Anchoring system for vehicles for underwater processes and underwater vehicle for sampling operations employing such an anchoring system

Abstract

The present invention relates to an anchoring system (1) for a vehicle (100) for performing a process in a submerged environment (A), which can be used to anchor said vehicle (100) to an anchoring surface (S), and comprising: - a guide body (2) extending along a sliding direction (X-X) between an upper end (21), configured to be connected to a frame (101) of the vehicle (100), and a lower end (22), configured to abut against the anchoring surface (S); - an anchoring assembly (3) slidably mounted on the guide body (2) along the sliding direction (X-X) between said ends (21, 22), comprising at least one anchoring element (30) configured to penetrate the anchoring surface (S) so as to anchor the guide body (2) to the anchoring surface (S); - a drive head (4) slidably mounted on the guide body (2) along the sliding direction (X-X) between the upper end (22) and the anchoring assembly (3), configured to come into contact with the anchoring assembly (3) and move it towards the lower end (22) to penetrate the anchoring element (30) in the anchoring surface (S); this drive head (4) is also usable to drive a tool (102a) of the vehicle (100) to perform said process in the submerged environment (A); - sliding drive members (5), configured to move the drive head (4) along the sliding direction (X-X).

Description

[0001] Title: “Anchoring system for vehicles for underwater processes and underwater vehicle for sampling operations employing such an anchoring system”

[0002] DESCRIPTION

[0003] Technical Field

[0004] The present invention relates to an anchoring system for a vehicle adapted to performing processes in a submerged environment, which can be used to anchor such a vehicle to an anchoring surface.

[0005] It is also an object of the present invention to provide a remotely controlled vehicle adapted to perform a process in a submerged environment.

[0006] In particular, but not exclusively, the present invention finds useful application in the field of electromechanical systems for sampling the seabed by means of coring.

[0007] State of the Art

[0008] Coring is a well-known sampling technique that consists of taking cylindrical samples of soil / ice / rock for analysis.

[0009] In order to sample the seabed, i.e. to perform coring operations in a submerged environment, underwater vehicles of significant size and weight (“Work Class” vehicles) equipped with specific coring systems - such as, for example, ROCS multicore drilling system by Williamson & Associates - have been developed.

[0010] It is worth noting that, due to their large mass and gravitational pull, these vehicles rest firmly on the seabed. This means that, during coring operations, the weight of the vehicle itself is such that it counteracts the reaction forces that arise when the coring tool is inserted into the seabed.

[0011] However, the use of work class vehicles for sampling operations has certain drawbacks, both of a logistical nature, as their significant dimensions make them difficult to transport to the site where sampling is to be carried out, and of a functional nature, as their high inertia makes them difficult to control accurately. The use of work class vehicles for coring operations is therefore only justifiable for coring operations of significant size.

[0012] There is therefore a need for small underwater vehicles, in particular remotely controlled, to perform work in the submerged environment.

[0013] It should be noted that, due to their relatively small mass, once in the water, small underwater vehicles have almost zero buoyancy, which makes them sensitive to environmental perturbations (current, umbilical pull, etc.) and to the reaction forces that occur during drilling operations.

[0014] Anchoring systems to the seabed, for example for boats, are known, but due to their high weight they are unsuitable for installation on board smaller underwater vehicles.

[0015] Object of the invention

[0016] In this context, the technical task underpinning the present invention is to propose an anchoring system for a vehicle adapted to perform work in a submerged environment and a remotely operated underwater vehicle employing such an anchoring system that overcomes the drawbacks of the aforementioned prior art.

[0017] In particular, an aim of the present invention is to provide an anchoring system configured to anchor a vehicle adapted to perform a process in a submerged environment to an anchoring surface, so that it can perform such a process independently of its ability to withstand external reaction forces and disturbances.

[0018] In particular, it is an aim of the present invention to provide an anchoring system capable of enabling coring operations in a submerged environment using remotely controlled vehicles of small dimensions such as, for example, observer-class ROVs. It is also an aim of the present invention to provide an anchoring system for a vehicle adapted to perform a process in a submerged environment that is simple to construct and easy to implement.

[0019] Furthermore, it is the purpose of the present invention to provide a remotely controlled vehicle, adapted to perform a process in a submerged environment - such as, for example, coring -, of contained weight and size.

