once with the underwater vehicle 2 fixed to the carrier vehicle 32 by the fastening means 34 (FIG. 18 a)) and once with the underwater vehicle 2 spaced apart from the carrier vehicle 32, wherein the underwater vehicle 2 is connected to the carrier vehicle 32 by a supply cable 26.