[0020] SUMMARY OF THE INVENTION

[0021] In accordance with the present invention, the stated technical task and the specified aims are achieved by an anchoring system and a remotely controlled vehicle adapted to perform work in a submerged environment employing such an anchoring system in accordance with one or more of the claims provided below.

[0022] The present invention proposes to provide an anchoring system configured to anchor a vehicle adapted to perform a process in a submerged environment - such as, for example, coring work - to an anchoring surface.

[0023] This anchoring system is thus configured to provide the necessary constraining reactions to counteract the processing forces that tend to move the vehicle with respect to the anchoring surface in the event that the characteristics of the vehicle, such as mass, hydrodynamic resistance, motor power, are not sufficient to stabilise it. Therefore, the anchoring system of the present invention enables even small vehicles such as, for example, observer-class ROVs to be enabled for such processes.

[0024] The anchoring system according to the present invention comprises a guide body extending along a sliding direction between an upper end, configured to be connected to a frame of the vehicle, and a lower end, configured to rest against the anchoring surface.

[0025] The anchoring system also comprises an anchoring assembly with at least one anchoring element configured to penetrate the anchoring surface and anchor the guide body to it. This anchoring assembly is slidably mounted on the guide body along the sliding direction between the upper and lower end.

[0026] The anchoring system also comprises a drive head mounted in a sliding manner on the guide body along the sliding direction between the upper end and the anchoring body, and sliding drive members configured to move the drive head, and thus the anchoring body, along the sliding direction towards the lower end so that the anchoring element penetrates the anchoring surface.

[0027] The drive head is equipped with drive members configured to drive the anchoring element and / or a vehicle tool - such as a core barrel - to perform said process in a submerged environment.

[0028] It should be noted that the anchoring system covered by the present invention is simple and small in size; in fact, with only two drives and a reduced number of components, it allows both anchoring the vehicle to the anchoring surface and, possibly, also operating the tool during processes in a submerged environment (e.g. coring operations).

[0029] The simplicity and compactness of the anchoring system covered by the present invention make it particularly suitable for installation on board small underwater vehicles such as observer-class ROVs.

[0030] The integration of the anchoring system on board an underwater vehicle makes it possible to provide a remotely controlled vehicle adapted to perform a process in a submerged environment, in particular coring work, of limited weight and size.

[0031] LIST OF FIGURES

[0032] Further features and advantages of the present invention will become clearer from the indicative, and therefore non-limiting, description of a preferred, but not exclusive, embodiment of an anchoring system and a remotely controlled vehicle adapted to perform processes in a submerged environment employing such an anchoring system, as illustrated in the accompanying drawings, in which:

[0033] - Figure 1 shows a perspective view of a remotely controlled vehicle, equipped with an anchoring system, which can be used for performing a process in a submerged environment - in particular, coring - according to the present invention;

[0034] - Figure 2a shows a perspective view of some components of the anchoring system installed on board the vehicle in Figure 1;

[0035] - Figure 2b shows a perspective view of the components of the anchoring system in Figure 2a partially in a sectional view to better show some internal details;

[0036] - Figure 3a shows a perspective view of some components of the anchoring system installed on board the vehicle in Figure 1;

[0037] - Figure 3b shows a perspective view of the components of the anchoring system in Figure 3a partially in a sectional view to better show some internal construction details;

[0038] - Figure 4 shows a perspective view of some components of the anchoring system installed on board the vehicle in Figure 1;

[0039] - Figures 5a and 5b show a bottom view of the components of the anchoring system in Figure 4 in two different operating configurations;

[0040] - Figure 6 shows a perspective view of a tool magazine of the vehicle in Figure 1;

[0041] - Figure 7 shows a perspective view of some components of the tool magazine in Figure 6;

[0042] - Figure 8 shows a top view of the tool magazine in Figure 6 with some components removed to better show others;

[0043] - Figures 9a, 9b, 9c, 10a, and 10b show a schematic representation of the different steps in a coring process using the vehicle in Figure 1.

[0044] DETAILED DESCRIPTION

[0045] With reference to the appended figures, the present description relates to an anchoring system 1 for a vehicle 100 adapted to perform a process in a submerged environment A such as, for example, the marine environment.

[0046] It should be specified that, in the context of the present invention, “process in a submerged environment” means any operation performed using such a vehicle that requires specific positioning to work on bodies / objects placed in a submerged environment. For example, “processes in a submerged environment” means coring processes, i.e. those seabed sampling operations typically carried out for analysis purposes. Cleaning operations of objects or bodies placed in the submerged environment, as well as measuring operations, are also to be understood as processes in a submerged environment.

[0047] According to an aspect, in the context of the present invention, “process in a submerged environment” is to be understood as all those operations performed by means of tools which, during their use, generate reaction forces that need to be counteracted in order to prevent undesired movement of the vehicle in the submerged environment.

[0048] The anchoring system 1 is configured to anchor the vehicle 100 to an anchoring surface S arranged in the submerged environment such as the seabed.

[0049] It should be specified that the anchoring system S is configured to counteract the forces that are generated when the process is performed, so that the vehicle 100 is anchored to the anchoring surface S in a stable manner.

[0050] Figure 9b shows the vehicle 100 anchored to the anchoring surface S by means of this anchoring system 1, while Figure 10b shows the anchoring system S holding the vehicle 100 anchored to the anchoring surface S during a coring operation.

[0051] Referring to Figures 1, 2a and 2b, the anchoring system 1 comprises a guide body 2 extending along a sliding direction X-X between an upper end 21, configured to be connected to a frame 101 of the vehicle 100, and a lower end 22, configured to abut against the anchoring surface S.

[0052] Preferably, the lower end 22 has a flange 22a extending transversely to the sliding direction X-X and configured to rest on the anchoring surface S. Advantageously, such a flange 22a improves the stability of support of the guide body 2, and thus of the vehicle 100, on the anchoring surface S.

[0053] According to an aspect, the guide body 2 extends predominantly along the sliding direction X-X, assuming a column-like conformation.

[0054] The anchoring system 1 further comprises an anchoring assembly 3 slidably mounted on the guide body 2 along the sliding direction X-X between the upper end 21 and the lower end 22.

[0055] Preferably, the anchoring assembly 3 is free to slide on the guide body 2 along the sliding direction X-X between the upper and lower end 21, 22.

[0056] With reference to Figures 3a and 3b, the anchoring assembly 3 comprises at least one anchoring element 30 configured to penetrate the anchoring surface and anchor the guide body 2 to the anchoring surface S.

[0057] It should be noted, in use, that the guide body 2 does not only act as a guide for the sliding of the anchoring assembly 3, but is to all intents and purposes a structural element subject to stress - in the case of coring work, mainly tensile and torsional stress, but also bending stress in the event of accidental impacts during navigation - during the performance of said process.

[0058] In the embodiment shown in Figures 9a and 9b, the at least one anchoring element 30 extends parallel to the sliding direction X-X so as to penetrate the anchoring surface S upon movement of the anchoring element towards the lower end 22. When the anchoring element 30 is located at the lower end 22 resting on the anchoring surface S, the anchoring element 30 extends deep into the anchoring surface S so as to secure the guide body 2 and thus the entire vehicle 100 to the latter.

[0059] It should be noted that, when the anchoring system 1 is anchored to the anchoring surface S, the anchoring assembly 3 is locked onto the guide body 2 in such a way that it cannot slip off the lower end 22. For example, the flange 22a can be used as an end stop.

[0060] According to an aspect, the anchoring element 30 is rotatably mounted on the anchoring assembly 3 around a rotation axis Ra-Ra, which, preferably, is oriented parallel to the sliding direction X-X.

[0061] Advantageously, the rotational motion of the at least one anchoring element 30 facilitates its sinking into the surface S when moving the anchoring assembly 3 towards the lower end 22 of the guide body 2.

[0062] Preferably, the anchoring element 30 extends predominantly along the direction defined by its rotation axis Ra-Ra and, even more preferably, has an external thread extending helically around the rotation axis Ra-Ra.

[0063] It should be specified that if the anchoring assembly 3 comprises a plurality of anchoring elements 30, each is configured to rotate about its own rotation axis Ra-Ra.

[0064] In the embodiment shown in Figure 3b, the anchoring assembly 3 comprises transmission elements 31 configured to kinematically constrain the rotation of the anchoring elements 30 around their respective rotation axes Ra-Ra, so that they can be operated simultaneously. More details about the transmission members 31 and the drive for the rotation of the anchoring elements 30 are provided in a later part of the description.

[0065] According to an aspect shown in Figures 1, 3a and 3b, the anchoring assembly 3 comprises a sleeve 33 configured to be fitted onto the guide body 2 so as to be able to slide along the sliding direction X-X between the upper and lower ends 21, 22.

[0066] With reference to Figures 1 and 2b, the anchoring system 1 further comprises a drive head 4, slidably mounted on the guide body 2 along the sliding direction X-X between the upper end 22 and the anchoring assembly 3, and sliding drive members 5, kinematically connected to the drive head 4 to move it along the sliding direction X- X.

[0067] According to an aspect shown in Figure 9c, the drive head 4 is also movable along the sliding direction X-X with respect to the anchoring assembly 3, and the sliding drive members 5 are configured to move the drive head 4 along the sliding direction also with respect to the anchoring assembly 3.

[0068] Thus, according to an aspect, the drive head 4 is movable along the sliding direction X-X independently with respect to the anchoring assembly 3.

[0069] The drive head 4, when moved by the sliding drive members 5, is configured to make contact with the anchoring assembly 3 and move it (drag it) along the sliding direction X-X towards the lower end 22. In accordance with the above, this allows the anchoring element 30 to penetrate into the anchoring surface S.

[0070] With reference to Figure 4, the drive head 4 comprises drive members 40 configured to drive the anchoring element 3 when moved along the sliding direction X-X and / or a vehicle tool 102a - such as, for example, a core barrel - during the performance of the process in the submerged environment A.

[0071] According to an aspect, the drive members 40 are configured to drive both the anchoring element 3 and the tool 102a.

[0072] In the step shown in figure 9a and until the configuration shown in Figure 9b is reached, the drive head 4 pulls the anchoring assembly 3 towards the second end 22 while, optionally, the drive members 40 rotate the at least one anchoring element 30 around the respective rotation axis Ra-Ra.

[0073] In the processing step schematically depicted in Figure 10b, the drive head 4 moves the tool 102a as it sinks into the surface S while the drive members 40 rotate it around a processing axis L-L.

[0074] It therefore follows from the foregoing that the drive elements 40 are configured to provide torque to the one or more anchoring elements 30 during the anchoring step and / or to the tool 102a during the process.

[0075] According to an aspect shown in Figures 4, 5a and 5b, the drive elements 40 comprise a hub 40a, configured to be rotated around a rotation drive axis Rm-Rm, kinematically reversibly coupled to the one or more anchoring elements 30 and / or the tool 102a.

[0076] In particular, in order to rotate the anchoring elements 30, the drive elements 31 and the hub 40a are reversibly coupled so that they are kinematically connected, when the drive head 4 is in contact with the anchoring assembly 3, and kinematically disconnected, when the drive head 4 is detached from the anchoring assembly 3.

[0077] Preferably, the hub 40a can be engaged / disengaged with a main gear wheel 32 of the transmission elements 31 along the sliding direction X-X.

[0078] In the embodiment shown in Figure 3b, in which the anchoring assembly 3 comprises a plurality of anchoring elements 30, the transmission elements 31 form a planetary transmission in which the main gear wheel 32 is centrally located and kinematically connected to satellite gearwheels 33 on which respective anchoring elements 30 are mounted.

[0079] In the embodiment of Figure 4, the hub 40a is rotated about the rotation drive axis Rm-Rm by means of a motor 41 kinematically connected thereto by means of transmission elements 42 such as, for example, gear wheels or belts.

[0080] Preferably, the hub 40a has gripping members (not shown in the figures) configured to grip the tool 102a during machining.

[0081] The sliding drive members 5 which, according to the above, control the movement of the drive head 4 along the X-X sliding direction, are preferably at least partly integrated into the guide body 2,

[0082] In detail, with reference to Figure 2b, the sliding drive members 5 comprise a motor 52, kinematically connected to the drive head 4 to move it along the sliding direction X-X, housed in the guide body 2, in particular in its internal cavity 24.

[0083] In the embodiment shown in Figure 2b, the sliding drive members 5 comprise a threaded element 50 extending parallel to the sliding direction X-X and a nut-screw 51, engaged with threaded element 50, attached to the drive head 4 along the sliding direction X-X.

[0084] In this embodiment, the operation of the motor 52 causes the threaded element 50 to rotate, causing the nut screw 52, and thus the drive head 4, to slide along the X- X sliding direction.

[0085] Preferably, the threaded element 50 extends predominantly parallel to the sliding direction X-X from the upper end 21 to the lower end 22 of the guide body 2. The motor 52 is configured to place the threaded element 50 around its prevailing extension direction Xl-Xl.

[0086] Preferably, the nut screw 51 is made as a single piece with the drive head 4 and, for example, is implemented via a hole or a threaded insert.

[0087] In the embodiment shown in Figures 3 a and 3b, the anchoring assembly 3 has a through opening 32 configured to allow access to the anchoring surface S when the anchoring system 1 is used to anchor the guide body 2, and thus the vehicle 100, to the latter.

[0088] Preferably, the through opening 34 has an axis A-A that is coincident with the rotation drive axis Rm-Rm so that the tool 102a can be rotated within it. Again with reference to the embodiment shown in Figures 3a and 3b, the main gear wheel 34 defines the through opening within it.

[0089] According to an aspect, the drive head 4 comprises coupling members 6 that can be switched between a coupling configuration (Figure 5b), in which they couple the drive head 4 to the anchoring assembly 3, and a release configuration (Figure 5a), in which they disengage the drive head 4 from the anchoring assembly along the sliding direction X-X.

[0090] It should be specified that in the coupling configuration, unlike in the release configuration, the drive head 4 and the anchoring assembly 3 are integrally movable on the guide body 2 along the sliding direction X-X in both movement directions (i.e. both from the upper end 21 to the lower end 22, and from the lower end 22 to the upper end 21).

[0091] In the embodiment shown in Figures 5a and 5b, the coupling members 6 comprise a lever 60 movable between a first position associated with the coupling configuration and a second position associated with the release configuration. To switch from the first to the second position the lever 60 can, for example, be mounted on an oscillating bearing driven by a motor 62.

[0092] In detail, in the first position, the lever 60 is configured to be arranged in a special locking seat 61 formed in the anchoring assembly 3 so as to make the latter integral with the drive head 4 along the sliding direction X-X (coupling configuration).

[0093] Conversely, in the second position, the lever 60 is configured to be arranged outside the locking seat 61 so as to release the movement of the drive head 4 in relation to the anchoring assembly 3 along the sliding direction X-X (release configuration).

[0094] It is also an aim of the present invention to provide a remotely controlled vehicle 100 to perform the aforementioned process in a submerged environment.

[0095] Preferably, the vehicle 100 according to the present invention is an observer- class underwater ROV.

[0096] It should be specified that observer-class ROVs, unlike other underwater devices, are of moderate size and weight so that they can be deployed with smaller vessels, which is beneficial to the cost of running operations. For example, such ROVs typically have dimensions less than 750x600x550 mm and weights below 60 kg.

[0097] With reference to Figure 1, such a vehicle 100 comprises a frame 101 that defines its load-bearing structure.

[0098] Optionally, the frame 101 can include mounts for vision systems (e.g. cameras and illuminators) and / or navigation aid systems.

[0099] The vehicle 100 is provided with an anchoring system 1 of the type described above in which: the guide body 2 has the upper end 22 connected to the frame 101 and, during the process, the drive head 4 is configured to engage with a tool 102a so as to control the operation thereof.

[0100] The vehicle 100 further comprises a tool magazine 102 mounted on the frame 101. This tool magazine 102 comprises a plurality of tools 102a - such as, for example, core barrels - that can be used in the process in the submerged environment A.

[0101] In the embodiment shown in Figures 6 and 7, the tool magazine 102 comprises a support element 103 on which the tools 102a are removably mounted.

[0102] The vehicle further comprises drive means 104 configured to drive the tool magazine 102 to sequentially bring the tools 102a to the drive head 4 of the anchoring system 1.

[0103] Preferably, the support element 103 is rotatably connected to the frame 101 around a tool selection axis U-U and the magazine drive means 104 are configured to place the support element 103 in rotation around said tool selection axis U-U.

[0104] In use, by rotating about the tool selection axis U-U, the support element 103 successively brings the tools 102a to the drive head 4 so that it can drive them and perform a series of processes in the submerged environment A.

[0105] According to an embodiment, the support element 103 of the tool magazine 102 comprises a hub 103a configured to be mounted on the frame 101 in a rotatable manner about the tool selection axis U-U, and a plurality of arms 103b projecting from the hub 103a along respective radial directions R-R to the tool selection axis U-U.

[0106] As shown in Figure 6, each arm 103b is configured to releasably grip a respective tool 102a.

[0107] Preferably, the means for driving the magazine 103 comprise a motor 103c arranged coaxially to the tool selection axis U-U - and, therefore, to the hub 103a - which drives special transmission elements (e.g., a chain of transmission wheels 103d) responsible for rotating the support element 103 about the tool selection axis U-U.

[0108] In the embodiment shown in Figures 7 and 8, the support element 103 comprises a plurality of gripping assemblies 105, each configured to disengageably grip a related tool 102a.

[0109] Preferably, each arm 103b comprises a respective gripping assembly 105 so that, upon rotation of the hub 103a about the tool selection axis U-U, the latter move along a substantially circular path so as to move in succession at the drive head 4.

[0110] According to an aspect, each gripping assembly 105 comprises a retaining element 105a - such as, for example a pin - switchable between a closed configuration, in which it retains a relative tool 102a so as to prevent the disengagement thereof from the support element 103, and an open configuration, in which the tool 102a is disengageable to be transferred to the drive head 4.

[0111] Again with reference to the embodiment of Figures 7 and 8, the tool magazine 102 comprises a switching element 106, functionally associated with the retaining elements 105a of each gripping assembly 105, configured to allow or disallow their switching between the open and closed configuration depending on their angular position about the tool selection axis U-U.

[0112] In particular, the switching element 106 is configured to retain the retaining elements 105a in the closed configuration when the respective gripping assemblies 105 are not arranged at the drive head 4, and allows switching between the closed and open configuration when the respective gripping assemblies 105 are arranged at the drive head 4. In this way, the tools 102a can only be withdrawn from their respective gripping assemblies 105 when they are at the drive head 4 (in particular, at the hub 40a).

[0113] According to an aspect, the switching element comprises a cam 106a on which the retaining elements 105a slide as the support element 103 rotates about the selection axis U-U. The cam 106a has a profile such that the retaining elements 105a can only be switched between the open and closed configuration when the respective gripping assemblies 105 are at the drive head 4.

[0114] Preferably, the retaining elements 105a are arranged around the cam 106a so that, upon rotation of the support element 103, the cam allows or disallows its movement along respective directions radial to the selection axis U-U.

[0115] Preferably, each retaining element 105a is preloaded by means of special elastic elements that keep it in a closed configuration.

[0116] With reference to the embodiment shown in Figure 8, the cam 106a has a concave section 106b, functionally associated with the arrangement of the gripping assemblies 105 at the drive head 4, configured to allow the retaining elements 105a arranged within it to switch between the open and closed configuration.

[0117] The vehicle 100 can optionally include a plurality of sensors adapted to monitor its operational status.

[0118] For example, the vehicle 100 may comprise a first sensor 107, preferably of the Hall or inductive type, to detect the contact between drive head 4 and the anchoring assembly 3. It should be noted that the first sensor 107 can also be of the contact type.

[0119] The vehicle 100 may also include one or more second sensors required for calibrating the movement of the various components (e.g. drive head, anchoring assembly, tool magazine) and controlling them.

[0120] The vehicle 100 may also comprise propulsion means (not shown in the figures) that enable its movement within the marine environment A. In particular, the vehicle 100 is provided with vertical motors adapted to keep the lower end 22 of the guide body 2 in contact with the anchoring surface S before and during the anchoring operation.

[0121] The following describes, by way of example, the performance of a coring operation using the vehicle 100.

[0122] After identifying the anchoring surface S and performing appropriate approach manoeuvres to bring the lower end 22 of the guide body 2 in abutment against it, the anchoring step begins.

[0123] In this anchoring step, the drive head 4 is moved by the sliding drive members 5 along the sliding direction X-X towards the lower end 22. In doing so, the drive head 4 comes into contact with the anchoring assembly 3, so that it is drawn towards the lower end 22 (Figure 9a).

[0124] Optionally, when the aforementioned first sensor 107 detects contact between the drive head 4 and the anchoring assembly 3, the drive members 40 rotate the at least one anchoring element 30.

[0125] In the stroke of the anchoring assembly 3 on the guide body 2 towards the lower end 22, the anchoring elements 30 gradually penetrate the anchoring surface S. With reference to Figure 9b, it should be noted that when the anchoring assembly 3 is located at the lower end 22 of the guide body 2, the anchoring elements 30 are mostly penetrated into the anchoring surface S and secure the vehicle 100 to the latter. The drive head 4 is then moved along the sliding direction X-X towards the upper end 21 of the guide body 2 (Figure 9c) where the process of picking up the tool 102a from the tool magazine 102 will commence.

[0126] During this pick-up process, the drive means of the tool magazine 103 actuate the tool magazine 102 to bring one of the tools 102a to the drive head 4, which, after picking it up, will start the coring operation.

[0127] Optionally, a second sensor located on the drive head 4 verifies the correct engagement of the tool 102a and operates the magazine drive means 104 that rotate the support element 103, thus freeing the region at the drive head 4 and allowing the coring operation to begin without the risk of mechanical interference.

[0128] In the coring process, the drive head 4 is again moved towards the lower end 22 of the guide body 2 so as to gradually sink the tool 102a into the gripping surface S (Figure 10a). During the downward motion, the tool 102a is driven (in rotation) by the drive members 40 to which it is kinematically connected (Figure 10b, arrow R).

[0129] The coring process ends when the drive head is at the lower end 22 of the guide body 2 or at a predetermined intermediate position between the lower end 22 and the upper end 21.

[0130] The drive head 4 is then returned to the upper end 21 of the guide body 2 and the tool magazine 102 is operated accordingly to pick up the tool 102a.

[0131] Having done so, the drive head 4 descends at the lower end 22 of the guide body 2 to transport the anchoring assembly 3 towards the upper end 21 so as to disengage the anchoring elements 30 from the anchoring surface S.

[0132] The vehicle 100 will then be free to move to a new anchoring surface S and perform the steps described above again.

[0133] Obviously a person skilled in the art will be able to make numerous equivalent modifications to the variants set forth above, without thereby abandoning the scope of protection as defined by the appended claims.

Claims

CLAIMS1. Anchoring system (1) for a vehicle (100) adapted to perform a process in a submerged environment (A), the anchoring system (1) being configured to anchor the vehicle (100) to an anchoring surface (S) arranged in the submerged environment and comprising:- a guide body (2) extending along a sliding direction (X-X) between an upper end(21), configured to be connected to a frame (101) of the vehicle (100), and a lower end(22), configured to abut against the anchoring surface (S);- an anchoring assembly (3) slidably mounted on the guide body (2) along the sliding direction (X-X) between the upper end (21) and the lower end (22), said anchoring assembly (3) comprising at least one anchoring element (30) configured to penetrate the anchoring surface (S) and anchor the guide body (2) to the anchoring surface (S);- a drive head (4) slidably mounted on the guide body (2) along the sliding direction (X-X) between the upper end (21) and the anchoring assembly (3), the drive head (4) being movable along the sliding direction (X-X) relative to the anchoring assembly (3), the drive head (4) being configured to come into contact with the anchoring assembly (3) and move it towards the lower end (22) to penetrate the anchoring element (30) in the anchoring surface (S), said drive head (4) comprising drive members (40) configured to drive the anchoring element (3) and / or a tool (102a) of the vehicle (100) to perform said process in the submerged environment (A);- sliding drive members (5), kinematically connected to the drive head (4), configured to move the drive head (4) along the sliding direction (X-X) also relative to the anchoring assembly (3).

2. Anchoring system (1) according to claim 1, wherein the drive members (40) are configured to drive the anchoring element (3) and the tool (102a) of the vehicle (100)to perform said process in the submerged environment (A).

3. Anchoring system (1) according to claim 1 or 2, wherein the drive head (4) is movable along the sliding direction (X-X) independently of the anchoring assembly (3).

4. Anchoring system (1) according to any one of the preceding claims, wherein the sliding drive members (5) are at least partly integrated in the guide body (2).

5. Anchoring system (1) according to any one of the preceding claims, wherein the drive members (5) comprise:- a threaded element (50) extending parallel to the sliding direction (X-X);- a nut screw (51) engaged with the threaded element (50) and fixed to the drive head(4) along the sliding direction (X-X)- a motor (52) configured to rotate the threaded element (50) so as to move the nut screw (51) along the sliding direction (X-X).

6. Anchoring system (1) according to any one of the preceding claims, wherein:- the anchoring element (30) is rotatably mounted on the anchoring assembly (3) around a rotation axis (Ra-Ra);- the drive members (40) configured to rotate the anchoring element (30) when the drive head (4) is in contact with the anchoring assembly (3).

7. Anchoring system (1) according to claim 6, wherein:- the drive members (40) comprise a hub (40a) configured to be rotated around a rotation drive axis (Rm-Rm);- the anchoring assembly (3) comprises transmission members (31) engaged with the hub (40a) when the drive head (4) is in contact with the anchoring assembly (3), said transmission members (31) being configured to transmit the rotary motion of the hub (40a) to the at least one anchoring element (30).

8. Anchoring system (1) according to any one of the preceding claims, wherein the anchoring assembly (3) has a through opening (34) configured to allow access to the anchoring surface (S) when the anchoring system (1) is employed to anchor the vehicle (100) to said anchoring surface (S).

9. Anchoring system (1) according to claim 8 and any one of claims 6 or 7, wherein:- the through opening (34) of the anchoring assembly (3) has an opening axis (A- A),- the opening axis (A-A) being coincident with the rotation drive axis (Rm-Rm).

10. Anchoring system (1) according to any one of the preceding claims, wherein the drive head (4) comprises coupling members (6) switchable between:- a coupling configuration, in which the drive head (4) is coupled to the anchoring assembly (3) so as to be integrally movable on the guide body (2) along the sliding direction (X-X); and- a releasing configuration in which the drive head (4) is disengaged from the anchoring assembly (3) along the sliding direction (X-X).

11. Remote-controlled vehicle (100) adapted to perform a process in a submerged environment (A) such as, for example, a coring process, said vehicle (100) comprising:- a frame (101);- a tool magazine (102) mounted on the frame (101) and comprising a plurality of tools(102a) employable in said process in a submerged environment (A),- an anchoring system (1) according to any one of the preceding claims configured for anchoring said vehicle (100) to an anchoring surface (S), said anchoring system (1) comprising:- a guide body (2) having an upper end (22) connected to the frame (101),- a drive head (4) configured to engage with one of the tools (102a) at a time to perform said processes in a submerged environment (A),- magazine drive means (104) configured to drive the tool magazine (102) to sequentially bring the tools (102a) to the drive head (4) of the anchoring system (1).

12. Vehicle (100) according to claim 11, wherein:- the tool magazine (102) comprises a support element (103) on which the tools (102a) are removably mounted, said support element (103) being rotatably connected to the frame (101) about a tool selection axis (U-U) and- the magazine drive means (104) are configured to rotate the support element (103) around the tool selection axis (U-U) so as to sequentially bring the tools (102a) to the drive head (4).

13. Vehicle (100) according to claim 12, wherein the support element (103) comprises:- a hub (103a) configured to be mounted on the frame (101) in a rotatable manner around the tool selection axis (U-U);- a plurality of arms (103b) projecting from the hub (103a) along respective radial directions (R-R) to the tool selection axis (U-U), each arm (103b) being configured to grip a respective tool (102a).

14. Vehicle (100) according to claim 12 or 13, wherein:- the support element (103) comprises a plurality of gripping assemblies (105),- each gripping assembly (105) comprises a retaining element (105a) switchable between a closed configuration, in which it retains a relative tool (102a) so as to prevent the disengagement thereof from the support element (103), an open configuration, in which the tool (102a) is disengageable to be transferred to the drive head (4);- the tool magazine (102) comprises a switching element (106) operatively associated with the retaining elements (105a) of each gripping assembly (105), the switching element (106) being configured to allow the switching or not of the retaining elements (105a) between the closed and open configuration as a function of their angular position around the tool selection axis (U-U).

15. Vehicle (100) according to claim 14, wherein the switching element (106) comprises a cam (106a) on which the retaining elements (105a) slide with the rotation of the support element (103) around the tool selection axis (U-U).

16. Vehicle (100) according to claim 15, wherein the cam (106a) has a concave section (106b) operatively associated with the arrangement of the gripping assemblies (105) at the drive head (4), said concave section (106b) being configured to allow the retaining elements (105a) arranged therein to switch between the open configuration and the closed configuration.

Images